D5RL: Diverse Datasets for Data-Driven Deep Reinforcement Learning
Authors: name: Rafael Rafailov, name: Kyle Hatch, name: Anikait Singh, name: Laura Smith, name: Aviral Kumar, name: Ilya Kostrikov, name: Philippe Hansen-Estruch, name: Victor Kolev, name: Philip Ball, name: Jiajun Wu, name: Chelsea Finn, name: Sergey Levine

Offline reinforcement learning algorithms hold the promise of enabling
data-driven RL methods that do not require costly or dangerous real-world
exploration and benefit from large pre-collected datasets. This in turn can
facilitate real-world applications, as well as a more standardized approach to
RL research. Furthermore, offline RL methods can provide effective
initializations for online finetuning to overcome challenges with exploration.
However, evaluating progress on offline RL algorithms requires effective and
challenging benchmarks that capture properties of real-world tasks, provide a
range of task difficulties, and cover a range of challenges both in terms of
the parameters of the domain (e.g., length of the horizon, sparsity of rewards)
and the parameters of the data (e.g., narrow demonstration data or broad
exploratory data). While considerable progress in offline RL in recent years
has been enabled by simpler benchmark tasks, the most widely used datasets are
increasingly saturating in performance and may fail to reflect properties of
realistic tasks. We propose a new benchmark for offline RL that focuses on
realistic simulations of robotic manipulation and locomotion environments,
based on models of real-world robotic systems, and comprising a variety of data
sources, including scripted data, play-style data collected by human
teleoperators, and other data sources. Our proposed benchmark covers
state-based and image-based domains, and supports both offline RL and online
fine-tuning evaluation, with some of the tasks specifically designed to require
both pre-training and fine-tuning. We hope that our proposed benchmark will
facilitate further progress on both offline RL and fine-tuning algorithms.
Website with code, examples, tasks, and data is available at
https://sites.google.com/view/d5rl/