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Offline reinforcement learning (RL) algorithms have shown promising results in domains where abundant pre-collected data is available. However, prior methods focus on solving individual problems from scratch with an offline dataset without considering how an offline RL agent can acquire multiple skills. We argue that a natural use case of offline RL is in settings where we can pool large amounts of data collected in various scenarios for solving different tasks, and utilize all of this data to learn behaviors for all the tasks more effectively rather than training each one in isolation. However, sharing data across all tasks in multi-task offline RL performs surprisingly poorly in practice. Thorough empirical analysis, we find that sharing data can actually exacerbate the distributional shift between the learned policy and the dataset, which in turn can lead to divergence of the learned policy and poor performance. To address this challenge, we develop a simple technique for data- sharing in multi-task offline RL that routes data based on the improvement over the task-specific data. We call this approach conservative data sharing (CDS), and it can be applied with multiple single-task offline RL methods. On a range of challenging multi-task locomotion, navigation, and vision-based robotic manipulation problems, CDS achieves the best or comparable performance compared to prior offline multi- task RL methods and previous data sharing approaches.
Author Information
Tianhe Yu (Stanford University)
Aviral Kumar (UC Berkeley)
Yevgen Chebotar (University of Southern California)
Karol Hausman (Google Brain)
Sergey Levine (UC Berkeley)
Chelsea Finn (Stanford)
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Karol Hausman · Kefan Dong · Ken Goldberg · Lihong Li · Lin Yang · Lingxiao Wang · Lior Shani · Liwei Wang · Loren Amdahl-Culleton · Lucas Cassano · Marc Dymetman · Marc Bellemare · Marcin Tomczak · Margarita Castro · Marius Kloft · Marius-Constantin Dinu · Markus Holzleitner · Martha White · Mengdi Wang · Michael Jordan · Mihailo Jovanovic · Ming Yu · Minshuo Chen · Moonkyung Ryu · Muhammad Zaheer · Naman Agarwal · Nan Jiang · Niao He · Nikolaus Yasui · Nikos Karampatziakis · Nino Vieillard · Ofir Nachum · Olivier Pietquin · Ozan Sener · Pan Xu · Parameswaran Kamalaruban · Paul Mineiro · Paul Rolland · Philip Amortila · Pierre-Luc Bacon · Prakash Panangaden · Qi Cai · Qiang Liu · Quanquan Gu · Raihan Seraj · Richard Sutton · Rick Valenzano · Robert Dadashi · Rodrigo Toro Icarte · Roshan Shariff · Roy Fox · Ruosong Wang · Saeed Ghadimi · Samuel Sokota · Sean Sinclair · Sepp Hochreiter · Sergey Levine · Sergio Valcarcel Macua · Sham Kakade · Shangtong Zhang · Sheila McIlraith · Shie Mannor · Shimon Whiteson · Shuai Li · Shuang Qiu · Wai Lok Li · Siddhartha Banerjee · Sitao Luan · Tamer Basar · Thinh Doan · Tianhe Yu · Tianyi Liu · Tom Zahavy · Toryn Klassen · Tuo Zhao · Vicenç Gómez · Vincent Liu · Volkan Cevher · Wesley Suttle · Xiao-Wen Chang · Xiaohan Wei · Xiaotong Liu · Xingguo Li · Xinyi Chen · Xingyou Song · Yao Liu · YiDing Jiang · Yihao Feng · Yilun Du · Yinlam Chow · Yinyu Ye · Yishay Mansour · · Yonathan Efroni · Yongxin Chen · Yuanhao Wang · Bo Dai · Chen-Yu Wei · Harsh Shrivastava · Hongyang Zhang · Qinqing Zheng · SIDDHARTHA SATPATHI · Xueqing Liu · Andreu Vall -
2019 : Poster Presentations »
Rahul Mehta · Andrew Lampinen · Binghong Chen · Sergio Pascual-Diaz · Jordi Grau-Moya · Aldo Faisal · Jonathan Tompson · Yiren Lu · Khimya Khetarpal · Martin Klissarov · Pierre-Luc Bacon · Doina Precup · Thanard Kurutach · Aviv Tamar · Pieter Abbeel · Jinke He · Maximilian Igl · Shimon Whiteson · Wendelin Boehmer · Raphaël Marinier · Olivier Pietquin · Karol Hausman · Sergey Levine · Chelsea Finn · Tianhe Yu · Lisa Lee · Benjamin Eysenbach · Emilio Parisotto · Eric Xing · Ruslan Salakhutdinov · Hongyu Ren · Anima Anandkumar · Deepak Pathak · Christopher Lu · Trevor Darrell · Alexei Efros · Phillip Isola · Feng Liu · Bo Han · Gang Niu · Masashi Sugiyama · Saurabh Kumar · Janith Petangoda · Johan Ferret · James McClelland · Kara Liu · Animesh Garg · Robert Lange -
2019 Workshop: Learning with Rich Experience: Integration of Learning Paradigms »
Zhiting Hu · Andrew Wilson · Chelsea Finn · Lisa Lee · Taylor Berg-Kirkpatrick · Ruslan Salakhutdinov · Eric Xing -
2019 Poster: Graph Normalizing Flows »
Jenny Liu · Aviral Kumar · Jimmy Ba · Jamie Kiros · Kevin Swersky -
2019 Poster: Language as an Abstraction for Hierarchical Deep Reinforcement Learning »
YiDing Jiang · Shixiang (Shane) Gu · Kevin Murphy · Chelsea Finn -
2018 : Spotlight Talks I »
Juan Leni · Michael Spranger · Ben Bogin · Shane Steinert-Threlkeld · Nicholas Tomlin · Fushan Li · Michael Noukhovitch · Tushar Jain · Jason Lee · Yen-Ling Kuo · Josefina Correa · Karol Hausman -
2018 : Spotlights »
Guangneng Hu · Ke Li · Aviral Kumar · Phi Vu Tran · Samuel G. Fadel · Rita Kuznetsova · Bong-Nam Kang · Behrouz Haji Soleimani · Jinwon An · Nathan de Lara · Anjishnu Kumar · Tillman Weyde · Melanie Weber · Kristen Altenburger · Saeed Amizadeh · Xiaoran Xu · Yatin Nandwani · Yang Guo · Maria Pacheco · William Fedus · Guillaume Jaume · Yuka Yoneda · Yunpu Ma · Yunsheng Bai · Berk Kapicioglu · Maximilian Nickel · Fragkiskos Malliaros · Beier Zhu · Aleksandar Bojchevski · Joshua Joseph · Gemma Roig · Esma Balkir · Xander Steenbrugge -
2017 Poster: Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets »
Karol Hausman · Yevgen Chebotar · Stefan Schaal · Gaurav Sukhatme · Joseph Lim -
2017 Demonstration: Deep Robotic Learning using Visual Imagination and Meta-Learning »
Chelsea Finn · Frederik Ebert · Tianhe Yu · Annie Xie · Sudeep Dasari · Pieter Abbeel · Sergey Levine