相关论文: Finetuning Offline World Models in the Real World

Reinforcement Learning (RL) has achieved state-of-the-art results in domains such as robotics and games. We build on this previous work by applying RL algorithms to a selection of canonical online stochastic optimization problems with a…

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…

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…

A long-standing goal in AI is to develop agents capable of solving diverse tasks across a range of environments, including those never seen during training. Two dominant paradigms address this challenge: (i) reinforcement learning (RL),…

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…

Offline reinforcement learning is used to train policies in scenarios where real-time access to the environment is expensive or impossible. As a natural consequence of these harsh conditions, an agent may lack the resources to fully observe…

Offline-to-online reinforcement learning (RL), a framework that trains a policy with offline RL and then further fine-tunes it with online RL, has been considered a promising recipe for data-driven decision-making. While sensible, this…

Reinforcement learning (RL) is a key post-pretraining step for aligning large language models (LLMs) with complex tasks and human preferences. While it is often assumed that RL fine-tuning requires updating most of a model's parameters, we…

Fine-tuning is a widespread technique that allows practitioners to transfer pre-trained capabilities, as recently showcased by the successful applications of foundation models. However, fine-tuning reinforcement learning (RL) models remains…

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…

In many reinforcement learning (RL) applications one cannot easily let the agent act in the world; this is true for autonomous vehicles, healthcare applications, and even some recommender systems, to name a few examples. Offline RL provides…

While imitation learning requires access to high-quality data, offline reinforcement learning (RL) should, in principle, perform similarly or better with substantially lower data quality by using a value function. However, current results…

Robotic manipulation policies are commonly initialized through imitation learning, but their performance is limited by the scarcity and narrow coverage of expert data. Reinforcement learning can refine polices to alleviate this limitation,…

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…

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…

In some applications of reinforcement learning, a dataset of pre-collected experience is already available but it is also possible to acquire some additional online data to help improve the quality of the policy. However, it may be…

This study presents a novel approach to addressing offline reinforcement learning (RL) problems by reframing them as regression tasks that can be effectively solved using Decision Trees. Mainly, we introduce two distinct frameworks:…

Reinforcement learning can enable robots to navigate to distant goals while optimizing user-specified reward functions, including preferences for following lanes, staying on paved paths, or avoiding freshly mowed grass. However, online…

Dynamic radio resource management (RRM) in wireless networks presents significant challenges, particularly in the context of Radio Access Network (RAN) slicing. This technology, crucial for catering to varying user requirements, often…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…