Model learns sub-goals and low-level policies for hierarchical reinforcement learning.
problem Determining appropriate low-level policies in hierarchical reinforcement learning.
method Unsupervised learning scheme based on asymmetric self-play.
result Obtains performance gains over non-hierarchical approaches.
Method learns diverse robot skills for complex tasks.
problem Simulation-to-real transfer for robot skills.
method Decomposes skills, learns parameterized embeddings, and composes them.
result Transferable high-level policies using low-level skills.
Hierarchical decoupling improves sample efficiency for complex robots.
problem Learning long-range behaviors on complex robots.
method Two-part policy: low-level imitation and high-level transfer, with KL regularization.
result Hierarchical transfer significantly improves zero-shot high-level transfer and stabilizes learning.
Generically learns movement control policies from exploration data.
problem Movement optimization in physically based characters.
method Parameterizes actions as target states, learns low-level control policy.
result Improves movement optimization across multiple tasks and algorithms.
The paper provides theoretical guarantees for behavior cloning using generative models.
problem Behavior cloning of complex expert demonstrations using generative models.
method The paper proposes a theoretical framework invoking low-level controllers to stabilize imitation around expert demonstrations. It shows that with suitable low-level stability guarantees and powerful generative models, pure supervised behavior cloning can match expert trajectories.
result The paper proves that with a suitable low-level stability guarantee and a powerful enough generative model, pure supervised behavior cloning can generate trajectories matching the per-time step distribution of essentially arbitrary expert trajectories in an optimal transport cost.
A drone catches another agile drone using competitive reinforcement learning.
problem Intercepting an agile drone with another agile drone.
method Formulated as a Competitive Reinforcement Learning problem, trained with PPO, using a high-fidelity simulation environment.
result Trained policies outperform common heuristic baselines in catch rate, time to catch, and crash rate.
H-ReIL learns to drive safely in near-accident scenarios.
problem Driving safely in high-risk near-accident situations.
method Hierarchical RL and IL approach.
result High-level policy switches between low-level policies for safe driving.
SUPE combines unlabeled data with RL to efficiently explore tasks.
problem Efficient exploration in reinforcement learning with sparse rewards.
method Extract low-level skills using VAE, pseudo-label unlabeled data, and use as off-policy data for online RL.
result SUPE outperforms prior methods across 42 long-horizon tasks.
Unified pair trading approach using hierarchical reinforcement learning.
problem Decoupling pair selection and trading leads to limited performance.
method Hierarchical reinforcement learning framework for joint pair selection and trading.
result Unified approach outperforms existing methods on real-world stock data.
Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating prior knowledge. This results in prohibitively long training times for use on rea…
Hierarchical MARL learns complementary skills for team coordination.
problem Creating intelligent agents that coordinate like human sports teams.
method Two-level hierarchical MARL with unsupervised skill discovery.
result Emergence of useful and complementary skills in team games.
A reinforcement learning framework for Mars rover control using temporal logic.
problem Sparse rewards in continuous-state continuous-action MDPs with high-level temporal structures.
method Actor-critic, model-free, online RL framework with modular DDPG architecture.
result Success rate of synthesised policy in Mars rover experiment.
New algorithm improves GAIL for image sequences with global encoder and reward penalization.
problem Low-level, high-dimensional state input in GAIL framework.
method Global encoder and reward penalization mechanism.
result Significant performance improvement in low-level and high-dimensional tasks.
PPO-B improves sampling efficiency by using a logarithmic barrier method.
problem Low sampling efficiency in PPO due to exterior penalty method.
method Introducing a surrogate objective with interior penalty method.
result PPO-B outperforms PPO in terms of sampling efficiency.
The paper learns robot skills from demonstrations without supervision.
problem Discovering robotic options from unlabelled demonstrations.
method Temporal variational inference for latent variable learning.
result The framework can learn options across multiple datasets.
This work explains RL policies using causal models, revealing important patterns and failures.
problem Understanding why RL policies succeed or fail in complex, high-dimensional systems.
method Developed a nonlinear Causal Model Reduction framework to learn simplified causal models from RL policy actions and rewards.
result The approach can uncover important behavioral patterns and failure modes in trained RL policies.
