相关论文: SMORE: Score Models for Offline Goal-Conditioned R…

Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various approaches for agents to learn near-optimal policies, these…

Goal-conditioned reinforcement learning (GCRL) refers to learning general-purpose skills that aim to reach diverse goals. In particular, offline GCRL only requires purely pre-collected datasets to perform training tasks without additional…

Offline goal-conditioned reinforcement learning (GCRL) is a major problem in reinforcement learning (RL) because it provides a simple, unsupervised, and domain-agnostic way to acquire diverse behaviors and representations from unlabeled…

Offline goal-conditioned reinforcement learning (GCRL) promises general-purpose skill learning in the form of reaching diverse goals from purely offline datasets. We propose $\textbf{Go}$al-conditioned $f$-$\textbf{A}$dvantage…

Approaches for goal-conditioned reinforcement learning (GCRL) often use learned state representations to extract goal-reaching policies. Two frameworks for representation structure have yielded particularly effective GCRL algorithms: (1)…

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 goal-conditioned reinforcement learning (GCRL) is a promising approach for pretraining generalist policies on large datasets of reward-free trajectories, akin to the self-supervised objectives used to train foundation models for…

Reinforcement learning (RL) often struggles to accomplish a sparse-reward long-horizon task in a complex environment. Goal-conditioned reinforcement learning (GCRL) has been employed to tackle this difficult problem via a curriculum of…

Offline Goal-Conditioned RL (GCRL) offers a feasible paradigm for learning general-purpose policies from diverse and multi-task offline datasets. Despite notable recent progress, the predominant offline GCRL methods, mainly model-free, face…

Solving goal-conditioned tasks with sparse rewards using self-supervised learning is promising because of its simplicity and stability over current reinforcement learning (RL) algorithms. A recent work, called Goal-Conditioned Supervised…

Offline goal-conditioned RL (GCRL) offers a way to train general-purpose agents from fully offline datasets. In addition to being conservative within the dataset, the generalization ability to achieve unseen goals is another fundamental…

Offline goal-conditioned reinforcement learning (GCRL) is a practical reinforcement learning paradigm that aims to learn goal-conditioned policies from reward-free offline data. Despite recent advances in hierarchical architectures such as…

Offline goal-conditioned reinforcement learning (GCRL) provides a practical framework for obtaining goal-reaching policies from fixed datasets. However, learning a reliable goal-conditioned value function in long-horizon tasks remains…

Goal-conditioned hierarchical reinforcement learning (HRL) presents a promising approach for enabling effective exploration in complex, long-horizon reinforcement learning (RL) tasks through temporal abstraction. Empirically, heightened…

Offline reinforcement learning (RL) enables policy learning from pre-collected datasets, avoiding costly and risky online interactions, but it often struggles with long-horizon tasks involving sparse rewards. Existing goal-conditioned and…

With the success of offline reinforcement learning (RL), offline trained RL policies have the potential to be further improved when deployed online. A smooth transfer of the policy matters in safe real-world deployment. Besides, fast…

Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-robot runtime, due to inefficient exploration when learning…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Goal-Conditioned Reinforcement Learning (GCRL) provides a versatile framework for developing unified controllers capable of handling wide ranges of tasks, exploring environments, and adapting behaviors. However, its reliance on…

We study the problem of learning optimal behavior from sub-optimal datasets for goal-conditioned offline reinforcement learning under sparse rewards, invertible actions and deterministic transitions. To mitigate the effects of…