We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage that produces goal-conditioned hierarchical policies, and a reinforcement learni…
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48 results for “long horizon tasks”
Reward tweaking optimizes behavior for long-term goals by adjusting the reward function.
problem Optimizing behavior for long-term goals in reinforcement learning with unstable long planning horizons.
method Reward tweaking learns a surrogate reward function that induces optimal behavior for the original task.
result Reward tweaking guides agents towards better long-term returns while planning for short horizons.
Exploring with Sticky Mittens: Reinforcement Learning with Expert Interventions via Option Templatescs.LG
Framework uses expert intervention to solve long-horizon reinforcement learning tasks.
problem Long horizon robot learning tasks with sparse rewards.
method Option templates and expert intervention to enable high-level task understanding.
result Framework outperforms state-of-the-art approaches by two orders of magnitude.
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.
This work improves RL for complex robotic tasks by guiding exploration with task-specific goal distributions.
problem Solving long-horizon, complex sequential tasks in robotics with sparse rewards.
method Extends hindsight relabelling to task-specific goal distributions using a small set of demonstrations.
result Significantly higher overall performance on complex robotic manipulation tasks.
SGM combines deep learning and planning for robust long-horizon tasks.
problem Combining deep learning and planning for robust long-horizon tasks.
method Sparse Graphical Memory (SGM) that stores states and feasible transitions in a sparse memory, aggregating states according to a two-way consistency objective.
result SGM significantly outperforms current state of the art methods on long horizon, sparse-reward visual navigation tasks.
Many robotic applications require the agent to perform long-horizon tasks in partially observable environments. In such applications, decision making at any step can depend on observations received far in the past. Hence, being able to properly memorize and utilize the long-term history is crucial. In this work, we pro…
DMIDAS improves long-term forecasting accuracy in healthcare and electricity data.
problem Challenging long-term forecasting accuracy and computational complexity.
method Smoothness regularization and mixed data sampling techniques integrated into NBEATS architecture.
result Improves prediction accuracy by 5% on long forecasting horizons (1000 timestamps) compared to state-of-the-art models.
Accelerates TD learning for long-horizon reinforcement learning problems.
problem Slow convergence of conventional TD learning in long-horizon tasks.
method Introduces PID Accelerated Temporal Difference (PID TD) learning algorithms.
result Accelerates convergence of TD learning compared to conventional methods.
Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generationcs.LG
Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects. However, due to the compounding uncertainty in long horizon video prediction and poor s…
FDS tackles long horizon hyperparameter optimization issues.
problem Memory scaling and gradient degradation in long horizon tasks.
method Forward-mode differentiation with sharing (FDS).
result Significantly outperforms greedy gradient-based alternatives.
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.
The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combination…
Agents compose pre-trained policies for complex tasks, improving zero-shot performance.
problem Challenges in long-horizon predictions and estimating visitation distributions induced by policy sequences.
method Learn predictive jumpy world models of multi-step dynamics, enhancing predictions with a consistency objective.
result Compositional planning with jumpy world models yields, on average, a 200% relative improvement over primitive actions on long-horizon tasks.
TRM improves long-horizon LLM RL by masking divergent sequences.
problem Long-horizon reinforcement learning with LLMs suffers from off-policy mismatch and approximation errors.
method Derives and applies trust region bounds to control divergence, proposing Trust Region Masking.
result First non-vacuous monotonic improvement guarantees for long-horizon LLM-RL.
TRM improves long-horizon reinforcement learning for LLMs by masking divergent sequences.
problem Long-horizon reinforcement learning for LLMs suffers from off-policy mismatch and approximation errors.
method Derives and applies trust region bounds to control divergence, proposing Trust Region Masking.
result First non-vacuous monotonic improvement guarantees for long-horizon LLM-RL.
TD-Flow improves long-term predictions in agent learning.
problem Cumulative errors in step-by-step inference of future states.
method Leverages flow-matching techniques and a novel Bellman equation to learn accurate geometric horizon models.
result Significantly reduces errors at long horizons compared to prior methods.
The study reveals distinct patterns in retail investors' holding periods affecting stock returns.
problem Understanding the impact of retail investors' investment horizons on stock returns.
method Using self-reported holding periods from StockTwits, the study categorizes retail investors into long-horizon and short-horizon groups and analyzes their return patterns.
result Long-horizon retail investors exhibit underreaction to earnings announcements, while short-horizon investors show overreaction.
