Model-Based Offline Reinforcement Learning With Adversarial Data Augmentation

Model-based offline reinforcement learning (RL) constructs environment models from offline datasets to perform conservative policy optimization. Existing approaches focus on learning state transitions through ensemble models, rolling out conservative estimation to mitigate extrapolation errors. However, the static data makes it challenging to develop a robust policy, and offline agents cannot access the environment to gather new data. To address these challenges, we introduce Model-based Offline Reinforcement learning with AdversariaL data augmentation (MORAL). In MORAL, we replace the fixed horizon rollout by employing adversarial data augmentation to execute alternating sampling with ensemble models to enrich training data. Specifically, this adversarial process dynamically selects ensemble models against policy for biased sampling, mitigating the optimistic estimation of fixed models, thus robustly expanding the training data for policy optimization. Moreover, a differential factor (DF) is integrated into the adversarial process for regularization, ensuring error minimization in extrapolations. This data-augmented optimization adapts to diverse offline tasks without rollout horizon tuning, showing remarkable applicability. Extensive experiments on the D4RL benchmark demonstrate that MORAL outperforms other model-based offline RL methods in terms of policy learning and sample efficiency.