Fei Cui

Fei Cui, Jiaojiao Fang, Mengke Yang et al.

Goal-conditioned hierarchical reinforcement learning (GCHRL) decomposes long-horizon tasks into sub-tasks through a hierarchical framework and it has demonstrated promising results across a variety of domains. However, the high-level policy's action space is often excessively large, presenting a significant challenge to effective exploration and resulting in potentially inefficient training. In this paper, we design a measure of prospect for sub-goals by planning in the goal space based on the goal-conditioned value function. Building upon the measure of prospect, we propose a landmark-guided exploration strategy by integrating the measures of prospect and novelty which aims to guide the agent to explore efficiently and improve sample efficiency. In order to dynamically consider the impact of prospect and novelty on exploration, we introduce a state-specific balance coefficient to balance the significance of prospect and novelty. The experimental results demonstrate that our proposed exploration strategy significantly outperforms the baseline methods across multiple tasks.

Fei Cui, Jiaojiao Fang, Xiaojiang Wu et al.

Stochastic video prediction enables the consideration of uncertainty in future motion, thereby providing a better reflection of the dynamic nature of the environment. Stochastic video prediction methods based on image auto-regressive recurrent models need to feed their predictions back into the latent space. Conversely, the state-space models, which decouple frame synthesis and temporal prediction, proves to be more efficient. However, inferring long-term temporal information about motion and generalizing to dynamic scenarios under non-stationary assumptions remains an unresolved challenge. In this paper, we propose a state-space decomposition stochastic video prediction model that decomposes the overall video frame generation into deterministic appearance prediction and stochastic motion prediction. Through adaptive decomposition, the model's generalization capability to dynamic scenarios is enhanced. In the context of motion prediction, obtaining a prior on the long-term trend of future motion is crucial. Thus, in the stochastic motion prediction branch, we infer the long-term motion trend from conditional frames to guide the generation of future frames that exhibit high consistency with the conditional frames. Experimental results demonstrate that our model outperforms baselines on multiple datasets.