Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jacob Varley, Alex Irpan, Benjamin Eysenbach, Ryan C Julian, Chelsea Finn, Sergey Levine

[ Abstract ] [ Livestream: Visit Reinforcement Learning 3 ] [ Paper ]

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling robot learning by reusing past robotic data. In particular, we propose the objective of learning a functional understanding of the environment by learning to reach any goal state in a given dataset. We employ goal-conditioned Q-learning with hindsight relabeling and develop several techniques that enable training in a particularly challenging offline setting. We find that our method can operate on high-dimensional camera images and learn a variety of skills on real robots that generalize to previously unseen scenes and objects. We also show that our method can learn to reach long-horizon goals across multiple episodes through goal chaining, and learn rich representations that can help with downstream tasks through pre-training or auxiliary objectives.

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