Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and
  Reinforcement Learning   We present relay policy learning, a method for imitation and reinforcement
learning that can solve multi-stage, long-horizon robotic tasks. This general
and universally-applicable, two-phase approach consists of an imitation
learning stage that produces goal-conditioned hierarchical policies, and a
reinforcement learning phase that finetunes these policies for task
performance. Our method, while not necessarily perfect at imitation learning,
is very amenable to further improvement via environment interaction, allowing
it to scale to challenging long-horizon tasks. We simplify the long-horizon
policy learning problem by using a novel data-relabeling algorithm for learning
goal-conditioned hierarchical policies, where the low-level only acts for a
fixed number of steps, regardless of the goal achieved. While we rely on
demonstration data to bootstrap policy learning, we do not assume access to
demonstrations of every specific tasks that is being solved, and instead
leverage unstructured and unsegmented demonstrations of semantically meaningful
behaviors that are not only less burdensome to provide, but also can greatly
facilitate further improvement using reinforcement learning. We demonstrate the
effectiveness of our method on a number of multi-stage, long-horizon
manipulation tasks in a challenging kitchen simulation environment. Videos are
available at https://relay-policy-learning.github.io/

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The categories of this paper are: astro-ph
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The categories of this paper are: mtrl-th
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The categories of this paper are: hep-th
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The categories of this paper are: quant-ph
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The categories of this paper are: cond-mat
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The categories of this paper are: gr-qc
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The categories of this paper are: ao-sci
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The categories of this paper are: q-alg
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The categories of this paper are: atom-ph
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The categories of this paper are: econ
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The categories of this paper are: plasm-ph
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The categories of this paper are: q-fin
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The categories of this paper are: eess
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The categories of this paper are: math-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: hep-ph