# A Minimalist Approach to Offline Reinforcement Learning

arXiv: https://arxiv.org/abs/2106.06860 · HTML: https://mlsanity.com/paper/2106.06860/

## Key facts

- Cited by 899 papers in the map (data through 14 Oct 2026).
- Placed in Offline RL algorithms, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 45 of its 64 references that are in the map.
- First posted on arXiv 12 Jun 2021.

## Placed in

- Offline RL and imitation learning from data / [Offline RL algorithms](https://mlsanity.com/offlinerl/offline-rl-algorithms/)

## Builds on (most cited first, 30 of 45)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems](https://mlsanity.com/paper/2005.01643/) (2020)
- [Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2006.04779/) (2020)
- [OpenAI Gym](https://mlsanity.com/paper/1606.01540/) (2016)
- [Decision Transformer: Reinforcement Learning via Sequence Modeling](https://mlsanity.com/paper/2106.01345/) (2021)
- [D4RL: Datasets for Deep Data-Driven Reinforcement Learning](https://mlsanity.com/paper/2004.07219/) (2020)
- [Off-Policy Deep Reinforcement Learning without Exploration](https://mlsanity.com/paper/1812.02900/) (2018)
- [Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction](https://mlsanity.com/paper/1906.00949/) (2019)
- [Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning](https://mlsanity.com/paper/1910.00177/) (2019)
- [Deep Reinforcement Learning that Matters](https://mlsanity.com/paper/1709.06560/) (2017)
- [Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations](https://mlsanity.com/paper/1709.10087/) (2017)
- [AWAC: Accelerating Online Reinforcement Learning with Offline Datasets](https://mlsanity.com/paper/2006.09359/) (2020)
- [TensorFlow: Large-Scale Machine Learning on Heterogeneous Distributed Systems](https://mlsanity.com/paper/1603.04467/) (2016)
- [Behavior Regularized Offline Reinforcement Learning](https://mlsanity.com/paper/1911.11361/) (2019)
- [Overcoming Exploration in Reinforcement Learning with Demonstrations](https://mlsanity.com/paper/1709.10089/) (2017)
- [Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards](https://mlsanity.com/paper/1707.08817/) (2017)
- [Way Off-Policy Batch Deep Reinforcement Learning of Implicit Human Preferences in Dialog](https://mlsanity.com/paper/1907.00456/) (2019)
- [Critic Regularized Regression](https://mlsanity.com/paper/2006.15134/) (2020)
- [Offline Reinforcement Learning with Fisher Divergence Critic Regularization](https://mlsanity.com/paper/2103.08050/) (2021)
- [Keep Doing What Worked: Behavioral Modelling Priors for Offline Reinforcement Learning](https://mlsanity.com/paper/2002.08396/) (2020)
- [AlgaeDICE: Policy Gradient from Arbitrary Experience](https://mlsanity.com/paper/1912.02074/) (2019)
- [Safe Policy Improvement with Baseline Bootstrapping](https://mlsanity.com/paper/1712.06924/) (2017)
- [Behaviour Suite for Reinforcement Learning](https://mlsanity.com/paper/1908.03568/) (2019)
- [Reinforcement and Imitation Learning for Diverse Visuomotor Skills](https://mlsanity.com/paper/1802.09564/) (2018)
- [Deployment-Efficient Reinforcement Learning via Model-Based Offline Optimization](https://mlsanity.com/paper/2006.03647/) (2020)

