Offline Reinforcement Learning for Visual Navigation
원문 초록
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 learning from trial-and-error for real-world robots is logistically challenging, and methods that instead can utilize existing datasets of robotic navigation data could be significantly more scalable and enable broader generalization. In this paper, we present ReViND, the first offline RL system for robotic navigation that can leverage previously collected data to optimize user-specified reward functions in the real-world. We evaluate our system for off-road navigation without any additional data collection or fine-tuning, and show that it can navigate to distant goals using only offline training from this dataset, and exhibit behaviors that qualitatively differ based on the user-specified reward function.
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Sparse-Reg: Improving Sample Complexity in Offline Reinforcement Learning using Sparsity
DR-SAC: Distributionally Robust Soft Actor-Critic for Reinforcement Learning under Uncertainty
From Novelty to Imitation: Self-Distilled Rewards for Offline Reinforcement Learning
Policy-Based Trajectory Clustering in Offline Reinforcement Learning
High-Throughput Distributed Reinforcement Learning via Adaptive Policy Synchronization
Step-wise Policy for Rare-tool Knowledge (SPaRK): Offline RL that Drives Diverse Tool Use in LLMs
토론
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