In this section, we describe the details of the network architectures used in Sec. 4 and 5. We mainly used 4 GPUs (NVIDIAV100; 16GB) for the experiments in Sec. 4 and 5 and it took about 4 hours per seed (in the case of 3M steps). Actually, we conducted exhaustive evaluations through the enormous experiments, and we hope our empirical observations and recommendations help the practitioners to explore the explosive configuration space. Adam Adam Learning rate (policy) 1e-4 5e-5 3e-4 3e-4 Learning rate (value) 1e-4 1e-2 3e-4 3e-4 Weight initialization Uniform Xavier Uniform Xavier Uniform Xavier Uniform Initial output scale (policy) 1.0 1e-4 1e-2 1e-2 Target update Hard - Soft (5e-3) Soft (5e-3) Clipped Double QFalse - True True Table 7: Details of each network architecture. We refer the original implementations of each algorithm which is available online [23, 14, 48, 27, 42].

Offline reinforcement learning (offline RL), which aims to find an optimal policy from a previously collected static dataset, bears algorithmic difficulties due to function approximation errors from out-of-distribution (OOD) data points. To this end, offline RL algorithms adopt either a constraint or a penalty term that explicitly guides the policy to stay close to the given dataset. However, prior methods typically require accurate estimation of the behavior policy or sampling from OOD data points, which themselves can be a non-trivial problem. Moreover, these methods under-utilize the generalization ability of deep neural networks and often fall into suboptimal solutions too close to the given dataset. In this work, we propose an uncertainty-based offline RL method that takes into account the confidence of the Q-value prediction and does not require any estimation or sampling of the data distribution. We show that the clipped Q-learning, a technique widely used in online RL, can be leveraged to successfully penalize OOD data points with high prediction uncertainties. Surprisingly, we find that it is possible to substantially outperform existing offline RL methods on various tasks by simply increasing the number of Q-networks along with the clipped Q-learning. Based on this observation, we propose an ensemble-diversified actor-critic algorithm that reduces the number of required ensemble networks down to a tenth compared to the naive ensemble while achieving state-of-the-art performance on most of the D4RL benchmarks considered.

Despite significant progress on multi-agent reinforcement learning (MARL) in recent years, coordination in complex domains remains a challenge. Work in MARL often focuses on solving tasks where agents interact with all other agents and entities in the environment; however, we observe that real-world tasks are often composed of several isolated instances of local agent interactions (subtasks), and each agent can meaningfully focus on one subtask to the exclusion of all else in the environment. In these composite tasks, successful policies can often be decomposed into two levels of decision-making: agents are allocated to specific subtasks and each agent acts productively towards their assigned subtask alone. This decomposed decision making provides a strong structural inductive bias, significantly reduces agent observation spaces, and encourages subtask-specific policies to be reused and composed during training, as opposed to treating each new composition of subtasks as unique. We introduce ALMA, a general learning method for taking advantage of these structured tasks. ALMA simultaneously learns a high-level subtask allocation policy and low-level agent policies. We demonstrate that ALMA learns sophisticated coordination behavior in a number of challenging environments, outperforming strong baselines. ALMA's modularity also enables it to better generalize to new environment configurations. Finally, we find that while ALMA can integrate separately trained allocation and action policies, the best performance is obtained only by training all components jointly.

Recently, deep multi-agent reinforcement learning (MARL) has shown the promise to solve complex cooperative tasks. Its success is partly because of parameter sharing among agents. However, such sharing may lead agents to behave similarly and limit their coordination capacity. In this paper, we aim to introduce diversity in both optimization and representation of shared multi-agent reinforcement learning. Specifically, we propose an information-theoretical regularization to maximize the mutual information between agents' identities and their trajectories, encouraging extensive exploration and diverse individualized behaviors. In representation, we incorporate agent-specific modules in the shared neural network architecture, which are regularized by L1-norm to promote learning sharing among agents while keeping necessary diversity. Empirical results show that our method achieves state-of-the-art performance on Google Research Football and super hard StarCraft II micromanagement tasks .

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then finetuning these policies to align with task-specific annotations like Q-values. This strategy allows us to leverage abundant and diverse behavior data to enhance generalization and enable rapid adaptation to downstream tasks using minimal annotations. In particular, we introduce Efficient Diffusion Alignment (EDA) for solving continuous control problems.

We propose stochastic ensemble value expansion (STEVE), a novel model-based technique that addresses this issue. By dynamically interpolating between model rollouts of various horizon lengths for each individual example, STEVE ensures that the model is only utilized when doing so does not introduce significant errors.

In appendix, we Reward OptimizationWepropose .