Is that allowed to use the pre-stage dataset in the real robot stage?

[qiangwang-academic]

Hi,

May I know if it is possiable to use the pre-stage dataset in the real robot stage? Thank you.

Kind regards,
Qiang

[nicoguertler]

Hi Qiang,
the challenge is to learn one policy from each dataset. Learning from multiple datasets is not allowed. The pre-stage datasets are consequently not to be used in the real-robot stage.
The idea behind this rule is that we want to see how a submission deals with each dataset separately. The real-robot data is more challenging because there is noise on the observations and because of the small differences between the robots. Additionally the mixed datasets test whether an algorithm gets distracted by suboptimal trajectories. We think it's important for offline RL to be able to learn from imperfect data as in real-world applications high-quality simulators are often not available and the collected data might be from several sources of varying quality.

Let us know if you have any further questions.

Best,
Nico

[qiangwang-academic]

Hi Nico,

Thanks for letting me know. It sounds reasonable.

Kind regards,
Qiang