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Summary of Cosbo: Conservative Offline Simulation-based Policy Optimization, by Eshagh Kargar and Ville Kyrki


COSBO: Conservative Offline Simulation-Based Policy Optimization

by Eshagh Kargar, Ville Kyrki

First submitted to arxiv on: 22 Sep 2024

Categories

  • Main: Machine Learning (cs.LG)
  • Secondary: Artificial Intelligence (cs.AI); Robotics (cs.RO)

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GrooveSquid.com Paper Summaries

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Summary difficulty Written by Summary
High Paper authors High Difficulty Summary
Read the original abstract here
Medium GrooveSquid.com (original content) Medium Difficulty Summary
The proposed method combines imperfect simulation environments with target environment data to train an offline reinforcement learning policy. This approach outperforms state-of-the-art methods CQL, MOPO, and COMBO in scenarios with diverse and challenging dynamics. The results demonstrate robust behavior across various experimental conditions.
Low GrooveSquid.com (original content) Low Difficulty Summary
Offline reinforcement learning trains models using live deployment data, but only allows choosing the best combination of behaviors present in the training data. Simulation environments can be used instead, but are limited by the simulation-to-reality gap. To combine the benefits of both approaches, a method combines simulator-generated data with target environment data to train an offline policy. The proposed method outperforms existing methods in scenarios with diverse dynamics and demonstrates robust behavior.

Keywords

* Artificial intelligence  * Reinforcement learning