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Insufficient learning (due to convergence to local optima) results in under-performing policies whilst redundant learning wastes time and resources. The effects are further exacerbated when using single policies to solve multi-task learning problems. Observing that the Evidence Lower Bound (ELBO) used in Variational Auto-Encoders correlates with the diversity of image samples, we propose an auto-tuning technique based on the ELBO for self-supervised reinforcement learning. Our approach can auto-tune three hyperparameters: the replay buffer size, the number of policy gradient updates during each epoch, and the number of exploration steps during each epoch. We use a state-of-the-art self-supervised robot learning framework (Reinforcement Learning with Imagined Goals (RIG) using Soft Actor-Critic) as baseline for experimental verification. Experiments show that our method can auto-tune online and yields the best performance at a fraction of the time and computational resources. Code, video, and appendix for simulated and real-robot experiments can be found at the project page \\url{www.JuanRojas.net/autotune}.","url_abs":"https://arxiv.org/abs/2010.08252v4","url_pdf":"https://arxiv.org/pdf/2010.08252v4.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":"hyperparameter-auto-tuning-in-self-supervised","repo_url":"https://github.com/birlrobotics/rlkit_autotune","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"hyperparameter-auto-tuning-in-self-supervised","repo_url":"https://github.com/huangjiancong1/rlkit_autotune","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"diversity","task_name":"Diversity"},{"task_slug":"multi-task-learning","task_name":"Multi-Task 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":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2010.08252","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2010.08252"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+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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