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Found 70 papers, 28 papers with code
Inverse Dynamics Pretraining Learns Good Representations for Multitask Imitation
In recent years, domains such as natural language processing and image recognition have popularized the paradigm of using large datasets to pretrain representations that can be effectively transferred to downstream tasks.
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
In the second approach, we distill the specialist skills into a Transformer-based generalist locomotion policy, named Locomotion-Transformer, that can handle various terrains and adjust the robot's gait based on the perceived environment and robot states.
Multimodal Web Navigation with Instruction-Finetuned Foundation Models
The progress of autonomous web navigation has been hindered by the dependence on billions of exploratory interactions via online reinforcement learning, and domain-specific model designs that make it difficult to leverage generalization from rich out-of-domain data.
Foundation Models for Decision Making: Problems, Methods, and Opportunities
In response to these developments, new paradigms are emerging for training foundation models to interact with other agents and perform long-term reasoning.
Learning Universal Policies via Text-Guided Video Generation
The proposed policy-as-video formulation can further represent environments with different state and action spaces in a unified space of images, which, for example, enables learning and generalization across a variety of robot manipulation tasks.
RT-1: Robotics Transformer for Real-World Control at Scale
By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance.
Multi-Environment Pretraining Enables Transfer to Action Limited Datasets
Using massive datasets to train large-scale models has emerged as a dominant approach for broad generalization in natural language and vision applications.
Contrastive Value Learning: Implicit Models for Simple Offline RL
In this paper, we propose Contrastive Value Learning (CVL), which learns an implicit, multi-step model of the environment dynamics.
Oracle Inequalities for Model Selection in Offline Reinforcement Learning
We propose the first model selection algorithm for offline RL that achieves minimax rate-optimal oracle inequalities up to logarithmic factors.
Dichotomy of Control: Separating What You Can Control from What You Cannot
While return-conditioning is at the heart of popular algorithms such as decision transformer (DT), these methods tend to perform poorly in highly stochastic environments, where an occasional high return can arise from randomness in the environment rather than the actions themselves.
Understanding HTML with Large Language Models
We contribute HTML understanding models (fine-tuned LLMs) and an in-depth analysis of their capabilities under three tasks: (i) Semantic Classification of HTML elements, (ii) Description Generation for HTML inputs, and (iii) Autonomous Web Navigation of HTML pages.
PI-ARS: Accelerating Evolution-Learned Visual-Locomotion with Predictive Information Representations
Evolution Strategy (ES) algorithms have shown promising results in training complex robotic control policies due to their massive parallelism capability, simple implementation, effective parameter-space exploration, and fast training time.
Joint Representation Training in Sequential Tasks with Shared Structure
In contrast with previous work that have studied multi task RL in other function approximation models, we show that in the presence of bilinear optimization oracle and finite state action spaces there exists a computationally efficient algorithm for multitask MatrixRL via a reduction to quadratic programming.
A Mixture-of-Expert Approach to RL-based Dialogue Management
Despite recent advancements in language models (LMs), their application to dialogue management (DM) problems and ability to carry on rich conversations remain a challenge.
Multi-Game Decision Transformers
Specifically, we show that a single transformer-based model - with a single set of weights - trained purely offline can play a suite of up to 46 Atari games simultaneously at close-to-human performance.
Why So Pessimistic? Estimating Uncertainties for Offline RL through Ensembles, and Why Their Independence Matters
Motivated by the success of ensembles for uncertainty estimation in supervised learning, we take a renewed look at how ensembles of $Q$-functions can be leveraged as the primary source of pessimism for offline reinforcement learning (RL).
Chain of Thought Imitation with Procedure Cloning
Imitation learning aims to extract high-performance policies from logged demonstrations of expert behavior.
Why Should I Trust You, Bellman? The Bellman Error is a Poor Replacement for Value Error
In this work, we study the use of the Bellman equation as a surrogate objective for value prediction accuracy.
Model Selection in Batch Policy Optimization
We formalize the problem in the contextual bandit setting with linear model classes by identifying three sources of error that any model selection algorithm should optimally trade-off in order to be competitive: (1) approximation error, (2) statistical complexity, and (3) coverage.
Improving Zero-shot Generalization in Offline Reinforcement Learning using Generalized Similarity Functions
We show that performance of online algorithms for generalization in RL can be hindered in the offline setting due to poor estimation of similarity between observations.
TRAIL: Near-Optimal Imitation Learning with Suboptimal Data
In this work, we answer this question affirmatively and present training objectives that use offline datasets to learn a factored transition model whose structure enables the extraction of a latent action space.
Why so pessimistic? Estimating uncertainties for offline RL through ensembles, and why their independence matters.
Motivated by the success of MSG, we investigate whether efficient approximations to ensembles can be as effective.
Understanding the Generalization Gap in Visual Reinforcement Learning
Deep Reinforcement Learning (RL) agents have achieved superhuman performance on several video game suites.
