Related papers: Robotic Manipulation Datasets for Offline Composit…

Offline reinforcement learning (RL) holds promise as a means to learn high-reward policies from a static dataset, without the need for further environment interactions. However, a key challenge in offline RL lies in effectively stitching…

We consider the offline reinforcement learning problem, where the aim is to learn a decision making policy from logged data. Offline RL -- particularly when coupled with (value) function approximation to allow for generalization in large or…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

We consider the hybrid reinforcement learning setting where the agent has access to both offline data and online interactive access. While Reinforcement Learning (RL) research typically assumes offline data contains complete action, reward…

Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios…

Reinforcement learning has been applied to a wide variety of robotics problems, but most of such applications involve collecting data from scratch for each new task. Since the amount of robot data we can collect for any single task is…

In recent years, on-policy reinforcement learning (RL) has been successfully applied to many different continuous control tasks. While RL algorithms are often conceptually simple, their state-of-the-art implementations take numerous low-…

Offline reinforcement learning (RL) aims to learn from historical data without requiring (costly) access to the environment. To facilitate offline RL research, we previously introduced NeoRL, which highlighted that datasets from real-world…

Offline-to-online reinforcement learning (RL) improves sample efficiency by leveraging pre-collected datasets prior to online interaction. A key challenge, however, is learning an accurate critic in large state--action spaces with limited…

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Online matching problems arise in many complex systems, from cloud services and online marketplaces to organ exchange networks, where timely, principled decisions are critical for maintaining high system performance. Traditional heuristics…

Humans are capable of abstracting various tasks as different combinations of multiple attributes. This perspective of compositionality is vital for human rapid learning and adaption since previous experiences from related tasks can be…

Recently, it has been shown that for offline deep reinforcement learning (DRL), pre-training Decision Transformer with a large language corpus can improve downstream performance (Reid et al., 2022). A natural question to ask is whether this…

Off-dynamics reinforcement learning (RL), where training and deployment transition dynamics are different, can be formulated as learning in a robust Markov decision process (RMDP) where uncertainties in transition dynamics are imposed.…

Offline reinforcement learning (RL) defines a sample-efficient learning paradigm, where a policy is learned from static and previously collected datasets without additional interaction with the environment. The major obstacle to offline RL…

Hierarchical policies enable strong performance in many sequential decision-making problems, such as those with high-dimensional action spaces, those requiring long-horizon planning, and settings with sparse rewards. However, learning…

Offline reinforcement learning (RL) enables learning effective policies from fixed datasets without any environment interaction. Existing methods typically employ policy constraints to mitigate the distribution shift encountered during…

Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and benchmark algorithms. However, insights gained in simulation…

Deep reinforcement learning (DRL) frameworks are increasingly used to solve high-dimensional continuous control tasks in robotics. However, due to the lack of sample efficiency, applying DRL for online learning is still practically…