相关论文: Bayesian Nonparametrics for Offline Skill Discover…

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…

The ability to combine known skills to create new ones may be crucial in the solution of complex reinforcement learning problems that unfold over extended periods. We argue that a robust way of combining skills is to define and manipulate…

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…

We consider the finite-horizon offline reinforcement learning (RL) setting, and are motivated by the challenge of learning the policy at any step h in dynamic programming (DP) algorithms. To learn this, it is sufficient to evaluate the…

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…

Expanding reinforcement learning (RL) to offline domains generates promising prospects, particularly in sectors where data collection poses substantial challenges or risks. Pivotal to the success of transferring RL offline is mitigating…

Masked prediction has emerged as a promising pretraining paradigm in offline reinforcement learning (RL) due to its versatile masking schemes, enabling flexible inference across various downstream tasks with a unified model. Despite the…

Skills are temporal abstractions that are intended to improve reinforcement learning (RL) performance through hierarchical RL. Despite our intuition about the properties of an environment that make skills useful, a precise characterization…

We propose the first boosting algorithm for off-policy learning from logged bandit feedback. Unlike existing boosting methods for supervised learning, our algorithm directly optimizes an estimate of the policy's expected reward. We analyze…

Reinforcement learning (RL) has shown promise for decision-making tasks in real-world applications. One practical framework involves training parameterized policy models from an offline dataset and subsequently deploying them in an online…

Offline reinforcement learning, which seeks to utilize offline/historical data to optimize sequential decision-making strategies, has gained surging prominence in recent studies. Due to the advantage that appropriate function approximators…

The offline reinforcement learning (RL) paradigm provides a general recipe to convert static behavior datasets into policies that can perform better than the policy that collected the data. While policy constraints, conservatism, and other…

Developing agents that can execute multiple skills by learning from pre-collected datasets is an important problem in robotics, where online interaction with the environment is extremely time-consuming. Moreover, manually designing reward…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

We introduce a method for constructing skills capable of solving tasks drawn from a distribution of parameterized reinforcement learning problems. The method draws example tasks from a distribution of interest and uses the corresponding…

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…

This article introduces the theory of offline reinforcement learning in large state spaces, where good policies are learned from historical data without online interactions with the environment. Key concepts introduced include expressivity…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

In Offline Model Learning for Planning and in Offline Reinforcement Learning, the limited data set hinders the estimate of the Value function of the relative Markov Decision Process (MDP). Consequently, the performance of the obtained…

Skill acquisition is a key area of research in cognitive psychology as it encompasses multiple psychological processes. The laws discovered under experimental paradigms are controversial and lack generalizability. This paper aims to unearth…