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

Vision-language-action (VLA) models can learn to perform diverse manipulation skills "out of the box," but achieving the precision and speed that real-world tasks demand requires further fine-tuning -- for example, via reinforcement…

Offline Reinforcement Learning (RL) aims to learn a near-optimal policy from a fixed dataset of transitions collected by another policy. This problem has attracted a lot of attention recently, but most existing methods with strong…

Offline reinforcement learning (RL) can be used to improve future performance by leveraging historical data. There exist many different algorithms for offline RL, and it is well recognized that these algorithms, and their hyperparameter…

Recently, offline reinforcement learning (RL) has become a popular RL paradigm. In offline RL, data providers share pre-collected datasets -- either as individual transitions or sequences of transitions forming trajectories -- to enable the…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Offline reinforcement learning (RL) enables the agent to effectively learn from logged data, which significantly extends the applicability of RL algorithms in real-world scenarios where exploration can be expensive or unsafe. Previous works…

Offline preference-based reinforcement learning (RL), which focuses on optimizing policies using human preferences between pairs of trajectory segments selected from an offline dataset, has emerged as a practical avenue for RL applications.…

In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevations, and it is difficult to model the interaction dynamics…

Imitation by observation is an approach for learning from expert demonstrations that lack action information, such as videos. Recent approaches to this problem can be placed into two broad categories: training dynamics models that aim to…

Pretraining is a common technique in deep learning for increasing performance and reducing training time, with promising experimental results in deep reinforcement learning (RL). However, pretraining requires a relevant dataset for…

Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi-modal data. To compensate for the deficiency of robot data,…

Reinforcement learning (RL) with diverse offline datasets can have the advantage of leveraging the relation of multiple tasks and the common skills learned across those tasks, hence allowing us to deal with real-world complex problems…

Offline reinforcement learning (RL) aims to learn an optimal policy from a static dataset, making it particularly valuable in scenarios where data collection is costly, such as robotics. A major challenge in offline RL is distributional…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

Offline reinforcement learning (RL) has emerged as a promising framework for addressing robot social navigation challenges. However, inherent uncertainties in pedestrian behavior and limited environmental interaction during training often…

Offline-to-online reinforcement learning (O2O RL) aims to obtain a continually improving policy as it interacts with the environment, while ensuring the initial policy behaviour is satisficing. This satisficing behaviour is necessary for…

Several approaches have been proposed to improve the sample efficiency of online reinforcement learning (RL) by leveraging demonstrations collected offline. The offline data can be used directly as transitions to optimize RL objectives, or…

Offline reinforcement learning (RL) aims to learn policies without online explorations. To enlarge the training data, model-based offline RL learns a dynamics model which is utilized as a virtual environment to generate simulation data and…

Offline reinforcement learning (RL), also known as batch RL, offers the prospect of policy optimization from large pre-recorded datasets without online environment interaction. It addresses challenges with regard to the cost of data…

Reinforcement learning (RL) has shown significant promise for sequential portfolio optimization tasks, such as stock trading, where the objective is to maximize cumulative returns while minimizing risks using historical data. However,…