Leveraging Skills from Unlabeled Prior Data for Efficient Online Exploration

• URL: http://arxiv.org/abs/2410.18076v1
• Date: Wed, 23 Oct 2024 17:58:45 GMT
• Title: Leveraging Skills from Unlabeled Prior Data for Efficient Online Exploration
• Authors: Max Wilcoxson, Qiyang Li, Kevin Frans, Sergey Levine,
• Abstract summary: We study how unlabeled prior trajectory data can be leveraged to learn efficient exploration strategies. Our method SUPE (Skills from Unlabeled Prior data for Exploration) demonstrates that a careful combination of these ideas compounds their benefits. We empirically show that SUPE reliably outperforms prior strategies, successfully solving a suite of long-horizon, sparse-reward tasks.
• Score: 54.8229698058649
• License:
• Abstract: Unsupervised pretraining has been transformative in many supervised domains. However, applying such ideas to reinforcement learning (RL) presents a unique challenge in that fine-tuning does not involve mimicking task-specific data, but rather exploring and locating the solution through iterative self-improvement. In this work, we study how unlabeled prior trajectory data can be leveraged to learn efficient exploration strategies. While prior data can be used to pretrain a set of low-level skills, or as additional off-policy data for online RL, it has been unclear how to combine these ideas effectively for online exploration. Our method SUPE (Skills from Unlabeled Prior data for Exploration) demonstrates that a careful combination of these ideas compounds their benefits. Our method first extracts low-level skills using a variational autoencoder (VAE), and then pseudo-relabels unlabeled trajectories using an optimistic reward model, transforming prior data into high-level, task-relevant examples. Finally, SUPE uses these transformed examples as additional off-policy data for online RL to learn a high-level policy that composes pretrained low-level skills to explore efficiently. We empirically show that SUPE reliably outperforms prior strategies, successfully solving a suite of long-horizon, sparse-reward tasks. Code: https://github.com/rail-berkeley/supe.

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