相关论文: Offline Reinforcement Learning with Generative Tra…

This paper presents advanced techniques of training diffusion policies for offline reinforcement learning (RL). At the core is a mean-reverting stochastic differential equation (SDE) that transfers a complex action distribution into a…

While data-driven trajectory prediction has enhanced the reliability of autonomous driving systems, it still struggles with rarely observed long-tail scenarios. Prior works addressed this by modifying model architectures, such as using…

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) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

We consider the offline imitation learning from observations (LfO) where the expert demonstrations are scarce and the available offline suboptimal data are far from the expert behavior. Many existing distribution-matching approaches…

Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…

Offline-to-Online Reinforcement Learning (O2O RL) faces a critical dilemma in balancing the use of a fixed offline dataset with newly collected online experiences. Standard methods, often relying on a fixed data-mixing ratio, struggle to…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

Offline reinforcement learning often relies on behavior regularization that enforces policies to remain close to the dataset distribution. However, such approaches fail to distinguish between high-value and low-value actions in their…

Most offline reinforcement learning (RL) algorithms return a target policy maximizing a trade-off between (1) the expected performance gain over the behavior policy that collected the dataset, and (2) the risk stemming from the…

Deep reinforcement learning (DRL) is one promising approach to teaching robots to perform complex tasks. Because methods that directly reuse the stored experience data cannot follow the change of the environment in robotic problems with a…

Offline reinforcement learning enables sample-efficient policy acquisition without risky online interaction, yet policies trained on static datasets remain brittle under action-space perturbations such as actuator faults. This study…

Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that…

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),…

Modern decision-making systems, from robots to web recommendation engines, are expected to adapt: to user preferences, changing circumstances or even new tasks. Yet, it is still uncommon to deploy a dynamically learning agent (rather than a…

Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-policy Generative Policy Optimization (OGPO), a…

Reinforcement learning (RL) post-training is crucial for aligning generative models with human preferences, but its prohibitive computational cost remains a major barrier to widespread adoption. We introduce \textbf{TreeGRPO}, a novel RL…

Offline-to-online reinforcement learning (O2O-RL) has emerged as a promising paradigm for safe and efficient robotic policy deployment but suffers from two fundamental challenges: limited coverage of multimodal behaviors and distributional…

We study the problem of representation transfer in offline Reinforcement Learning (RL), where a learner has access to episodic data from a number of source tasks collected a priori, and aims to learn a shared representation to be used in…

In the rapidly changing healthcare landscape, the implementation of offline reinforcement learning (RL) in dynamic treatment regimes (DTRs) presents a mix of unprecedented opportunities and challenges. This position paper offers a critical…