Solving Multi-Goal Robotic Tasks with Decision Transformer

Abstract: Artificial intelligence plays a crucial role in robotics, with reinforcement learning (RL) emerging as one of the most promising approaches for robot control. However, several key challenges hinder its broader application. First, many RL methods rely on online learning, which requires either real-world hardware or advanced simulation environments--both of which can be costly, time-consuming, and impractical. Offline reinforcement learning offers a solution, enabling models to be trained without ongoing access to physical robots or simulations. A second challenge is learning multi-goal tasks, where robots must achieve multiple objectives simultaneously. This adds complexity to the training process, as the model must generalize across different goals. At the same time, transformer architectures have gained significant popularity across various domains, including reinforcement learning. Yet, no existing methods effectively combine offline training, multi-goal learning, and transformer-based architectures. In this paper, we address these challenges by introducing a novel adaptation of the decision transformer architecture for offline multi-goal reinforcement learning in robotics. Our approach integrates goal-specific information into the decision transformer, allowing it to handle complex tasks in an offline setting. To validate our method, we developed a new offline reinforcement learning dataset using the Panda robotic platform in simulation. Our extensive experiments demonstrate that the decision transformer can outperform state-of-the-art online reinforcement learning methods.