{"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/quality-diversity-actor-critic-learning-high","title":"Quality-Diversity Actor-Critic: Learning High-Performing and Diverse Behaviors via Value and Successor Features Critics","arxiv_id":"2403.09930","date":"2024-03-15","proceeding":null,"authors":["Luca Grillotti","Maxence Faldor","Borja G. León","Antoine Cully"],"abstract":"A key aspect of intelligence is the ability to demonstrate a broad spectrum of behaviors for adapting to unexpected situations. Over the past decade, advancements in deep reinforcement learning have led to groundbreaking achievements to solve complex continuous control tasks. However, most approaches return only one solution specialized for a specific problem. We introduce Quality-Diversity Actor-Critic (QDAC), an off-policy actor-critic deep reinforcement learning algorithm that leverages a value function critic and a successor features critic to learn high-performing and diverse behaviors. In this framework, the actor optimizes an objective that seamlessly unifies both critics using constrained optimization to (1) maximize return, while (2) executing diverse skills. Compared with other Quality-Diversity methods, QDAC achieves significantly higher performance and more diverse behaviors on six challenging continuous control locomotion tasks. We also demonstrate that we can harness the learned skills to adapt better than other baselines to five perturbed environments. Finally, qualitative analyses showcase a range of remarkable behaviors: adaptive-intelligent-robotics.github.io/QDAC.","url_abs":"https://arxiv.org/abs/2403.09930v3","url_pdf":"https://arxiv.org/pdf/2403.09930v3.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":"quality-diversity-actor-critic-learning-high","repo_url":"https://github.com/adaptive-intelligent-robotics/qdac","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"jax","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"continuous-control","task_name":"Continuous Control"},{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"diversity","task_name":"Diversity"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"continuous-control","task_name":"continuous-control"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2403.09930","atlas_url":"https://app.syntology.ai/?focus=2403.09930","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2403.09930"}},"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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