Related papers: Robust Policy Learning via Offline Skill Diffusion

Skills have been introduced to offline reinforcement learning (RL) as temporal abstractions to tackle complex, long-horizon tasks, promoting consistent behavior and enabling meaningful exploration. While skills in offline RL are…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

In offline reinforcement learning (RL), the performance of the learned policy highly depends on the quality of offline datasets. However, in many cases, the offline dataset contains very limited optimal trajectories, which poses a challenge…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

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…

Constrained reinforcement learning (RL) seeks high-performance policies under safety constraints. We focus on an offline setting where the agent has only a fixed dataset -- common in realistic tasks to prevent unsafe exploration. To address…

Reinforcement learning (RL) with diverse offline datasets can have the advantage of leveraging the relation of multiple tasks and the common skills learned across those tasks, hence allowing us to deal with real-world complex problems…

Offline reinforcement learning (RL), which aims to learn an optimal policy using a previously collected static dataset, is an important paradigm of RL. Standard RL methods often perform poorly in this regime due to the function…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

Offline reinforcement learning (RL) leverages pre-collected datasets to train optimal policies. Diffusion Q-Learning (DQL), introducing diffusion models as a powerful and expressive policy class, significantly boosts the performance of…

Deep reinforcement learning (RL) algorithms typically parameterize the policy as a deep network that outputs either a deterministic action or a stochastic one modeled as a Gaussian distribution, hence restricting learning to a single…

Offline reinforcement learning (RL) presents distinct challenges as it relies solely on observational data. A central concern in this context is ensuring the safety of the learned policy by quantifying uncertainties associated with various…

Generative models such as diffusion have been employed as world models in offline reinforcement learning to generate synthetic data for more effective learning. Existing work either generates diffusion models one-time prior to training or…

We study continual offline reinforcement learning, a practical paradigm that facilitates forward transfer and mitigates catastrophic forgetting to tackle sequential offline tasks. We propose a dual generative replay framework that retains…

Offline reinforcement learning (RL) can learn optimal policies from pre-collected offline datasets without interacting with the environment, but the sampled actions of the agent cannot often cover the action distribution under a given…

Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong potential in modeling multi-modal behaviors, enabling more…

Offline reinforcement learning (RL) aims to learn a policy that maximizes the expected return using a given static dataset of transitions. However, offline RL faces the distribution shift problem. The policy constraint offline RL method is…

Reinforcement learning has emerged as a powerful tool for improving diffusion-based text-to-image models, but existing methods are largely limited to single-task optimization. Extending RL to multiple tasks is challenging: joint…

In this work, we present an in-context policy adaptation (ICPAD) framework designed for long-horizon multi-task environments, exploring diffusion-based skill learning techniques in cross-domain settings. The framework enables rapid…