arXiv:2410.20487v5 Announce Type: replace-cross Abstract: Experience replay is widely used to improve learning efficiency in reinforcement learning by leveraging past experiences. However, existing experience replay methods, whether based on uniform or prioritized sampling, often suffer from low efficiency, particularly in real-world scenarios with high-dimensional state spaces. To address this limitation, we propose a novel approach, Efficient Diversity-based Experience Replay (EDER). EDER employs a determinantal point process to model the diversity between samples and prioritizes replay based on the diversity between samples. To further enhance learning efficiency, we incorporate Cholesky decomposition for handling large state spaces in realistic environments. Additionally, rejection sampling is applied to select samples with higher diversity, thereby improving overall learning efficacy. Extensive experiments are conducted on robotic manipulation tasks in MuJoCo, Atari games, and realistic indoor environments in Habitat. The results demonstrate that our approach not only significantly improves learning efficiency but also achieves superior performance in high-dimensional, realistic environments.

Nature, Published online: 08 April 2026; doi:10.1038/s41586-026-10334-9

Saturation genome editing of RNU4-2 identifies the functional and clinical impact of variants across the entire gene and delineates variants that cause a new recessive neurodevelopmental disorder distinct from ReNU syndrome.