# LASER：用于支持约束熵正则化离线RL的潜在空间伴随匹配

> 原文链接：https://robotics.hellobike.com/papers/2026-10-06-2610-08989
> 频道：papers | 更新日期：2026-10-06 | 标签：arxiv, cs.RO
> 核心摘要：LASER针对离线RL的OOD动作风险，在受限潜在空间引入伴随匹配与熵正则，并在40个OGBench任务上验证。

# LASER：用于支持约束熵正则化离线RL的潜在空间伴随匹配

::: v-pre
> 原文链接：[LASER: Latent Space Adjoint Matching for Support-Constrained Entropy-Regularized Offline RL](https://arxiv.org/abs/2610.08989)（arXiv 2610.08989 · 发布日期：2026-10-06）

**LASER: Latent Space Adjoint Matching for Support-Constrained Entropy-Regularized Offline RL**

LASER针对离线RL的OOD动作风险，在受限潜在空间引入伴随匹配与熵正则，并在40个OGBench任务上验证。

## 核心要点

- 离线RL可免在线交互优化策略，但执行OOD动作仍是主要瓶颈。
- LASER在行为克隆流策略的受限潜在空间中进行熵正则化RL。
- 潜在空间伴随匹配支持表达性流策略，并避免通过时间反向传播。
- 在40个不同数据质量的OGBench任务上达到SOTA，并给出项目网站。

**验证范围与局限**：验证范围为40个具有不同数据质量的OGBench任务。

## 英文摘要 (Abstract)

While offline reinforcement learning (RL) enables policy optimization from static datasets without costly online interaction, it remains bottlenecked by the risk of executing out-of-distribution (OOD) actions. Recent approaches mitigate this by learning a behavior-cloning policy through flow matching and then performing RL within its constrained latent space. However, naively optimizing the latent policy can easily cause the policy to collapse into a brittle mode or exploit sharp artifacts of the learned critic. In this work, we find that entropy regularization is essential in latent-space RL for addressing these challenges. We introduce LASER, a novel offline RL algorithm that applies latent-space adjoint matching to achieve entropy-regularized latent-space RL with expressive flow policies while avoiding backpropagation through time. Through comprehensive experiments on 40 challenging OGBench tasks with varying dataset qualities, we show that LASER achieves state-of-the-art performance. Notably, LASER uses fixed method-specific hyperparameters across all tasks and outperforms the evaluated baselines, including those with task- and dataset-specific tuning, which highlights the robust applicability of LASER. Project website: https://mit-realm.github.io/laser/.

作者：Songyuan Zhang, Oswin So, Eric Yang Yu, Matthew Cleaveland, Peter Crowley-Dolen, Chuchu Fan
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## 原始参考来源 (Sources)

- [arXiv 2610.08989：LASER: Latent Space Adjoint Matching for Support-Constrained Entropy-Regularized Offline RL](https://arxiv.org/abs/2610.08989)