Music FaderNets learns high-level musical qualities from low-level attributes.
problem Learning high-level musical qualities from limited data and subjective labels.
method Model low-level attributes through feature disentanglement and latent regularization; infer high-level features from low-level representations using GM-VAEs.
result Model successfully learns intrinsic relationships between high-level features and low-level attributes with minimal labeled data.
Method solves long-horizon robotic tasks via imitation and reinforcement learning.
problem Long-horizon robotic tasks with complex sequences of actions.
method Two-phase approach: imitation learning followed by reinforcement learning.
result Method can scale to challenging long-horizon tasks.
CompILE learns reusable segments from demonstrations for hierarchical task execution.
problem Learning reusable, variable-length segments of hierarchical behavior from demonstrations.
method Unsupervised, fully-differentiable sequence segmentation module for latent encoding and re-composition.
result Model generalizes to longer sequences and unseen environments, learns task boundaries and event encodings.
SEERL uses ensemble methods to improve reinforcement learning efficiency.
problem High sample complexity and computational expense in reinforcement learning.
method Directed perturbation of model parameters to learn diverse policies, selection of an adequately diverse set of policies.
result Our approach outperforms state-of-the-art scores in Atari 2600 and Mujoco.
We address the problem of learning hierarchical deep neural network policies for reinforcement learning. In contrast to methods that explicitly restrict or cripple lower layers of a hierarchy to force them to use higher-level modulating signals, each layer in our framework is trained to directly solve the task, but acq…
RHPO improves data-efficiency for hierarchical reinforcement learning.
problem High data requirements for general reinforcement learning algorithms in robotics.
method RHPO employs compositional inductive biases and task sharing mechanisms.
result RHPO enables stable and fast learning for complex domains with positive transfer.
Improves instance segmentation accuracy by integrating low-level features.
problem Low-level features enhance instance localization accuracy.
method Integrates low-level features into all layers of a feature pyramid network.
result Consistent improvement in precision on COCO Dataset.
Paper learns versatile balancing and recovery motions for humanoid robots.
problem Training humanoid robots to handle unexpected perturbations.
method Hierarchical Deep Reinforcement Learning in a physics simulator.
result Learned skills comparable to preprogrammed controllers but more adaptable.
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.
New hierarchical RL agent learns to generalize in complex multi-agent games.
problem Current RL methods struggle to generalize to unseen opponents in multi-agent games.
method Proposed a hierarchical RL architecture grounded in game-theoretic structure.
result Hierarchical agent generalizes to unseen opponents, while baselines fail.
A new HL-SVR approach handles unequal sample sizes in SVR for engineering data modeling.
problem SVR assumes equal sample sizes, but unequal sizes are common in engineering.
method HL-SVR combines low-level SVR for larger samples and high-level SVR for smaller samples.
result HL-SVR produces more accurate predictions than conventional SVR.
AI solutions matched prosthetic control goals in a challenge.
problem Matching time-varying velocity vectors in musculoskeletal models.
method Deep reinforcement learning approaches with various modifications.
result Many solutions used similar techniques but implemented unique modifications.
The paper introduces a method for multi-agent reinforcement learning to coordinate exploration.
problem Sparse rewards in multi-agent settings lead to independent exploration.
method Designing intrinsic rewards that encourage coordination and developing a hierarchical policy.
result The approach accelerates and improves exploration in cooperative multi-agent settings.
Unsupervised feature learning has shown impressive results for a wide range of input modalities, in particular for object classification tasks in computer vision. Using a large amount of unlabeled data, unsupervised feature learning methods are utilized to construct high-level representations that are discriminative en…
A method uses RL to learn abstractions for planning, improving robot navigation and manipulation tasks.
problem Planning requires suitable abstractions for states and transitions, which RL struggles with for temporally extended tasks.
method Goal-conditioned policies learned with RL are incorporated into planning, with a latent variable model representing valid states.
result Our method significantly outperforms prior work on image-based robot navigation and manipulation tasks.
A new HRL algorithm learns and exploits multiple subgoals for faster exploration.
problem Sparse reward problem in reinforcement learning.
method Multi-goal HRL algorithm with Manager and Worker policies.
result Significantly improved exploration efficiency with reduced training time.
