相关论文: Robotic Offline RL from Internet Videos via Value-…

Offline reinforcement learning (RL) aims to optimize the return given a fixed dataset of agent trajectories without additional interactions with the environment. While algorithm development has progressed rapidly, significant theoretical…

Offline Reinforcement Learning (ORL) offers a robust solution to training agents in applications where interactions with the environment must be strictly limited due to cost, safety, or lack of accurate simulation environments. Despite its…

Offline reinforcement learning (RL) defines a sample-efficient learning paradigm, where a policy is learned from static and previously collected datasets without additional interaction with the environment. The major obstacle to offline RL…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Reinforcement learning (RL) has been shown to be effective at learning control from experience. However, RL typically requires a large amount of online interaction with the environment. This limits its applicability to real-world settings,…

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 reinforcement learning (RL) allows for the training of competent agents from offline datasets without any interaction with the environment. Online finetuning of such offline models can further improve performance. But how should we…

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…

We introduce an offline reinforcement learning (RL) algorithm that explicitly clones a behavior policy to constrain value learning. In offline RL, it is often important to prevent a policy from selecting unobserved actions, since the…

Reinforcement learning (RL) algorithms hold the promise of enabling autonomous skill acquisition for robotic systems. However, in practice, real-world robotic RL typically requires time consuming data collection and frequent human…

Large Language Models (LLMs) have achieved remarkable success through imitation learning on vast text corpora, but this paradigm creates a training-generation gap and limits robust reasoning. Reinforcement learning (RL) offers a more…

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 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…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

A promising paradigm for offline reinforcement learning (RL) is to constrain the learned policy to stay close to the dataset behaviors, known as policy constraint offline RL. However, existing works heavily rely on the purity of the data,…

With the advent of large datasets, offline reinforcement learning (RL) is a promising framework for learning good decision-making policies without the need to interact with the real environment. However, offline RL requires the dataset to…

Offline reinforcement learning (RL) can learn control policies from static datasets but, like standard RL methods, it requires reward annotations for every transition. In many cases, labeling large datasets with rewards may be costly,…

We study the problem of offline pre-training and online fine-tuning for reinforcement learning from high-dimensional observations in the context of realistic robot tasks. Recent offline model-free approaches successfully use online…

Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved…

Offline Reinforcement Learning (RL) aims at learning an optimal control from a fixed dataset, without interactions with the system. An agent in this setting should avoid selecting actions whose consequences cannot be predicted from the…