Optimal Transport for Offline Imitation Learning
Keywords: offline reinforcement learning, optimal transport, imitation learning
TL;DR: We present an offline imitation learning based on optimal transport that demonstrates strong performance and sample efficiency
Abstract: With the advent of large datasets, offline reinforcement learning is a promising framework for learning good decision-making policies without the need to interact with the real environment.
However, offline RL requires the dataset to be reward-annotated, which presents practical challenges when reward engineering is difficult or when obtaining reward annotations is labor-intensive.
In this paper, we introduce Optimal Transport Relabeling (OTR), an imitation learning algorithm that can automatically relabel offline data of mixed and unknown quality with rewards from a few good demonstrations. OTR's key idea is to use optimal transport to compute an optimal alignment between an unlabeled trajectory in the dataset and an expert demonstration to obtain a similarity measure that can be interpreted as a reward, which can then be used by an offline RL algorithm to learn the policy. OTR is easy to implement and computationally efficient. On D4RL benchmarks, we demonstrate that OTR with a single demonstration can consistently match the performance of offline RL with ground-truth rewards.
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Please Choose The Closest Area That Your Submission Falls Into: Reinforcement Learning (eg, decision and control, planning, hierarchical RL, robotics)
Community Implementations: [ 4 code implementations](https://www.catalyzex.com/paper/arxiv:2303.13971/code)
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