## Built on by (most cited first, 30 of 899)

- [Offline Reinforcement Learning with Implicit Q-Learning](https://mlsanity.com/paper/2110.06169/) (2021)
- [Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning](https://mlsanity.com/paper/2208.06193/) (2022)
- [IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policies](https://mlsanity.com/paper/2304.10573/) (2023)
- [Contrastive Learning as Goal-Conditioned Reinforcement Learning](https://mlsanity.com/paper/2206.07568/) (2022)
- [OGBench: Benchmarking Offline Goal-Conditioned RL](https://mlsanity.com/paper/2410.20092/) (2024)
- [Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning](https://mlsanity.com/paper/2303.05479/) (2023)
- [A Survey on Offline Reinforcement Learning: Taxonomy, Review, and Open Problems](https://mlsanity.com/paper/2203.01387/) (2022)
- [ArCHer: Training Language Model Agents via Hierarchical Multi-Turn RL](https://mlsanity.com/paper/2402.19446/) (2024)
- [Offline-to-Online Reinforcement Learning via Balanced Replay and Pessimistic Q-Ensemble](https://mlsanity.com/paper/2107.00591/) (2021)
- [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://mlsanity.com/paper/2107.14483/) (2021)
- [Online Decision Transformer](https://mlsanity.com/paper/2202.05607/) (2022)
- [RvS: What is Essential for Offline RL via Supervised Learning?](https://mlsanity.com/paper/2112.10751/) (2021)
- [Flow Q-Learning](https://mlsanity.com/paper/2502.02538/) (2025)
- [Offline Reinforcement Learning via High-Fidelity Generative Behavior Modeling](https://mlsanity.com/paper/2209.14548/) (2022)
- [Hybrid RL: Using Both Offline and Online Data Can Make RL Efficient](https://mlsanity.com/paper/2210.06718/) (2022)
- [Efficient Diffusion Policies for Offline Reinforcement Learning](https://mlsanity.com/paper/2305.20081/) (2023)
- [Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions](https://mlsanity.com/paper/2309.10150/) (2023)
- [Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios](https://mlsanity.com/paper/2212.11419/) (2022)
- [Revisiting the Minimalist Approach to Offline Reinforcement Learning](https://mlsanity.com/paper/2305.09836/) (2023)
- [Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning](https://mlsanity.com/paper/2202.11566/) (2022)
- [Optimal Goal-Reaching Reinforcement Learning via Quasimetric Learning](https://mlsanity.com/paper/2304.01203/) (2023)
- [Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning](https://mlsanity.com/paper/2206.08686/) (2022)
- [CORL: Research-oriented Deep Offline Reinforcement Learning Library](https://mlsanity.com/paper/2210.07105/) (2022)
- [Extreme Q-Learning: MaxEnt RL without Entropy](https://mlsanity.com/paper/2301.02328/) (2023)
- [Offline RL with No OOD Actions: In-Sample Learning via Implicit Value Regularization](https://mlsanity.com/paper/2303.15810/) (2023)
- [RAMBO-RL: Robust Adversarial Model-Based Offline Reinforcement Learning](https://mlsanity.com/paper/2204.12581/) (2022)
- [Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning](https://mlsanity.com/paper/2305.18459/) (2023)
- [Mildly Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2206.04745/) (2022)
- [Adversarially Trained Actor Critic for Offline Reinforcement Learning](https://mlsanity.com/paper/2202.02446/) (2022)
- [Generalized Decision Transformer for Offline Hindsight Information Matching](https://mlsanity.com/paper/2111.10364/) (2021)

## Abstract (arXiv)

Offline reinforcement learning (RL) defines the task of learning from a fixed batch of data. Due to errors in value estimation from out-of-distribution actions, most offline RL algorithms take the approach of constraining or regularizing the policy with the actions contained in the dataset. Built on pre-existing RL algorithms, modifications to make an RL algorithm work offline comes at the cost of additional complexity. Offline RL algorithms introduce new hyperparameters and often leverage secondary components such as generative models, while adjusting the underlying RL algorithm. In this paper we aim to make a deep RL algorithm work while making minimal changes. We find that we can match the performance of state-of-the-art offline RL algorithms by simply adding a behavior cloning term to the policy update of an online RL algorithm and normalizing the data. The resulting algorithm is a simple to implement and tune baseline, while more than halving the overall run time by removing the additional computational overhead of previous methods.