强化学习中流策略的测试时梯度引导
阅读原文· arxiv.orgQGF(Q-Guided Flow)是一种完全在测试时执行策略优化的强化学习算法。它先通过标准行为克隆预训练参考流策略和价值函数批评家,然后在测试时利用价值梯度引导参考策略生成更高价值的动作。在单任务和目标条件离线RL基准测试中,QGF优于先前的测试时强化学习方法,与最先进的训练时算法性能相当但运行成本更低,且通过避免演员-评论家训练的不稳定性展现了良好的模型规模扩展性。
Expressive continuous control policies, such as diffusion and flow models, form the backbone of recent advances in scaling imitation learning for simulated and real robot control. While they are known to scale stably in the supervised imitation learning setting, incorporating them into reinforcement learning (RL) pipelines for policy improvement has proven more difficult. It often requires specialized training objectives or backpropagating through denoising processes, which cause well-known issues with stability and affect scalability. In this paper we study the question of whether simple policy improvement schemes at test time alone, leaving stable supervised policy training intact, can be a competitive alternative which sidesteps these issues. To this end, we propose QGF (Q-Guided Flow), an RL algorithm that performs policy optimization entirely at test time. QGF works by pre-training both a reference flow policy (via a standard behavioral cloning objective) and a value function critic and, at test time, using the value gradient to guide the reference policy to generate higher-value actions without any additional policy learning. Empirically, QGF outperforms prior test-time RL methods on single-task and goal-conditioned offline RL benchmarks with high-dimensional action spaces, and is competitive with state-of-the-art training-time algorithms while being much cheaper to run. Moreover, it exhibits favorable scaling with model size by avoiding the instability of actor-critic training, offering a practical and effective alternative RL algorithm with expressive policies.