OptiGAN uses GAN and RL to optimize sequence generation for specific goals.
problem Challenging in sequence generation tasks to generate sequences with specific desired goals.
method Integrates GAN and RL to optimize desired goal scores using policy gradients.
result Achieves higher desired scores in text and real-valued sequence generation.
A novel framework uses goal-conditioned reinforcement learning to generate diverse samples.
problem Generating high-quality, diverse samples from generative models.
method Two agents: GC-agent learns to reconstruct the training set, S-agent learns to imitate GC-agent without knowing the goals.
result Empirically, the method generates diverse and high-quality samples in image synthesis.
Automatically generates curricula for reinforcement learning agents.
problem Learning in dynamic, sparse reward environments.
method Setter-solver paradigm focusing on goal validity, feasibility, and coverage.
result Demonstrated success in 2D and 3D environments with varying goals.
Goal-oriented reinforcement learning has recently been a practical framework for robotic manipulation tasks, in which an agent is required to reach a certain goal defined by a function on the state space. However, the sparsity of such reward definition makes traditional reinforcement learning algorithms very inefficien…
Deep reinforcement learning has recently gained a focus on problems where policy or value functions are independent of goals. Evidence exists that the sampling of goals has a strong effect on the learning performance, but there is a lack of general mechanisms that focus on optimizing the goal sampling process. In this …
For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills must handle raw sensory input such as images. In this paper, we propose an algo…
New method learns optimal environment and goal difficulty for reinforcement learning.
problem Lack of robust transfer in reinforcement learning.
method Self-Supervised Active Domain Randomization (SS-ADR).
result Optimal domain randomization strategy improves transfer in goal-directed tasks.
Generative neural nets learn deep policies conditioned on goals.
problem Learning optimal policies for specific goals in reinforcement learning.
method Goal-conditioned neural nets that generate deep neural policies.
result Single learned policy generator can achieve any desired return.
Goal-conditioned policies are used in order to break down complex reinforcement learning (RL) problems by using subgoals, which can be defined either in state space or in a latent feature space. This can increase the efficiency of learning by using a curriculum, and also enables simultaneous learning and generalization…
AMIGo uses adversarial intrinsic goals to teach RL agents new skills.
problem Learning in sparse reward environments.
method Adversarial intrinsic goals to generate a curriculum for a student policy.
result AMIGo enables agents to learn new skills without extrinsic rewards.
Financial institutions use LSTM models to predict customer goals.
problem Predicting customer goals and actions in financial services.
method Used LSTM models with state-space graph embeddings on historical customer traces.
result Demonstrated the effectiveness of LSTM models in predicting customer goals and actions.
This paper proposes a new method to connect language and physical actions in reinforcement learning.
problem Connecting linguistic representations to the physical world in embodied agents.
method Language-conditioned goal generators to decouple sensorimotor learning from language acquisition.
result Agents can demonstrate a diversity of behaviors for any given instruction.
Unified algorithm tackles various RL goals like reward-free and preference-based learning.
problem Unified approach to multiple RL learning goals.
method Decision-Estimation Coefficient (DEC) framework.
result Unified algorithm handles various learning goals with a single framework.
Sparse reward is one of the most challenging problems in reinforcement learning (RL). Hindsight Experience Replay (HER) attempts to address this issue by converting a failed experience to a successful one by relabeling the goals. Despite its effectiveness, HER has limited applicability because it lacks a compact and un…
Physics-informed GCRL tackles sparse feedback learning with hybrid dynamics.
problem Sparse feedback learning with high-dimensional, hybrid, or contact-dependent dynamics.
method Introduces physics-informed inductive biases into goal-conditioned value learning.
result Contact-rich manipulation tasks degrade existing Pi-GCRL methods.
Being able to reach any desired location in the environment can be a valuable asset for an agent. Learning a policy to navigate between all pairs of states individually is often not feasible. An all-goals updating algorithm uses each transition to learn Q-values towards all goals simultaneously and off-policy. However …
PlanGAN uses GANs to plan efficient trajectories for multi-goal tasks in sparse reward environments.
problem Learning with sparse rewards in multi-goal environments.
method PlanGAN combines GANs to generate trajectories leading to specified goals, then combines these into a planning algorithm.
result PlanGAN achieves comparable performance to model-free RL but is 4-8 times more sample efficient.