Why Should I Trust You, Bellman? Evaluating the Bellman Objective with Off-Policy Data
In this work, we analyze the effectiveness of the Bellman equation as a proxy objective for value prediction accuracy in off-policy evaluation.
Targeted Environment Design from Offline Data
We formalize our approach as offline targeted environment design(OTED), which automatically learns a distribution over simulator parameters to match a provided offline dataset, and then uses the learned simulator to train an RL agent in standard online fashion.
Policy Gradients Incorporating the Future
Reasoning about the future -- understanding how decisions in the present time affect outcomes in the future -- is one of the central challenges for reinforcement learning (RL), especially in highly-stochastic or partially observable environments.
SparseDice: Imitation Learning for Temporally Sparse Data via Regularization
We are concerned with a setting where the demonstrations comprise only a subset of state-action pairs (as opposed to the whole trajectories).
Provable Representation Learning for Imitation with Contrastive Fourier Features
In imitation learning, it is common to learn a behavior policy to match an unknown target policy via max-likelihood training on a collected set of target demonstrations.
Autoregressive Dynamics Models for Offline Policy Evaluation and Optimization
This modeling choice assumes that different dimensions of the next state and reward are conditionally independent given the current state and action and may be driven by the fact that fully observable physics-based simulation environments entail deterministic transition dynamics.
Benchmarks for Deep Off-Policy Evaluation
Off-policy evaluation (OPE) holds the promise of being able to leverage large, offline datasets for both evaluating and selecting complex policies for decision making.
Policy Information Capacity: Information-Theoretic Measure for Task Complexity in Deep Reinforcement Learning
Progress in deep reinforcement learning (RL) research is largely enabled by benchmark task environments.
Near Optimal Policy Optimization via REPS
Since its introduction a decade ago, \emph{relative entropy policy search} (REPS) has demonstrated successful policy learning on a number of simulated and real-world robotic domains, not to mention providing algorithmic components used by many recently proposed reinforcement learning (RL) algorithms.
Offline Reinforcement Learning with Fisher Divergence Critic Regularization
Many modern approaches to offline Reinforcement Learning (RL) utilize behavior regularization, typically augmenting a model-free actor critic algorithm with a penalty measuring divergence of the policy from the offline data.
Representation Matters: Offline Pretraining for Sequential Decision Making
The recent success of supervised learning methods on ever larger offline datasets has spurred interest in the reinforcement learning (RL) field to investigate whether the same paradigms can be translated to RL algorithms.
Offline Policy Selection under Uncertainty
More importantly, we show how the belief distribution estimated by BayesDICE may be used to rank policies with respect to any arbitrary downstream policy selection metric, and we empirically demonstrate that this selection procedure significantly outperforms existing approaches, such as ranking policies according to mean or high-confidence lower bound value estimates.
OPAL: Offline Primitive Discovery for Accelerating Offline Reinforcement Learning
Reinforcement learning (RL) has achieved impressive performance in a variety of online settings in which an agent's ability to query the environment for transitions and rewards is effectively unlimited.
CoinDICE: Off-Policy Confidence Interval Estimation
We study high-confidence behavior-agnostic off-policy evaluation in reinforcement learning, where the goal is to estimate a confidence interval on a target policy's value, given only access to a static experience dataset collected by unknown behavior policies.
Statistical Bootstrapping for Uncertainty Estimation in Off-Policy Evaluation
In reinforcement learning, it is typical to use the empirically observed transitions and rewards to estimate the value of a policy via either model-based or Q-fitting approaches.
Off-Policy Evaluation via the Regularized Lagrangian
The recently proposed distribution correction estimation (DICE) family of estimators has advanced the state of the art in off-policy evaluation from behavior-agnostic data.
RL Unplugged: A Suite of Benchmarks for Offline Reinforcement Learning
We hope that our suite of benchmarks will increase the reproducibility of experiments and make it possible to study challenging tasks with a limited computational budget, thus making RL research both more systematic and more accessible across the community.
Deployment-Efficient Reinforcement Learning via Model-Based Offline Optimization
We propose a novel model-based algorithm, Behavior-Regularized Model-ENsemble (BREMEN) that can effectively optimize a policy offline using 10-20 times fewer data than prior works.
D4RL: Datasets for Deep Data-Driven Reinforcement Learning
In this work, we introduce benchmarks specifically designed for the offline setting, guided by key properties of datasets relevant to real-world applications of offline RL.
BRPO: Batch Residual Policy Optimization
In batch reinforcement learning (RL), one often constrains a learned policy to be close to the behavior (data-generating) policy, e. g., by constraining the learned action distribution to differ from the behavior policy by some maximum degree that is the same at each state.
Reinforcement Learning via Fenchel-Rockafellar Duality
We review basic concepts of convex duality, focusing on the very general and supremely useful Fenchel-Rockafellar duality.
Imitation Learning via Off-Policy Distribution Matching
In this work, we show how the original distribution ratio estimation objective may be transformed in a principled manner to yield a completely off-policy objective.
