{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/grounding-hindsight-instructions-in-multi","title":"Grounding Hindsight Instructions in Multi-Goal Reinforcement Learning for Robotics","arxiv_id":"2204.04308","date":"2022-04-08","proceeding":null,"authors":["Frank Röder","Manfred Eppe","Stefan Wermter"],"abstract":"This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding of language in sensory data and actions. We address these issues with three contributions. We first present a mechanism for hindsight instruction replay utilizing expert feedback. Second, we propose a seq2seq model to generate linguistic hindsight instructions. Finally, we present a novel class of language-focused learning tasks. We show that hindsight instructions improve the learning performance, as expected. In addition, we also provide an unexpected result: We show that the learning performance of our agent can be improved by one third if, in a sense, the agent learns to talk to itself in a self-supervised manner. We achieve this by learning to generate linguistic instructions that would have been appropriate as a natural language goal for an originally unintended behavior. Our results indicate that the performance gain increases with the task-complexity.","url_abs":"https://arxiv.org/abs/2204.04308v2","url_pdf":"https://arxiv.org/pdf/2204.04308v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"grounding-hindsight-instructions-in-multi","repo_url":"https://github.com/knowledgetechnologyuhh/hipss","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"grounding-hindsight-instructions-in-multi","repo_url":"https://github.com/frankroeder/lanro-gym","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"multi-goal-reinforcement-learning","task_name":"Multi-Goal Reinforcement Learning"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[{"method_slug":"lstm","method_name":"LSTM"},{"method_slug":"seq2seq","method_name":"Seq2Seq"},{"method_slug":"sigmoid-activation","method_name":"Sigmoid Activation"},{"method_slug":"tanh-activation","method_name":"Tanh Activation"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2204.04308","atlas_url":"https://app.syntology.ai/?focus=2204.04308","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2204.04308"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. 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