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Goal-Conditioned Decision Transformer for Multi-Goal Offline Reinforcement Learning

Paweł Gajewski, Dominik Żurek, Marcin Pietroń, Kamil Faber · Oct 8, 2024 · Citations: 0

Demonstrations General
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How to use this page

Low trust

Use this as background context only. Do not make protocol decisions from this page alone.

Best use

Background context only

What to verify

Read the full paper before copying any benchmark, metric, or protocol choices.

Evidence quality

Low

Derived from extracted protocol signals and abstract evidence.

Abstract

Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals. While Offline RL mitigates the need for costly online interactions, its integration with goal-conditioned policies and transformer-based architectures remains underexplored. We introduce a Goal-Conditioned Decision Transformer adapted for offline multi-goal robotics. By explicitly incorporating goal states into the sequence modeling framework, our approach efficiently solves varying tasks using only pre-collected data. We validate this method on a newly released offline dataset for the Franka Emika Panda platform. Experimental results demonstrate that our approach outperforms state-of-the-art online baselines in complex tasks and maintains robustness in sparse-reward settings, even with limited expert demonstrations.

Low-signal caution for protocol decisions

Use this page for context, then validate protocol choices against stronger HFEPX references before implementation decisions.

  • The available metadata is too thin to trust this as a primary source.
  • The abstract does not clearly describe the evaluation setup.
  • The abstract does not clearly name benchmarks or metrics.
Human Eval Hub LLM-as-Judge Hub Pairwise Preference Hub

Should You Rely On This Paper?

This paper is adjacent to HFEPX scope and is best used for background context, not as a primary protocol reference.

Best use

Background context only

Use if you need

Background context only.

Main weakness

The available metadata is too thin to trust this as a primary source.

Trust level

Low

Usefulness score

40/100 • Low

Treat as adjacent context, not a core eval-method reference.

Human Feedback Signal

Detected

Evaluation Signal

Weak / implicit signal

Usefulness for eval research

Adjacent candidate

Extraction confidence 45%

If you are doing eval pipeline work, start here:

Human Eval Hub LLM-as-Judge Hub Pairwise Preference Hub Tool-Use Eval Hub

What We Could Verify

These are the protocol signals we could actually recover from the available paper metadata. Use them to decide whether this paper is worth deeper reading.

Human Feedback Types

partial

Demonstrations

Directly usable for protocol triage.

"Experimental results demonstrate that our approach outperforms state-of-the-art online baselines in complex tasks and maintains robustness in sparse-reward settings, even with limited expert demonstrations."

Evaluation Modes

missing

None explicit

Validate eval design from full paper text.

"Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals."

Quality Controls

missing

Not reported

No explicit QC controls found.

"Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals."

Benchmarks / Datasets

missing

Not extracted

No benchmark anchors detected.

"Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals."

Reported Metrics

missing

Not extracted

No metric anchors detected.

"Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals."

Rater Population

partial

Domain Experts

Helpful for staffing comparability.

"Experimental results demonstrate that our approach outperforms state-of-the-art online baselines in complex tasks and maintains robustness in sparse-reward settings, even with limited expert demonstrations."

Human Feedback Details

  • Uses human feedback: Yes
  • Feedback types: Demonstrations
  • Rater population: Domain Experts
  • Expertise required: General

Evaluation Details

  • Evaluation modes:
  • Agentic eval: None
  • Quality controls: Not reported
  • Evidence quality: Low
  • Use this page as: Background context only

Protocol And Measurement Signals

Benchmarks / Datasets

No benchmark or dataset names were extracted from the available abstract.

Reported Metrics

No metric terms were extracted from the available abstract.

Research Brief

Metadata summary

Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals.

Based on abstract + metadata only. Check the source paper before making high-confidence protocol decisions.

Key Takeaways

  • Reinforcement learning (RL) in robotics faces significant hurdles regarding sample efficiency and generalization across varying goals.
  • While Offline RL mitigates the need for costly online interactions, its integration with goal-conditioned policies and transformer-based architectures remains underexplored.
  • We introduce a Goal-Conditioned Decision Transformer adapted for offline multi-goal robotics.

Researcher Actions

  • Compare this paper against nearby papers in the same arXiv category before using it for protocol decisions.
  • Check the full text for explicit evaluation design choices (raters, protocol, and metrics).
  • Use related-paper links to find stronger protocol-specific references.

Caveats

  • Generated from abstract + metadata only; no PDF parsing.
  • Signals below are heuristic and may miss details reported outside the abstract.

Research Summary

Contribution Summary

  • We introduce a Goal-Conditioned Decision Transformer adapted for offline multi-goal robotics.

Researcher Checklist

  • Pass: Human feedback protocol is explicit

    Detected: Demonstrations

  • Gap: Evaluation mode is explicit

    No clear evaluation mode extracted.

  • Gap: Quality control reporting appears

    No calibration/adjudication/IAA control explicitly detected.

  • Gap: Benchmark or dataset anchors are present

    No benchmark/dataset anchor extracted from abstract.

  • Gap: Metric reporting is present

    No metric terms extracted.

Related Papers

Papers are ranked by protocol overlap, extraction signal alignment, and semantic proximity.

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