Unsupervised-to-Online Reinforcement Learning
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866929475652943872 |
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| author | Kim, Junsu Park, Seohong Levine, Sergey |
| author_facet | Kim, Junsu Park, Seohong Levine, Sergey |
| contents | 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 framework has drawbacks: it requires domain-specific offline RL pre-training for each task, and is often brittle in practice. In this work, we propose unsupervised-to-online RL (U2O RL), which replaces domain-specific supervised offline RL with unsupervised offline RL, as a better alternative to offline-to-online RL. U2O RL not only enables reusing a single pre-trained model for multiple downstream tasks, but also learns better representations, which often result in even better performance and stability than supervised offline-to-online RL. To instantiate U2O RL in practice, we propose a general recipe for U2O RL to bridge task-agnostic unsupervised offline skill-based policy pre-training and supervised online fine-tuning. Throughout our experiments in nine state-based and pixel-based environments, we empirically demonstrate that U2O RL achieves strong performance that matches or even outperforms previous offline-to-online RL approaches, while being able to reuse a single pre-trained model for a number of different downstream tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_14785 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Unsupervised-to-Online Reinforcement Learning Kim, Junsu Park, Seohong Levine, Sergey Machine Learning 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 framework has drawbacks: it requires domain-specific offline RL pre-training for each task, and is often brittle in practice. In this work, we propose unsupervised-to-online RL (U2O RL), which replaces domain-specific supervised offline RL with unsupervised offline RL, as a better alternative to offline-to-online RL. U2O RL not only enables reusing a single pre-trained model for multiple downstream tasks, but also learns better representations, which often result in even better performance and stability than supervised offline-to-online RL. To instantiate U2O RL in practice, we propose a general recipe for U2O RL to bridge task-agnostic unsupervised offline skill-based policy pre-training and supervised online fine-tuning. Throughout our experiments in nine state-based and pixel-based environments, we empirically demonstrate that U2O RL achieves strong performance that matches or even outperforms previous offline-to-online RL approaches, while being able to reuse a single pre-trained model for a number of different downstream tasks. |
| title | Unsupervised-to-Online Reinforcement Learning |
| topic | Machine Learning |
| url | https://arxiv.org/abs/2408.14785 |