State-of-the-art forecasting methods using Recurrent Neural Net- works (RNN) based on Long-Short Term Memory (LSTM) cells have shown exceptional performance targeting short-horizon forecasts, e.g given a set of predictor features, forecast a target value for the next few time steps in the future. However, in many appli…
Gradient flossing stabilizes RNN training by controlling Lyapunov exponents.
problem Gradient instability in RNNs leading to exploding and vanishing gradients.
method Regularizing Lyapunov exponents through backpropagation using differentiable linear algebra.
result Gradient flossing improves RNN training success rate and convergence speed.
HRL4IN: Hierarchical Reinforcement Learning for Interactive Navigation with Mobile Manipulatorscs.LG
Most common navigation tasks in human environments require auxiliary arm interactions, e.g. opening doors, pressing buttons and pushing obstacles away. This type of navigation tasks, which we call Interactive Navigation, requires the use of mobile manipulators: mobile bases with manipulation capabilities. Interactive N…
Recommender systems objectives can be broadly characterized as modeling user preferences over short-or long-term time horizon. A large body of previous research studied long-term recommendation through dimensionality reduction techniques applied to the historical user-item interactions. A recently introduced session-ba…
Study long-term asset liquidation behavior with external flows.
problem Investigate optimal liquidation in presence of external flows.
method Convergence analysis of BSDEs for value function and strategy.
result Long-term liquidation may not occur due to external flows.
Reservoir computing predicts chaotic systems for long horizons with sparse updates.
problem Predicting chaotic systems with long horizons using limited data.
method Sparse, time-dependent data inputs into reservoir computing.
result Achieves arbitrarily long prediction horizons for chaotic systems.
Q-chunking improves RL for long tasks by chunking actions.
problem Improving sample efficiency and exploration in offline-to-online RL.
method Action chunking in TD-based RL methods.
result Q-chunking outperforms prior methods on long-horizon tasks.
Is Long Horizon Reinforcement Learning More Difficult Than Short Horizon Reinforcement Learning?cs.LG
Long horizon reinforcement learning is as hard as short horizon learning.
problem Understanding the difficulty of long horizon reinforcement learning problems.
method Introduced new concepts: ε-net for optimal policies and Online Trajectory Synthesis algorithm.
result Proved that sample complexity scales logarithmically with the planning horizon, refuting the conjecture.
This paper challenges the conventional wisdom of trend-following by showing that the medium-term horizon adds little value once short- and long-term components are included.
problem The conventional wisdom that more horizons improve diversification and performance is challenged.
method A Bayesian optimization framework reallocates exposure dynamically across horizons, optimizing horizon-level weights at the asset level and applying sparsity and turnover control for dynamic allocation across assets.
result The medium-term horizon contributes little incremental performance or diversification once short- and long-term components are included.
HiDe learns hierarchical control for complex tasks by separating planning and control.
problem Solving long horizon control tasks with generalization to unseen scenarios.
method Functional decomposition of state-action spaces, RL-based planner, modular transfer of policy layers.
result Generalizes across unseen test environments and scales to longer horizons.
Predicts long-term return distributions with time-varying volatility.
problem Risk management in long-horizon returns.
method Predicts future return distributions without specifying volatility dynamics or shock distribution.
result Derives risk measures like VaR and CTE from the predicted return distribution.
New algorithms for efficient learning with long-term rewards in contextual bandits.
problem Efficient learning with long-term rewards in contextual bandits.
method Proposes new algorithms leveraging sparsity to discover dependence patterns and arm parameters.
result Regret upper bounds for data-poor and data-rich regimes, showing improved sample complexity.
Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer from distribution shift: because the agent greedily imitates demonstrated action…
New method produces coherent forecasts for long-range data.
problem Inaccurate and non-coherent forecasts on long-horizon data.
method Probabilistic forecasting with KL-divergence for coherent aggregates.
result Improves forecast performance across base levels and aggregates.
Lo-Hp decouples weight generation into local and global policies to improve flexibility and efficiency.
problem Over-coupling and long-horizon issues in current optimization methods.
method Hybrid-Policy Sub-Trajectory Balance objective.
result Learning local optimization policies addresses long-horizon issues and enhances global weight generation.
