Related papers: Latent Representation Alignment for Offline Goal-C…
Offline reinforcement learning (RL) shows promise of applying RL to real-world problems by effectively utilizing previously collected data. Most existing offline RL algorithms use regularization or constraints to suppress extrapolation…
Compositional generalization is essential for reaching unseen goals under novel contextual variations in offline goal-conditioned reinforcement learning (GCRL), where a generalist goal-reaching agent must be learned from limited data. Most…
In reinforcement learning (RL), it is easier to solve a task if given a good representation. While deep RL should automatically acquire such good representations, prior work often finds that learning representations in an end-to-end fashion…
Goal-Conditioned Reinforcement Learning (GCRL) can enable agents to spontaneously set diverse goals to learn a set of skills. Despite the excellent works proposed in various fields, reaching distant goals in temporally extended tasks…
Goal-conditioned reinforcement learning (RL) is a promising direction for training agents that are capable of solving multiple tasks and reach a diverse set of objectives. How to \textit{specify} and \textit{ground} these goals in such a…
This paper investigates robust representation learning in offline goal-conditioned reinforcement learning (GCRL). Particularly in sparse reward scenarios, learning representations that align state and goal latents is a challenge that…
Offline reinforcement learning (RL) tries to learn the near-optimal policy with recorded offline experience without online exploration. Current offline RL research includes: 1) generative modeling, i.e., approximating a policy using fixed…
Hierarchical goal-conditioned reinforcement learning (H-GCRL) provides a powerful framework for tackling complex, long-horizon tasks by decomposing them into structured subgoals. However, its practical adoption is hindered by poor data…
As a pivotal component to attaining generalizable solutions in human intelligence, reasoning provides great potential for reinforcement learning (RL) agents' generalization towards varied goals by summarizing part-to-whole arguments and…
Offline Goal-Conditioned Reinforcement Learning (GCRL) holds great promise for domains such as autonomous navigation and locomotion, where collecting interactive data is costly and unsafe. However, it remains challenging in practice due to…
Hierarchical policies in offline goal-conditioned reinforcement learning (GCRL) addresses long-horizon tasks by decomposing control into high-level subgoal planning and low-level action execution. A critical design choice in such…
Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…
In this work, we introduce dual goal representations for goal-conditioned reinforcement learning (GCRL). A dual goal representation characterizes a state by "the set of temporal distances from all other states"; in other words, it encodes a…
We study offline reinforcement learning of style-conditioned policies using explicit style supervision via subtrajectory labeling functions. In this setting, aligning style with high task performance is particularly challenging due to…
Offline Goal-Conditioned Reinforcement Learning (GCRL) is tasked with learning to achieve multiple goals in an environment purely from offline datasets using sparse reward functions. Offline GCRL is pivotal for developing generalist agents…
Solving goal-conditioned tasks with sparse rewards using self-supervised learning is promising because of its simplicity and stability over current reinforcement learning (RL) algorithms. A recent work, called Goal-Conditioned Supervised…
Offline reinforcement learning (RL) enables policy learning from static data but often suffers from poor coverage of the state-action space and distributional shift problems. This problem can be addressed by allowing limited online…
Offline goal-conditioned reinforcement learning (GCRL) can be challenging due to overfitting to the given dataset. To generalize agents' skills outside the given dataset, we propose a goal-swapping procedure that generates additional…
Large language models often require fine-tuning to better align their behavior with user intent at deployment. Existing approaches are commonly divided into online and offline paradigms. Online methods, such as RL-based alignment, can…
While Goal-Conditioned Reinforcement Learning (GCRL) has gained attention, its algorithmic robustness against adversarial perturbations remains unexplored. The attacks and robust representation training methods that are designed for…