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title
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning
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Long horizon tasks are learned via RL + Imitation.
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site name
Long horizon tasks are learned via RL + Imitation.
author
updated
2026-02-23 13:54:55
raw text
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning Relay Policy Learning scroll down Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning Abhishek Gupta UC Berkeley, Google Brain Vikash Kumar Google Brain Corey Lynch Google Brain Sergey Levine UC Berkeley, Google Brain Karol Hausman Google Brain October 2019 Abstract 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 resulting in goal-conditioned hierarchical policies that can be easily improved using fine-tuning via reinforcement learning in the subsequent phase. 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-hor...
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