GARIM theory explains how conscious manipulation of internal representations enhances goal-directed behavior.
problem Limited understanding of how consciousness supports flexible goal-directed cognition.
method Extending a three-component theory of flexible cognition, proposing GARIM theory.
result Conscious states actively manipulate internal representations to align with goals, enhancing flexibility.
This work tackles long-term visual planning by goal-conditioned hierarchical predictors.
problem Current learning approaches fail on long-horizon tasks due to lack of goal information and coarse-to-fine planning.
method Formulate goal-conditioned predictors (GCPs) and hierarchical models to predict trajectories between observations.
result GCPs enable effective long-term planning with much longer horizons than before.
New method predicts vehicle trajectories using map lane centers.
problem Accurate long-term vehicle trajectory prediction.
method Uses map lane centers to generate goal paths and predict trajectories.
result Model outperforms state-of-the-art approaches for 6-second horizon predictions.
Sparse reward problems are one of the biggest challenges in Reinforcement Learning. Goal-directed tasks are one such sparse reward problems where a reward signal is received only when the goal is reached. One promising way to train an agent to perform goal-directed tasks is to use Hindsight Learning approaches. In thes…
Agents need world models to generalize multi-step tasks.
problem The necessity of world models for flexible, goal-directed behavior.
method Formal analysis and demonstration of the necessity of world models for agents to generalize multi-step tasks.
result World models are necessary for agents to generalize to multi-step goal-directed tasks.
Improves RL planning by proposing sub-goals hierarchically.
problem Sequential planning assumption in RL.
method Divide-and-Conquer Monte Carlo Tree Search (DC-MCTS).
result Improves navigation and control tasks.
Hindsight Experience Replay (HER) is a multi-goal reinforcement learning algorithm for sparse reward functions. The algorithm treats every failure as a success for an alternative (virtual) goal that has been achieved in the episode. Virtual goals are randomly selected, irrespective of which are most instructive for the…
Agent learns causal relationships from visual data to perform tasks.
problem Performing tasks in novel environments with latent causal structures.
method Learning-based approach to induce causal graphs from visual observations, using attention mechanisms.
result Effective generalization to new tasks with unseen causal structures.
We propose a novel framework for multi-task reinforcement learning (MTRL). Using a variational inference formulation, we learn policies that generalize across both changing dynamics and goals. The resulting policies are parametrized by shared parameters that allow for transfer between different dynamics and goal condit…
The paper introduces an adjacency constraint to improve goal-conditioned HRL.
problem Training inefficiency in goal-conditioned HRL due to large action space.
method Restricting the high-level action space to a k-step adjacent region of the current state.
result The adjacency constraint preserves optimal hierarchical policies and improves HRL performance.
Eikonal-Constrained QRL improves goal-reaching in reinforcement learning.
problem Reward design and out-of-distribution generalization in reinforcement learning.
method Eikonal-Constrained Quasimetric Reinforcement Learning (Eik-QRL) using the Eikonal PDE.
result Eik-QRL achieves state-of-the-art performance in offline goal-conditioned navigation and manipulation tasks.
New approach decouples skill learning and language grounding for autonomous agents.
problem Autonomous acquisition of skills without external instructions and feedback.
method Language-Goal-Behavior (LGB) architecture with semantic representation.
result Decouples skill learning and language grounding, enabling diversity and strategy switching.
C-Learning estimates reachability over time to solve multi-goal tasks.
problem Multi-goal reaching challenges in reinforcement learning.
method Cumulative accessibility functions and recurrence relations.
result Optimal cumulative accessibility functions are monotonic in horizon.
LEXA learns to discover and achieve goals in unseen environments.
problem Learning to solve diverse tasks in complex visual environments without supervision.
method LEXA learns a world model from image inputs and uses it to train an explorer and an achiever policy from imagined rollouts.
result LEXA solves tasks specified as goal images zero-shot without additional learning.
Improves reinforcement learning for complex tasks with sparse feedback.
problem Learning optimal policies from sparse feedback is challenging.
method Three algorithms based on Hindsight Experience Replay (HER) to improve performances.
result Vast improvement in final success rate and sample efficiency.
Max entropy exploration guides reinforcement learning agents to pursue achievable goals.
problem Achieving distant test-time goals in long-horizon tasks.
method Optimize entropy of historical achieved goals by focusing on sparsely explored areas.
result Order of magnitude better sample efficiency on long-horizon multi-goal tasks.
