相关论文: Data-Efficient Hierarchical Goal-Conditioned Reinf…

Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks…

We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that significantly improves policy generalization and sample efficiency in robot manipulation. One core idea of GSL is to use…

The high-dimensional or sparse reward task of a reinforcement learning (RL) environment requires a superior potential controller such as hierarchical reinforcement learning (HRL) rather than an atomic RL because it absorbs the complexity of…

Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for…

Reinforcement Learning (RL) is a well-established framework for sequential decision-making in complex environments. However, state-of-the-art Deep RL (DRL) algorithms typically require large training datasets and often struggle to…

Hierarchical Reinforcement Learning (HRL) is a promising approach to solving long-horizon problems with sparse and delayed rewards. Many existing HRL algorithms either use pre-trained low-level skills that are unadaptable, or require…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

We introduce a one-step generative policy for offline reinforcement learning that maps noise directly to actions via a residual reformulation of MeanFlow, making it compatible with Q-learning. While one-step Gaussian policies enable fast…

Symbolic Regression aims to automatically identify compact and interpretable mathematical expressions that model the functional relationship between input and output variables. Most existing search-based symbolic regression methods…

The integration of graphs with Goal-conditioned Hierarchical Reinforcement Learning (GCHRL) has recently gained attention, as intermediate goals (subgoals) can be effectively sampled from graphs that naturally represent the overall task…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

We propose a novel framework and a solution to tackle the continual learning (CL) problem with changing network architectures. Most CL methods focus on adapting a single architecture to a new task/class by modifying its weights. However,…

The options framework in Hierarchical Reinforcement Learning breaks down overall goals into a combination of options or simpler tasks and associated policies, allowing for abstraction in the action space. Ideally, these options can be…

Offline goal-conditioned reinforcement learning (GCRL) offers a practical learning paradigm in which goal-reaching policies are trained from abundant state-action trajectory datasets without additional environment interaction. However,…

Offline Reinforcement Learning (RL) has emerged as a powerful alternative to imitation learning for behavior modeling in various domains, particularly in complex navigation tasks. An existing challenge with Offline RL is the signal-to-noise…

Offline reinforcement learning has received extensive attention from scholars because it avoids the interaction between the agent and the environment by learning a policy through a static dataset. However, general reinforcement learning…

Effectively leveraging large, previously collected datasets in reinforcement learning (RL) is a key challenge for large-scale real-world applications. Offline RL algorithms promise to learn effective policies from previously-collected,…

Recent advances in generative models have shown promise in generating behavior plans for long-horizon, sparse reward tasks. While these approaches have achieved promising results, they often lack a principled framework for hierarchical…

Offline goal-conditioned reinforcement learning (GCRL) learns goal-conditioned policies from static pre-collected datasets. However, accurate value estimation remains a challenge due to the limited coverage of the state-action space. Recent…

Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…