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Reinforcement learning (RL) promises to solve long-horizon tasks even when training data contains only short fragments of the behaviors. This experience stitching capability is often viewed as the purview of temporal difference (TD)…

Recently, supervised learning (SL) methodology has emerged as an effective approach for offline reinforcement learning (RL) due to their simplicity, stability, and efficiency. However, recent studies show that SL methods lack the trajectory…

Deep Reinforcement Learning has shown great success in a variety of control tasks. However, it is unclear how close we are to the vision of putting Deep RL into practice to solve real world problems. In particular, common practice in the…

Supervised learning (SL) and reinforcement learning (RL) are both widely used to train general-purpose agents for complex tasks, yet their generalization capabilities and underlying mechanisms are not yet fully understood. In this paper, we…

Conventional reinforcement learning (RL) algorithms exhibit broad generality in their theoretical formulation and high performance on several challenging domains when combined with powerful function approximation. However, developing RL…

Offline reinforcement learning (RL) can in principle synthesize more optimal behavior from a dataset consisting only of suboptimal trials. One way that this can happen is by "stitching" together the best parts of otherwise suboptimal…

Reinforcement learning (RL)-based post-training often improves the reasoning performance of large language models (LLMs) beyond the training domain, while supervised fine-tuning (SFT) frequently leads to general capabilities forgetting.…

The adaptation of large-scale Vision-Language Models (VLMs) through post-training reveals a pronounced generalization gap: models fine-tuned with Reinforcement Learning (RL) consistently achieve superior out-of-distribution (OOD)…

While reinforcement learning (RL) successfully enhances reasoning in large language models, its role in fostering compositional generalization (the ability to synthesize novel skills from known components) is often conflated with mere…

A machine learning (ML) system must learn not only to match the output of a target function on a training set, but also to generalize to novel situations in order to yield accurate predictions at deployment. In most practical applications,…

Supervised fine-tuning (SFT) and reinforcement learning (RL) are widely used post-training techniques for foundation models. However, their roles in enhancing model generalization capabilities remain unclear. This paper studies the…

Generalization in Reinforcement Learning (RL) aims to learn an agent during training that generalizes to the target environment. This paper studies RL generalization from a theoretical aspect: how much can we expect pre-training over…

In many real-world applications, collecting large and high-quality datasets may be too costly or impractical. Offline reinforcement learning (RL) aims to infer an optimal decision-making policy from a fixed set of data. Getting the most…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

In sequential decision-making problems, Return-Conditioned Supervised Learning (RCSL) has gained increasing recognition for its simplicity and stability in modern decision-making tasks. Unlike traditional offline reinforcement learning (RL)…

Deep learning has been shown to be very capable at performing many real-world tasks. However, this performance is often dependent on the presence of large and varied datasets. In some settings, like in the medical domain, data is often…

A prevailing narrative in LLM post-training holds that supervised finetuning (SFT) memorizes while reinforcement learning (RL) generalizes. We revisit this claim for reasoning SFT with long chain-of-thought (CoT) supervision and find that…

A highly desirable property of a reinforcement learning (RL) agent -- and a major difficulty for deep RL approaches -- is the ability to generalize policies learned on a few tasks over a high-dimensional observation space to similar tasks…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

As a step towards developing zero-shot task generalization capabilities in reinforcement learning (RL), we introduce a new RL problem where the agent should learn to execute sequences of instructions after learning useful skills that solve…