Learning Generalizable Skill Policy with Data-Efficient Unsupervised RL

Unsupervised Reinforcement Learning (URL) aims to pre-train scalable, skill-conditioned policies without extrinsic rewards, serving as a foundation for downstream control tasks. Despite recent progress, we argue that current off-policy URL methods are limited by two critical, overlooked bottlenecks: (1) non-stationarity skill semantic and (2) brittle generalization. To address these challenges, we propose GenDa (Generalizable Data-efficient Agent), a unified framework for robust unsupervised reinforcement learning. First, we introduce a skill relabeling mechanism to mitigate non-stationarity and significantly improve sample efficiency for pretraining. Second, we propose a Complementary Information Bottleneck(CIB), encouraging the learned skill policy to focus on ego-centric features and become robust to distribution shifts for downstream tasks. Through various experiments, we demonstrate that GenDa significantly enhances the scalability of URL with superior generality and sample efficiency. Our source codes are available in the supplementary materials.