Paper proposes a method to learn goal-reaching behaviors from scratch using imitation learning.
problem Current reinforcement learning algorithms are brittle and require expert demonstrations.
method Iterated supervised learning where agents relabel and imitate generated trajectories.
result Improved goal-reaching performance and robustness over current RL algorithms.
This paper proposes a method to learn from expert trajectories by decomposing tasks into sub-goals.
problem Learning complex goal-oriented tasks with sparse rewards and limited samples.
method The approach uses expert trajectories to decompose tasks into sub-goals, learning an extrinsic reward function and modulating sub-goal predictions.
result The method alleviates errors in imitation learning and solves complex tasks that other methods cannot.
A novel approach learns goal-conditioned policies for locomotion using batch RL.
problem Training goal-conditioned policies for rotation invariant locomotion.
method Data augmentation and Siamese framework for invariance.
result Our approach outperforms existing RL algorithms on 3D locomotion agents.
Advances in Deep Reinforcement Learning have led to agents that perform well across a variety of sensory-motor domains. In this work, we study the setting in which an agent must learn to generate programs for diverse scenes conditioned on a given symbolic instruction. Final goals are specified to our agent via images o…
GOIMDA selects inputs to maximize expected influence on a goal functional, reducing data acquisition needs.
problem Challenges in active data acquisition for learning and optimization tasks in deep neural networks.
method GOIMDA uses inverse curvature and goal gradient to select inputs maximizing expected influence on a specified goal functional.
result GOIMDA achieves target performance with fewer labeled samples or function evaluations compared to baselines.
We extend the classical risk minimization model with scalar risk measures to the general case of set-valued risk measures. The problem we obtain is a set-valued optimization model and we propose a goal programming-based approach with satisfaction function to obtain a solution which represents the best compromise betwee…
Deep Sets improve reinforcement learning agent's object-centered navigation and generalization.
problem Improving reinforcement learning agents' ability to generalize to unseen objects and goals.
method Combining object-wise permutation invariant networks (Deep Sets) and gated-attention mechanisms.
result Agent demonstrates strong generalization to out-of-distribution goals in a procedurally-generated 2D world.
In hierarchical reinforcement learning a major challenge is determining appropriate low-level policies. We propose an unsupervised learning scheme, based on asymmetric self-play from Sukhbaatar et al. (2018), that automatically learns a good representation of sub-goals in the environment and a low-level policy that can…
Deep RL optimizes goal-based investing strategies.
problem Optimizing investment strategies for achieving financial goals.
method Novel deep reinforcement learning approach for goal-based investing.
result Superior performance compared to benchmarks.
Imitation Learning (IL) is an appealing approach to learn desirable autonomous behavior. However, directing IL to achieve arbitrary goals is difficult. In contrast, planning-based algorithms use dynamics models and reward functions to achieve goals. Yet, reward functions that evoke desirable behavior are often difficul…
Study optimal portfolio for households with two goals: random and fixed deadlines.
problem Optimal portfolio choice for households managing random and fixed deadlines.
method Maximizes weighted sum of probabilities of funding both goals in a Black-Scholes market.
result Non-monotonic value function due to interaction between goals under forced funding.
In Multi-Goal Reinforcement Learning, an agent learns to achieve multiple goals with a goal-conditioned policy. During learning, the agent first collects the trajectories into a replay buffer, and later these trajectories are selected randomly for replay. However, the achieved goals in the replay buffer are often biase…
New modeling approach for self-organizing complex systems.
problem Identifying general principles of self-organizing complex systems.
method Self-deploying system structure and activities for goal-driven agents.
result Self-organization emerges from rational activity algorithm based on goals dependency network.
Agent learns goals and rewards through language and curiosity.
problem Autonomous agents lack intrinsic motivations and reward functions.
method LE2 algorithm using NL interactions and intrinsic motivations.
result Agent autonomously discovers and grounds goals in real behavior.
New approach to goal-based investing using hedging and reinforcement learning.
problem Maximizing probability of reaching investment goals with varying risk aversion.
method Lower partial moments, quantile hedging, efficient hedging, reinforcement learning.
result Optimal investment policies for goal-based investing are equivalent.