Author

Tanachai Anakewat

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Preprint Aug 2026

Learning Hierarchical Skill Policies with Offline Quality-Diversity Reinforcement Learning

QDOS (Quality-Diversity Offline Skill learning), a unified pipeline for robust offline-to-online learning, incorporates an Advantage-Weighted Quality-Diversity pretraining objective, which weights the skill extraction and diversity objectives by the estimated advantage of each trajectory segment.

Tanachai Anakewat, Takayuki Osa, Tatsuya Harada · 0 citations