Within a supervised classification framework, labeled data are used to learn classifier parameters. Prior to that, it is generally required to perform dimensionality reduction via feature extraction. These preprocessing steps have motivated numerous research works aiming at recovering latent variables in an unsupervise…
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.
New method learns agent actions from raw video demonstrations.
problem Imitation learning for natural-looking movements.
method Generative Adversarial Networks (GANs) for joint state and reward learning.
result Adversarial imitation learning on raw videos produces similar performance to state-of-the-art methods.
Discriminatory trade liberalization policies are becoming more popular among world economies. Countries are motivated to enter for regional trade agreements to capture faster economic growth for alleviating poverty. In developing economies like most of the member countries of the Association of South East Asian Nations…
Hierarchical VAEs detect out-of-distribution data by identifying low-level in-distribution features.
problem Out-of-distribution data often has in-distribution low-level features, leading to misleading likelihood estimates in deep generative models.
method Developed a fast, scalable, unsupervised likelihood-ratio score for out-of-distribution detection based on hierarchical variational autoencoders.
result Achieved state-of-the-art results on out-of-distribution detection across various data and model combinations.
DeepSynth synthesizes automata to guide deep RL agents through sparse, non-Markovian rewards.
problem Training deep RL agents with sparse, non-Markovian rewards and unknown high-level objectives.
method Employing a novel algorithm for synthesizing compact automata to uncover sequential structure from trace data.
result Reduces the number of iterations required for policy synthesis by two orders of magnitude and improves scalability.
Deep RL learns robot walking gaits in real-world environments.
problem Difficulty in applying deep RL to real-world robotic tasks due to poor sample complexity and hyperparameter sensitivity.
method Sample-efficient deep RL algorithm based on maximum entropy RL, requiring minimal per-task tuning and modest trials.
result Acquired stable walking gaits on a real-world Minitaur robot in about two hours.
The data processing inequality doesn't always hold in practice, showing benefits in low-level tasks.
problem The data processing inequality suggests no benefit in pre-processing for classification.
method Theoretical and empirical study of binary classification setup with deep neural networks.
result Pre-classification processing can improve classification accuracy for any finite number of training samples.
Recent work has shown that a country's productive structure constrains its level of economic growth and income inequality. Here, we compare the productive structure of countries in Latin America and the Caribbean (LAC) with that of China and other High-Performing Asian Economies (HPAE) to expose the increasing gap in t…
A deep reinforcement learning method with rule-based constraints improves safe and efficient lane changes in autonomous driving.
problem Complex and uncertain traffic environment challenges autonomous driving decision-making.
method Deep Q-Network (DQN) combined with rule-based constraints for lane change decision-making.
result The proposed rule-based DQN method outperforms both rule-based and DQN approaches in a real-world simulator.
Director learns hierarchical behaviors from pixels, outperforming exploration methods.
problem Challenges in learning long-term hierarchical behaviors from pixels.
method Directly learns hierarchical behaviors from pixels using a latent space world model.
result Director outperforms exploration methods on various tasks.
Deep reinforcement learning (DRL) has shown incredible performance in learning various tasks to the human level. However, unlike human perception, current DRL models connect the entire low-level sensory input to the state-action values rather than exploiting the relationship between and among entities that constitute t…
RLHC uses multiple critics at different levels to enhance RL performance.
problem Speed up RL learning and increase cumulative rewards in competition tasks.
method Introducing multiple cooperative critics at two levels of a hierarchy to provide global information.
result RLHC outperforms PPO in tennis and soccer competitions.
Agents use object-oriented reasoning to solve problems more quickly.
problem Finding solutions to problems more efficiently.
method Hierarchical controller directs low-level agent to simulate alternate states of the world.
result Achieves similar reward levels as non-hierarchical agents but with better data efficiency.
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.
Improved language identification accuracy through signal combination methods.
problem Enhancing speech recognition accuracy across multiple languages.
method Combining low-level acoustic signals with language-specific recognizer signals using lattice-based ensemble models and deep neural networks.
result Deep neural network model outperforms lattice-based ensemble model, reducing error rate from 5.5% to 4.3%.