相关论文: Robotic Manipulation Datasets for Offline Composit…

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…

Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perform complex tasks. However, acquiring large-scale,…

We consider the problem of sequential recommendation, where the current recommendation is made based on past interactions. This recommendation task requires efficient processing of the sequential data and aims to provide recommendations…

Reliant on too many experiments to learn good actions, current Reinforcement Learning (RL) algorithms have limited applicability in real-world settings, which can be too expensive to allow exploration. We propose an algorithm for batch RL,…

Reinforcement learning (RL) has the potential to transform real-world decision-making systems by enabling autonomous agents to learn from experience. Deploying RL in real-world settings, especially in the context of human-robot interaction,…

This paper introduces the offline meta-reinforcement learning (offline meta-RL) problem setting and proposes an algorithm that performs well in this setting. Offline meta-RL is analogous to the widely successful supervised learning strategy…

In offline reinforcement learning, weighted regression is a common method to ensure the learned policy stays close to the behavior policy and to prevent selecting out-of-sample actions. In this work, we show that due to the limited…

Offline Reinforcement Learning (RL) is a promising approach for next-generation wireless networks, where online exploration is unsafe and large amounts of operational data can be reused across the model lifecycle. However, the behavior of…

Offline reinforcement learning (RL) optimizes the policy on a previously collected dataset without any interactions with the environment, yet usually suffers from the distributional shift problem. To mitigate this issue, a typical solution…

Offline RL methods have been shown to reduce the need for environment interaction by training agents using offline collected episodes. However, these methods typically require action information to be logged during data collection, which…

Reinforcement learning (RL) is widely used in autonomous driving tasks and training RL models typically involves in a multi-step process: pre-training RL models on simulators, uploading the pre-trained model to real-life robots, and…

Offline safe reinforcement learning (RL) has emerged as a promising approach for learning safe behaviors without engaging in risky online interactions with the environment. Most existing methods in offline safe RL rely on cost constraints…

In reinforcement learning (RL), there are two major settings for interacting with the environment: online and offline. Online methods explore the environment at significant time cost, and offline methods efficiently obtain reward signals by…

Offline reinforcement learning (RL) aims to find performant policies from logged data without further environment interaction. Model-based algorithms, which learn a model of the environment from the dataset and perform conservative policy…

We hypothesize that empirically studying the sample complexity of offline reinforcement learning (RL) is crucial for the practical applications of RL in the real world. Several recent works have demonstrated the ability to learn policies…

Interacting with the actual environment to acquire data is often costly and time-consuming in robotic tasks. Model-based offline reinforcement learning (RL) provides a feasible solution. On the one hand, it eliminates the requirements of…

Offline reinforcement learning (RL) that learns policies from offline datasets without environment interaction has received considerable attention in recent years. Compared with the rich literature in the single-agent case, offline…

Learning contact-rich manipulation skills is essential. Such skills require the robots to interact with the environment with feasible manipulation trajectories and suitable compliance control parameters to enable safe and stable contact.…

The goal of an offline reinforcement learning (RL) algorithm is to learn optimal polices using historical (offline) data, without access to the environment for online exploration. One of the main challenges in offline RL is the distribution…

Autonomous excavation is a challenging task. The unknown contact dynamics between the excavator bucket and the terrain could easily result in large contact forces and jamming problems during excavation. Traditional model-based methods…