相关论文: Rethinking Goal-conditioned Supervised Learning an…

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…

We study the problem of learning optimal behavior from sub-optimal datasets for goal-conditioned offline reinforcement learning under sparse rewards, invertible actions and deterministic transitions. To mitigate the effects of…

Efficient continual learning techniques have been a topic of significant research over the last few years. A fundamental problem with such learning is severe degradation of performance on previously learned tasks, known also as catastrophic…

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) often struggles with long-horizon tasks, where errors in value estimation accumulate and produce unreliable policies. It is typically assumed that effective long-term planning is…

Offline goal-conditioned reinforcement learning (GCRL) promises general-purpose skill learning in the form of reaching diverse goals from purely offline datasets. We propose $\textbf{Go}$al-conditioned $f$-$\textbf{A}$dvantage…

Foundation models compress a large amount of information in a single, large neural network, which can then be queried for individual tasks. There are strong parallels between this widespread framework and offline goal-conditioned…

Offline reinforcement learning (RL) aims to infer sequential decision policies using only offline datasets. This is a particularly difficult setup, especially when learning to achieve multiple different goals or outcomes under a given…

Approaches for goal-conditioned reinforcement learning (GCRL) often use learned state representations to extract goal-reaching policies. Two frameworks for representation structure have yielded particularly effective GCRL algorithms: (1)…

Offline goal-conditioned reinforcement learning (GCRL) is a promising approach for pretraining generalist policies on large datasets of reward-free trajectories, akin to the self-supervised objectives used to train foundation models for…

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…

In goal-conditioned reinforcement learning (GCRL), sparse rewards present significant challenges, often obstructing efficient learning. Although multi-step GCRL can boost this efficiency, it can also lead to off-policy biases in target…

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…

This article provides a rigorous analysis of convergence and stability of Episodic Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning and Online Decision Transformers. These algorithms performed competitively across…

Goal-conditioned policies are used in order to break down complex reinforcement learning (RL) problems by using subgoals, which can be defined either in state space or in a latent feature space. This can increase the efficiency of learning…

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…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

Unsupervised pre-training has recently become the bedrock for computer vision and natural language processing. In reinforcement learning (RL), goal-conditioned RL can potentially provide an analogous self-supervised approach for making use…

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…

Goal-conditioned reinforcement learning (GCRL), related to a set of complex RL problems, trains an agent to achieve different goals under particular scenarios. Compared to the standard RL solutions that learn a policy solely depending on…