相关论文: Offline Robot Reinforcement Learning with Uncertai…
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…
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…
A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…
Offline or batch reinforcement learning seeks to learn a near-optimal policy using history data without active exploration of the environment. To counter the insufficient coverage and sample scarcity of many offline datasets, the principle…
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).…
Model-free reinforcement learning based methods such as Proximal Policy Optimization, or Q-learning typically require thousands of interactions with the environment to approximate the optimum controller which may not always be feasible in…
Sample efficiency and exploration remain major challenges in online reinforcement learning (RL). A powerful approach that can be applied to address these issues is the inclusion of offline data, such as prior trajectories from a human…
We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…
Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…
Offline reinforcement learning requires reconciling two conflicting aims: learning a policy that improves over the behavior policy that collected the dataset, while at the same time minimizing the deviation from the behavior policy so as to…
Offline policy learning is aimed at learning decision-making policies using existing datasets of trajectories without collecting additional data. The primary motivation for using reinforcement learning (RL) instead of supervised learning…
Offline reinforcement learning (RL) provides a promising approach to avoid costly online interaction with the real environment. However, the performance of offline RL highly depends on the quality of the datasets, which may cause…
In this tutorial article, we aim to provide the reader with the conceptual tools needed to get started on research on offline reinforcement learning algorithms: reinforcement learning algorithms that utilize previously collected data,…
Supervised imitation-based approaches are often favored over off-policy reinforcement learning approaches for learning policies offline, since their straightforward optimization objective makes them computationally efficient and stable to…
Offline reinforcement learning leverages pre-collected datasets of transitions to train policies. It can serve as effective initialization for online algorithms, enhancing sample efficiency and speeding up convergence. However, when such…
Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…
Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…
We propose a multi-time-scale predictive representation learning method to efficiently learn robust driving policies in an offline manner that generalize well to novel road geometries, and damaged and distracting lane conditions which are…
We address the challenge of offline reinforcement learning using realistic data, specifically non-expert data collected through sub-optimal behavior policies. Under such circumstance, the learned policy must be safe enough to manage…
Standard reinforcement learning algorithms with a single policy perform poorly on tasks in complex environments involving sparse rewards, diverse behaviors, or long-term planning. This led to the study of algorithms that incorporate…