Active Advantage-Aligned Online Reinforcement Learning with Offline Data

Xuefeng Liu, Hung T. C. Le, Siyu Chen, Rick Stevens, Zhuoran Yang, Matthew Walter, Yuxin Chen

Track: Robotics

Keywords: reinforcement learning, active learning

Abstract: Online reinforcement learning (RL) enhances policies through direct interactions with the environment, but faces challenges related to sample efficiency. In contrast, offline RL leverages extensive pre-collected data to learn policies, but often produces suboptimal results due to limited data coverage. Recent efforts integrate offline and online RL in order to harness the advantages of both approaches. However, effectively combining online and offline RL remains challenging due to issues that include catastrophic forgetting, lack of robustness to data quality and limited sample efficiency in data utilization. In an effort to address these challenges, we introduce A3 RL , which incorporates a novel confidence-aware Active Advantage-Aligned (A3) sampling strategy that dynamically prioritizes data aligned with the policy’s evolving needs from both online and offline sources, optimizing policy improvement. Moreover, we provide theoretical insights into the effectiveness of our active sampling strategy and conduct diverse empirical experiments and ablation studies, demonstrating that our method outperforms competing online RL techniques that leverage offline data.

Serve As Reviewer: ~Xuefeng_Liu2, ~Hung_T._C._Le1

Submission Number: 64