无监督质量多样性算法让机器人控制优化摆脱陷阱，无需人工设计特征

Policy optimization seeks the best solution to a control problem according to an objective or fitness function, serving as a fundamental field of engineering and research with applications in robotics. Traditional optimization methods like reinforcement learning and evolutionary algorithms struggle with deceptive fitness landscapes, where following immediate improvements leads to suboptimal solutions. Quality-diversity (QD) algorithms offer a promising approach by maintaining diverse intermediate solutions as stepping stones for escaping local optima. However, QD algorithms require domain expertise to define hand-crafted features, limiting their applicability where characterizing solution diversity remains unclear. In this paper, we show that unsupervised QD algorithms - specifically the AURORA framework, which learns features from sensory data - efficiently solve deceptive optimization problems without domain expertise. By enhancing AURORA with contrastive learning and periodic extinction events, we propose AURORA-XCon, which outperforms all traditional optimization baselines and matches, in some cases even improving by up to 34%, the best QD baseline with domain-specific hand-crafted features. This work establishes a novel application of unsupervised QD algorithms, shifting their focus from discovering novel solutions toward traditional optimization and expanding their potential to domains where defining feature spaces poses challenges.