相关论文: Model-based trajectory stitching for improved beha…

Offline reinforcement learning (RL) aims at learning policies from previously collected static trajectory data without interacting with the real environment. Recent works provide a novel perspective by viewing offline RL as a generic…

Behavior Cloning (BC) on curated (or filtered) data is the predominant paradigm for supervised fine-tuning (SFT) of large language models; as well as for imitation learning of control policies. Here, we draw on a connection between this…

Overestimation arising from selecting unseen actions during policy evaluation is a major challenge in offline reinforcement learning (RL). A minimalist approach in the single-agent setting -- adding behavior cloning (BC) regularization to…

Behavior cloning (BC) is a widely-used approach in imitation learning, where a robot learns a control policy by observing an expert supervisor. However, the learned policy can make errors and might lead to safety violations, which limits…

One of the fundamental challenges for offline reinforcement learning (RL) is ensuring robustness to data distribution. Whether the data originates from a near-optimal policy or not, we anticipate that an algorithm should demonstrate its…

Off-policy learning is a framework for evaluating and optimizing policies without deploying them, from data collected by another policy. Real-world environments are typically non-stationary and the offline learned policies should adapt to…

Recent advances in Behavior Cloning (BC) have made it easy to teach robots new tasks. However, we find that the ease of teaching comes at the cost of unreliable performance that saturates with increasing data for tasks requiring precision.…

Trajectory clustering is an important operation of knowledge discovery from mobility data. Especially nowadays, the need for performing advanced analytic operations over massively produced data, such as mobility traces, in efficient and…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

Off-policy learning from multistep returns is crucial for sample-efficient reinforcement learning, particularly in the experience replay setting now commonly used with deep neural networks. Classically, off-policy estimation bias is…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

Offline (or batch) reinforcement learning (RL) algorithms seek to learn an optimal policy from a fixed dataset without active data collection. Based on the composition of the offline dataset, two main categories of methods are used:…

We study the problem of offline Imitation Learning (IL) where an agent aims to learn an optimal expert behavior policy without additional online environment interactions. Instead, the agent is provided with a supplementary offline dataset…

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…

Deep reinforcement learning algorithms have succeeded in several challenging domains. Classic Online RL job schedulers can learn efficient scheduling strategies but often takes thousands of timesteps to explore the environment and adapt…

We study finite-horizon offline reinforcement learning (RL) with function approximation for both policy evaluation and policy optimization. Prior work established that statistically efficient learning is impossible for either of these…

Pre-training with offline data and online fine-tuning using reinforcement learning is a promising strategy for learning control policies by leveraging the best of both worlds in terms of sample efficiency and performance. One natural…

Some reinforcement learning (RL) algorithms can stitch pieces of experience to solve a task never seen before during training. This oft-sought property is one of the few ways in which RL methods based on dynamic-programming differ from RL…

Behavioural characterizations (BCs) of decision-making agents, or their policies, are used to study outcomes of training algorithms and as part of the algorithms themselves to encourage unique policies, match expert policy or restrict…

Trajectory Optimization (TO) and Reinforcement Learning (RL) offer complementary strengths for solving optimal control problems. TO efficiently computes locally optimal solutions but can struggle with non-convexity, while RL is more robust…