AlgaeDICE: Policy Gradient from Arbitrary Experience
In many real-world applications of reinforcement learning (RL), interactions with the environment are limited due to cost or feasibility.
Behavior Regularized Offline Reinforcement Learning
In reinforcement learning (RL) research, it is common to assume access to direct online interactions with the environment.
Group-based Fair Learning Leads to Counter-intuitive Predictions
A number of machine learning (ML) methods have been proposed recently to maximize model predictive accuracy while enforcing notions of group parity or fairness across sub-populations.
Safe Policy Learning for Continuous Control
We study continuous action reinforcement learning problems in which it is crucial that the agent interacts with the environment only through safe policies, i. e.,~policies that keep the agent in desirable situations, both during training and at convergence.
Why Does Hierarchy (Sometimes) Work So Well in Reinforcement Learning?
Hierarchical reinforcement learning has demonstrated significant success at solving difficult reinforcement learning (RL) tasks.
Hierarchical Reinforcement Learning
reinforcement-learning
+1
Multi-Agent Manipulation via Locomotion using Hierarchical Sim2Real
Our method hinges on the use of hierarchical sim2real -- a simulated environment is used to learn low-level goal-reaching skills, which are then used as the action space for a high-level RL controller, also trained in simulation.
DualDICE: Behavior-Agnostic Estimation of Discounted Stationary Distribution Corrections
In contrast to previous approaches, our algorithm is agnostic to knowledge of the behavior policy (or policies) used to generate the dataset.
DeepMDP: Learning Continuous Latent Space Models for Representation Learning
We show that the optimization of these objectives guarantees (1) the quality of the latent space as a representation of the state space and (2) the quality of the DeepMDP as a model of the environment.
Stochastic Learning of Additive Second-Order Penalties with Applications to Fairness
In non-convex settings, the resulting problem may be difficult to solve as the Lagrangian is not guaranteed to have a deterministic saddle-point equilibrium.
Lyapunov-based Safe Policy Optimization for Continuous Control
We formulate these problems as constrained Markov decision processes (CMDPs) and present safe policy optimization algorithms that are based on a Lyapunov approach to solve them.
Identifying and Correcting Label Bias in Machine Learning
We do so by assuming the existence of underlying, unknown, and unbiased labels which are overwritten by an agent who intends to provide accurate labels but may have biases against certain groups.
The Laplacian in RL: Learning Representations with Efficient Approximations
In this paper, we present a fully general and scalable method for approximating the eigenvectors of the Laplacian in a model-free RL context.
Near-Optimal Representation Learning for Hierarchical Reinforcement Learning
We study the problem of representation learning in goal-conditioned hierarchical reinforcement learning.
Lyapunov-based Safe Policy Optimization
In many reinforcement learning applications, it is crucial that the agent interacts with the environment only through safe policies, i. e.,~policies that do not take the agent to certain undesirable situations.
Data-Efficient Hierarchical Reinforcement Learning
In this paper, we study how we can develop HRL algorithms that are general, in that they do not make onerous additional assumptions beyond standard RL algorithms, and efficient, in the sense that they can be used with modest numbers of interaction samples, making them suitable for real-world problems such as robotic control.
Hierarchical Reinforcement Learning
reinforcement-learning
+1
A Lyapunov-based Approach to Safe Reinforcement Learning
In many real-world reinforcement learning (RL) problems, besides optimizing the main objective function, an agent must concurrently avoid violating a number of constraints.
Smoothed Action Value Functions for Learning Gaussian Policies
State-action value functions (i. e., Q-values) are ubiquitous in reinforcement learning (RL), giving rise to popular algorithms such as SARSA and Q-learning.
Deep Reinforcement Learning for Vision-Based Robotic Grasping: A Simulated Comparative Evaluation of Off-Policy Methods
In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping.
Path Consistency Learning in Tsallis Entropy Regularized MDPs
In this paper, we follow the work of Nachum et al. (2017) in the soft ERL setting, and propose a class of novel path consistency learning (PCL) algorithms, called {\em sparse PCL}, for the sparse ERL problem that can work with both on-policy and off-policy data.
Learning Gaussian Policies from Smoothed Action Value Functions
We propose a new notion of action value defined by a Gaussian smoothed version of the expected Q-value used in SARSA.
MorphNet: Fast & Simple Resource-Constrained Structure Learning of Deep Networks
We present MorphNet, an approach to automate the design of neural network structures.
Trust-PCL: An Off-Policy Trust Region Method for Continuous Control
When evaluated on a number of continuous control tasks, Trust-PCL improves the solution quality and sample efficiency of TRPO.
Learning to Remember Rare Events
We present a large-scale life-long memory module for use in deep learning.
Bridging the Gap Between Value and Policy Based Reinforcement Learning
We establish a new connection between value and policy based reinforcement learning (RL) based on a relationship between softmax temporal value consistency and policy optimality under entropy regularization.
Improving Policy Gradient by Exploring Under-appreciated Rewards
We propose a more directed exploration strategy that promotes exploration of under-appreciated reward regions.
