DRDT3: Diffusion-Refined Decision Test-Time Training Model

Abstract: Decision Transformer (DT), a trajectory modeling method, has shown competitive performance compared to traditional offline reinforcement learning (RL) approaches on various classic control tasks. However, it struggles to learn optimal policies from suboptimal, reward-labeled trajectories. In this study, we explore the use of conditional generative modeling to facilitate trajectory stitching given its high-quality data generation ability. Additionally, recent advancements in Recurrent Neural Networks (RNNs) have shown their linear complexity and competitive sequence modeling performance over Transformers. We leverage the Test-Time Training (TTT) layer, an RNN that updates hidden states during testing, to model trajectories in the form of DT. We introduce a unified framework, called Diffusion-Refined Decision TTT (DRDT3), to achieve performance beyond DT models. Specifically, we propose the Decision TTT (DT3) module, which harnesses the sequence modeling strengths of both self-attention and the TTT layer to capture recent contextual information and make coarse action predictions. We further integrate DT3 with the diffusion model using a unified optimization objective. With experiments on multiple tasks of Gym and AntMaze in the D4RL benchmark, our DT3 model without diffusion refinement demonstrates improved performance over standard DT, while DRDT3 further achieves superior results compared to state-of-the-art conventional offline RL and DT-based methods.