Title: APC-RL: Exceeding data-driven behavior priors with adaptive policy composition
Primary area: reinforcement learning
Keywords: Reinforcement Learning, Normalizing Flows, Demonstrations Data, Behavior Prior, Learned action space

Abstract: Incorporating demonstration data into reinforcement learning (RL) can greatly accelerate learning, but existing approaches often assume demonstrations are optimal and fully aligned with the target task.
In practice, demonstrations are frequently sparse, suboptimal, or misaligned, which can degrade performance when these demonstrations are integrated into RL.
We propose Adaptive Policy Composition (APC), a hierarchical model that adaptively composes multiple data-driven Normalizing Flow (NF) priors.
Instead of enforcing strict adherence to the priors, APC estimates each prior's applicability to the target task while leveraging them for exploration. 
Moreover, APC either refines useful priors, or sidesteps misaligned ones when necessary to optimize downstream reward.
Across diverse benchmarks, APC accelerates learning when demonstrations are aligned, remains robust under severe misalignment, and leverages suboptimal demonstrations to bootstrap exploration while avoiding performance ceilings caused by overly strict adherence to suboptimal demonstrations.

TL;DR: We show how to use RL behavior priors of arbitrary quality to accelerate online learning while avoiding performance degradation when priors are misaligned with the target task.