# A Unified Framework for Alternating Offline Model Training and Policy Learning

arXiv: https://arxiv.org/abs/2210.05922 · HTML: https://mlsanity.com/paper/2210.05922/

## Key facts

- Cited by 14 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 68 of its 105 references that are in the map.
- First posted on arXiv 12 Oct 2022.

## 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 68)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [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)
- [Playing Atari with Deep Reinforcement Learning](https://mlsanity.com/paper/1312.5602/) (2013)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Unsupervised Representation Learning with Deep Convolutional Generative Adversarial Networks](https://mlsanity.com/paper/1511.06434/) (2015)
- [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)
- [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)
- [Offline Reinforcement Learning with Implicit Q-Learning](https://mlsanity.com/paper/2110.06169/) (2021)
- [Off-Policy Deep Reinforcement Learning without Exploration](https://mlsanity.com/paper/1812.02900/) (2018)
- [A Minimalist Approach to Offline Reinforcement Learning](https://mlsanity.com/paper/2106.06860/) (2021)
- [Stabilizing Off-Policy Q-Learning via Bootstrapping Error Reduction](https://mlsanity.com/paper/1906.00949/) (2019)
- [Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models](https://mlsanity.com/paper/1805.12114/) (2018)
- [When to Trust Your Model: Model-Based Policy Optimization](https://mlsanity.com/paper/1906.08253/) (2019)
- [Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations](https://mlsanity.com/paper/1709.10087/) (2017)
- [Behavior Regularized Offline Reinforcement Learning](https://mlsanity.com/paper/1911.11361/) (2019)
- [MOPO: Model-based Offline Policy Optimization](https://mlsanity.com/paper/2005.13239/) (2020)
- [MOReL : Model-Based Offline Reinforcement Learning](https://mlsanity.com/paper/2005.05951/) (2020)
- [A Survey of Autonomous Driving: Common Practices and Emerging Technologies](https://mlsanity.com/paper/1906.05113/) (2019)
- [COMBO: Conservative Offline Model-Based Policy Optimization](https://mlsanity.com/paper/2102.08363/) (2021)
- [Information-Theoretic Considerations in Batch Reinforcement Learning](https://mlsanity.com/paper/1905.00360/) (2019)
- [NIPS 2016 Tutorial: Generative Adversarial Networks](https://mlsanity.com/paper/1701.00160/) (2016)
- [DualDICE: Behavior-Agnostic Estimation of Discounted Stationary Distribution Corrections](https://mlsanity.com/paper/1906.04733/) (2019)
- [Offline Reinforcement Learning with Fisher Divergence Critic Regularization](https://mlsanity.com/paper/2103.08050/) (2021)
- [Breaking the Curse of Horizon: Infinite-Horizon Off-Policy Estimation](https://mlsanity.com/paper/1810.12429/) (2018)
- [Model-Ensemble Trust-Region Policy Optimization](https://mlsanity.com/paper/1802.10592/) (2018)
- [AlgaeDICE: Policy Gradient from Arbitrary Experience](https://mlsanity.com/paper/1912.02074/) (2019)

## Built on by (most cited first, 14 of 14)

- [A Dense Reward View on Aligning Text-to-Image Diffusion with Preference](https://mlsanity.com/paper/2402.08265/) (2024)
- [Preference-grounded Token-level Guidance for Language Model Fine-tuning](https://mlsanity.com/paper/2306.00398/) (2023)
- [Deep Generative Models for Offline Policy Learning: Tutorial, Survey, and Perspectives on Future Directions](https://mlsanity.com/paper/2402.13777/) (2024)
- [Fantastic Rewards and How to Tame Them: A Case Study on Reward Learning for Task-oriented Dialogue Systems](https://mlsanity.com/paper/2302.10342/) (2023)
- [Uncertainty-driven Trajectory Truncation for Data Augmentation in Offline Reinforcement Learning](https://mlsanity.com/paper/2304.04660/) (2023)
- [Segmenting Text and Learning Their Rewards for Improved RLHF in Language Model](https://mlsanity.com/paper/2501.02790/) (2025)
- [A Unified View on Solving Objective Mismatch in Model-Based Reinforcement Learning](https://mlsanity.com/paper/2310.06253/) (2023)
- [BECAUSE: Bilinear Causal Representation for Generalizable Offline Model-based Reinforcement Learning](https://mlsanity.com/paper/2407.10967/) (2024)
- [Policy-Driven World Model Adaptation for Robust Offline Model-based Reinforcement Learning](https://mlsanity.com/paper/2505.13709/) (2025)
- [Long-Horizon Model-Based Offline Reinforcement Learning Without Explicit Conservatism](https://mlsanity.com/paper/2512.04341/) (2025)
- [Switchable Decision: Dynamic Neural Generation Networks](https://mlsanity.com/paper/2405.04513/) (2024)
- [Scrutinize What We Ignore: Reining In Task Representation Shift Of Context-Based Offline Meta Reinforcement Learning](https://mlsanity.com/paper/2405.12001/) (2024)
- [SimuDICE: Offline Policy Optimization Through World Model Updates and DICE Estimation](https://mlsanity.com/paper/2412.06486/) (2024)
- [Are Good Generators Good Decision-Makers? Policy Learning for General Interventions via Retargeted Counterfactual Generation](https://mlsanity.com/paper/2606.07399/) (2026)

## Abstract (arXiv)

In offline model-based reinforcement learning (offline MBRL), we learn a dynamic model from historically collected data, and subsequently utilize the learned model and fixed datasets for policy learning, without further interacting with the environment. Offline MBRL algorithms can improve the efficiency and stability of policy learning over the model-free algorithms. However, in most of the existing offline MBRL algorithms, the learning objectives for the dynamic models and the policies are isolated from each other. Such an objective mismatch may lead to inferior performance of the learned agents. In this paper, we address this issue by developing an iterative offline MBRL framework, where we maximize a lower bound of the true expected return, by alternating between dynamic-model training and policy learning. With the proposed unified model-policy learning framework, we achieve competitive performance on a wide range of continuous-control offline reinforcement learning datasets. Source code is publicly released.