mlsanityData to 7 Oct 2026

Offline Skill Graph (OSG): A Framework for Learning and Planning using Offline Reinforcement Learning Skills

arXiv 2306.13630 ↗First posted 23 Jun 2023cs.RO cs.AI cs.LGcited by 1

On the map: Offline RL and imitation learning from data → Offline RL algorithms

Abstract (arXiv)

Reinforcement Learning has received wide interest due to its success in competitive games. Yet, its adoption in everyday applications is limited (e.g. industrial, home, healthcare, etc.). In this paper, we address this limitation by presenting a framework for planning over offline skills and solving complex tasks in real-world environments. Our framework is comprised of three modules that together enable the agent to learn from previously collected data and generalize over it to solve long-horizon tasks. We demonstrate our approach by testing it on a robotic arm that is required to solve complex tasks.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Placed in Offline RL algorithms, one of 13 directions in Offline RL and imitation learning from data. Builds on 9 of its 28 references that are in the map. First posted on arXiv 23 Jun 2023.

Builds on

9 of 28 references.

Closest ancestors · 3

Same direction, newest first

  1. 2021A Minimalist Approach to Offline Reinforcement Learning12 Jun
  2. 2020Conservative Q-Learning for Offline Reinforcement Learning8 Jun
  3. 2020Offline Reinforcement Learning: Tutorial, Review, and Perspectives on Open Problems4 May

Other references · 6

  1. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learningcited by 380
  2. 2019Dynamics-Aware Unsupervised Discovery of Skillscited by 308
  3. 2020COG: Connecting New Skills to Past Experience with Offline Reinforcement Learningcited by 83
  4. 2021Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulationcited by 20
  5. 2018Finding Options that Minimize Planning Timecited by 17
  6. 2015Constructing Abstraction Hierarchies Using a Skill-Symbol Loopcited by 3

Built on by

Cited by year

Citing papers per year: 2025: 1.

1 paper.

  1. 2025Behaviour Discovery and Attribution for Explainable Reinforcement Learningcited by 2

Similar, not cited

Close in wording, no citation either way

  1. 2023Offline Skill Generalization via Task and Motion Planning
  2. 2021A Workflow for Offline Model-Free Robotic Reinforcement Learning
  3. 2025Offline Reinforcement Learning with Discrete Diffusion Skills
  4. 2021Model-Based Offline Planning with Trajectory Pruning
  5. 2024Robust Policy Learning via Offline Skill Diffusion
  6. 2022A Survey on Offline Reinforcement Learning: Taxonomy, Review, and Open Problems
  7. 2023Benchmarking Offline Reinforcement Learning on Real-Robot Hardware
  8. 2020Model-Based Offline Planning