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Recent advance in deep offline reinforcement learning (RL) has made it possible to train strong robotic agents from offline datasets. However, depending on the quality of the trained agents and the application being considered, it is often…

Sample efficiency is critical when applying learning-based methods to robotic manipulation due to the high cost of collecting expert demonstrations and the challenges of on-robot policy learning through online Reinforcement Learning (RL).…

Offline reinforcement learning (RL) seeks to learn optimal policies from static datasets without further environment interaction. A key challenge is the distribution shift between the learned and behavior policies, leading to…

Distribution shift is a major obstacle in offline reinforcement learning, which necessitates minimizing the discrepancy between the learned policy and the behavior policy to avoid overestimating rare or unseen actions. Previous conservative…

With the advent of large datasets, offline reinforcement learning (RL) is a promising framework for learning good decision-making policies without the need to interact with the real environment. However, offline RL requires the dataset to…

Offline reinforcement learning (RL) is a variant of RL where the policy is learned from a previously collected dataset of trajectories and rewards. In our work, we propose a practical approach to offline RL with large language models…

Offline reinforcement learning seeks to utilize offline (observational) data to guide the learning of (causal) sequential decision making strategies. The hope is that offline reinforcement learning coupled with function approximation…

Offline reinforcement learning proposes to learn policies from large collected datasets without interacting with the physical environment. These algorithms have made it possible to learn useful skills from data that can then be deployed in…

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…

Recent work has shown that offline reinforcement learning (RL) can be formulated as a sequence modeling problem (Chen et al., 2021; Janner et al., 2021) and solved via approaches similar to large-scale language modeling. However, any…

Offline reinforcement learning (offline RL), which aims to find an optimal policy from a previously collected static dataset, bears algorithmic difficulties due to function approximation errors from out-of-distribution (OOD) data points. To…

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…

Recent advancements in state-of-the-art (SOTA) offline reinforcement learning (RL) have primarily focused on addressing function approximation errors, which contribute to the overestimation of Q-values for out-of-distribution actions, a…

Offline reinforcement learning (RL) aims to optimize a policy using collected data without online interactions. Model-based approaches are particularly appealing for addressing offline RL challenges because of their capability to mitigate…

Reinforcement learning (RL) has shown great promise with algorithms learning in environments with large state and action spaces purely from scalar reward signals. A crucial challenge for current deep RL algorithms is that they require a…

Many modern approaches to offline Reinforcement Learning (RL) utilize behavior regularization, typically augmenting a model-free actor critic algorithm with a penalty measuring divergence of the policy from the offline data. In this work,…

Offline reinforcement learning (RL) algorithms can acquire effective policies by utilizing previously collected experience, without any online interaction. It is widely understood that offline RL is able to extract good policies even from…

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…

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…

Modern decision-making systems, from robots to web recommendation engines, are expected to adapt: to user preferences, changing circumstances or even new tasks. Yet, it is still uncommon to deploy a dynamically learning agent (rather than a…