{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/swapped-goal-conditioned-offline","title":"Swapped goal-conditioned offline reinforcement learning","arxiv_id":"2302.08865","date":"2023-02-17","proceeding":null,"authors":["Wenyan Yang","Huiling Wang","Dingding Cai","Joni Pajarinen","Joni-Kristen Kämäräinen"],"abstract":"Offline goal-conditioned reinforcement learning (GCRL) can be challenging due to overfitting to the given dataset. To generalize agents' skills outside the given dataset, we propose a goal-swapping procedure that generates additional trajectories. To alleviate the problem of noise and extrapolation errors, we present a general offline reinforcement learning method called deterministic Q-advantage policy gradient (DQAPG). In the experiments, DQAPG outperforms state-of-the-art goal-conditioned offline RL methods in a wide range of benchmark tasks, and goal-swapping further improves the test results. It is noteworthy, that the proposed method obtains good performance on the challenging dexterous in-hand manipulation tasks for which the prior methods failed.","url_abs":"https://arxiv.org/abs/2302.08865v1","url_pdf":"https://arxiv.org/pdf/2302.08865v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"swapped-goal-conditioned-offline","repo_url":"https://github.com/jasonma2016/gofar","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"offline-rl","task_name":"Offline RL"},{"task_slug":"reinforcement-learning","task_name":"Reinforcement Learning"},{"task_slug":"reinforcement-learning-1","task_name":"Reinforcement Learning (RL)"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2302.08865","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}