4 papers
Learning Object Manipulation from Scratch via Contrastive Interaction
Tongle Shen, Caleb Chuck, Fan Feng +1
Contrastive Reinforcement Learning (CRL) has seen recent success in a wide variety of goal-conditioned robotics tasks by learning structured representations of the dynamics. Howeve…
Exploiting Local Dynamics Regularity for Reusable Skills in Offline Hierarchical RL
Sarthak Dayal, Abhinav Peri, Carl Qi +4
Hierarchical Reinforcement Learning (HRL) promises to solve long-horizon Reinforcement Learning (RL) tasks more efficiently than non-hierarchical counterparts by discovering and re…
RLZero: Direct Policy Inference from Language Without In-Domain Supervision
Harshit Sikchi, Siddhant Agarwal, Pranaya Jajoo +6
The reward hypothesis states that all goals and purposes can be understood as the maximization of a received scalar reward signal. However, in practice, defining such a reward sign…
Null Counterfactual Factor Interactions for Goal-Conditioned Reinforcement Learning
Caleb Chuck, Fan Feng, Carl Qi +4
Hindsight relabeling is a powerful tool for overcoming sparsity in goal-conditioned reinforcement learning (GCRL), especially in certain domains such as navigation and locomotion.…