We propose a novel framework to identify sub-goals useful for exploration in sequential decision making tasks under partial observability. We utilize the variational intrinsic control framework (Gregor et.al., 2016) which maximizes empowerment -- the ability to reliably reach a diverse set of states and show how to ide…
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11 results for “sub-goals”
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.
Many AI problems, in robotics and other domains, are goal-directed, essentially seeking a trajectory leading to some goal state. In such problems, the way we choose to represent a trajectory underlies algorithms for trajectory prediction and optimization. Interestingly, most all prior work in imitation and reinforcemen…
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.
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…
Recurrent neural networks (RNNs) for reinforcement learning (RL) have shown distinct advantages, e.g., solving memory-dependent tasks and meta-learning. However, little effort has been spent on improving RNN architectures and on understanding the underlying neural mechanisms for performance gain. In this paper, we prop…
Agent learns third-person manipulation tasks from a single video.
problem Learning from third-person videos to perform novel tasks.
method Decoupling high-level task generation from low-level action prediction.
result Agent successfully learns and performs tasks in unseen scenarios.
A major bottleneck for developing general reinforcement learning agents is determining rewards that will yield desirable behaviors under various circumstances. We introduce a general mechanism for automatically specifying meaningful behaviors from raw pixels. In particular, we train a generative adversarial network to …
A popular approach of achieving fairness in optimization problems is by constraining the solution space to "fair" solutions, which unfortunately typically reduces solution quality. In practice, the ultimate goal is often an aggregate of sub-goals without a unique or best way of combining them or which is otherwise only…
Hierarchical reinforcement learning deals with the problem of breaking down large tasks into meaningful sub-tasks. Autonomous discovery of these sub-tasks has remained a challenging problem. We propose a novel method of learning sub-tasks by combining paradigms of routing in computer networks and graph based skill disc…
Study reveals RL game's embedding space is stratified, not a manifold.
problem Understanding the structure of RL game embeddings.
method Adapted Robinson's volume growth transform for RL setting.
result Token embedding space is stratified, not a manifold.