Many real-world problems, including multi-speaker text-to-speech synthesis, can greatly benefit from the ability to meta-learn large models with only a few task-specific components. Updating only these task-specific modules then allows the model to be adapted to low-data tasks for as many steps as necessary without ris…
The paper clarifies long-horizon investment and DCA, showing no risk reduction but different exposure profiles.
problem Misleading claims about reducing risk with longer investment horizons and DCA.
method Unified probabilistic framework, defining risk and uncertainty, and introducing effective investment exposure.
result Different investment timing strategies can lead to distinct exposure profiles over time, affecting risk and uncertainty.
The paper predicts travel times using tree-based ensembles.
problem Predicting travel times between urban points over short and long horizons.
method Tree-based ensemble methods trained on taxi trip records with additional features from weather and routing data.
result Adding routing data improves model performance and short-term predictions require less data.
This review tackles long horizon forecasting in time series analysis using deep learning.
problem Long horizon forecasting in time series analysis.
method Incorporates deep learning techniques such as trend, seasonality, Fourier and wavelet transforms, and various model architectures.
result LHF is an error propagation problem, with models like xLSTM and Triformer showing better performance.
Re-evaluating Short- and Long-Term Trend Factors in CTA Replication: A Bayesian Graphical Approachcs.AI
This paper uses Bayesian models to analyze CTA returns across short and long-term trends.
problem The relative merits and interactions of short- and long-term trend systems in CTA replication remain controversial.
method Dynamic decomposition of CTA returns into short-term trend, long-term trend, and market beta factors using a Bayesian graphical model.
result The blend of horizons shapes the strategy's risk-adjusted performance.
Paper fine-tunes a language model to predict long-term stock buy signals.
problem Predicting long-term stock price movements with narrative text.
method Fine-tuning a small language model on 10-K reports for buy/sell decisions.
result Buy signals generated from 10-K text are most precise at 6 and 9 months, providing 4.8-9% improvement over random selection.
UCRL-WVTR tackles long-term reinforcement learning with general approximations, achieving horizon-free and instance-dependent regret bounds.
problem Long-term reinforcement learning with general function approximations.
method UCRL-WVTR proposes a novel algorithm, UCRL-WVTR, with weighted value-targeted regression and a high-order moment estimator.
result Achieves horizon-free and instance-dependent regret bounds matching minimax lower bounds up to logarithmic factors.
Careful tuning of the learning rate, or even schedules thereof, can be crucial to effective neural net training. There has been much recent interest in gradient-based meta-optimization, where one tunes hyperparameters, or even learns an optimizer, in order to minimize the expected loss when the training procedure is un…
Compositional diffusion models simulate coupled PDEs efficiently.
problem Efficiently simulating long-horizon coupled PDE systems.
method Diffusion models trained on decoupled data are composed at inference time.
result Compositional diffusion models recover coupled trajectories with low error.
This paper discusses the sensitivity of the long-term expected utility of optimal portfolios for an investor with constant relative risk aversion. Under an incomplete market given by a factor model, we consider the utility maximization problem with long-time horizon. The main purpose is to find the long-term sensitivit…
ForecastGAN: A Decomposition-Based Adversarial Framework for Multi-Horizon Time Series Forecastingcs.LG
ForecastGAN improves multi-horizon time series forecasting by integrating numerical and categorical features.
problem Limited performance of existing approaches in short-term and long-term forecasting.
method Decomposition, model selection, adversarial training.
result ForecastGAN consistently outperforms state-of-the-art transformer models for short-term forecasting.
LLapDiff models irregular multivariate time series without step-by-step integration.
problem Trade-off between discrete and continuous methods for long-horizon forecasting.
method Generative framework that models target as a low-dimensional latent trajectory, guided by modal parameterization and Laplace domain poles.
result Improves long-horizon forecasting over baselines and supports missing-value imputation.
For an investor with constant absolute risk aversion and a long horizon, who trades in a market with constant investment opportunities and small proportional transaction costs, we obtain explicitly the optimal investment policy, its implied welfare, liquidity premium, and trading volume. We identify these quantities as…
Using reinforcement learning to learn control policies is a challenge when the task is complex with potentially long horizons. Ensuring adequate but safe exploration is also crucial for controlling physical systems. In this paper, we use temporal logic to facilitate specification and learning of complex tasks. We combi…
MO2 learns useful behaviours from past experience for new tasks.
problem Discovering useful behaviours from past experience and transferring them to new tasks.
method Model-Based Offline Options (MO2) framework supporting sample-efficient bottleneck option discovery over continuous state-action spaces.
result MO2 outperforms recent option learning methods on complex long-horizon continuous control tasks.