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NeurIPSgeneralisation
2022
Trevor McInroe, Lukas Schäfer, Stefano V. Albrecht
Learning Representations for Reinforcement Learning with Hierarchical Forward Models
NeurIPS Workshop on Deep Reinforcement Learning, 2022
Abstract | BibTex | arXiv
NeurIPSdeep-rlgeneralisation
Abstract:
Learning control from pixels is difficult for reinforcement learning (RL) agents because representation learning and policy learning are intertwined. Previous approaches remedy this issue with auxiliary representation learning tasks, but they either do not consider the temporal aspect of the problem or only consider single-step transitions, which may miss relevant information if important environmental changes take many steps to manifest. We propose Hierarchical k-Step Latent (HKSL), an auxiliary task that learns representations via a hierarchy of forward models that operate at varying magnitudes of step skipping while also learning to communicate between levels in the hierarchy. We evaluate HKSL in a suite of 30 robotic control tasks with and without distractors and a task of our creation. We find that HKSL either converges to higher or optimal episodic returns more quickly than several alternative representation learning approaches. Furthermore, we find that HKSL's representations capture task-relevant details accurately across timescales (even in the presence of distractors) and that communication channels between hierarchy levels organize information based on both sides of the communication process, both of which improve sample efficiency.
@inproceedings{mcinroe2022hksl,
title={Learning Representations for Reinforcement Learning with Hierarchical Forward Models},
author={Trevor McInroe and Lukas Schäfer and Stefano V Albrecht},
booktitle={NeurIPS Workshop on Deep RL},
year={2022}
}
Mhairi Dunion, Trevor McInroe, Kevin Sebastian Luck, Josiah Hanna, Stefano V. Albrecht
Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning
NeurIPS Workshop on Deep Reinforcement Learning, 2022
Abstract | BibTex | arXiv | Code
NeurIPSdeep-rlgeneralisationcausal
Abstract:
Reinforcement Learning (RL) agents are often unable to generalise well to environment variations in the state space that were not observed during training. This issue is especially problematic for image-based RL, where a change in just one variable, such as the background colour, can change many pixels in the image, which can lead to drastic changes in the agent's latent representation of the image, causing the learned policy to fail. To learn more robust representations, we introduce TEmporal Disentanglement (TED), a self-supervised auxiliary task that leads to disentangled image representations exploiting the sequential nature of RL observations. We find empirically that RL algorithms utilising TED as an auxiliary task adapt more quickly to changes in environment variables with continued training compared to state-of-the-art representation learning methods. Since TED enforces a disentangled structure of the representation, we also find that policies trained with TED generalise better to unseen values of variables irrelevant to the task (e.g. background colour) as well as unseen values of variables that affect the optimal policy (e.g. goal positions).
@inproceedings{dunion2022ted,
title={Temporal Disentanglement of Representations for Improved Generalisation in Reinforcement Learning},
author={Mhairi Dunion and Trevor McInroe and Kevin Sebastian Luck and Josiah Hanna and Stefano V Albrecht},
booktitle={NeurIPS Workshop on Deep Reinforcement Learning},
year={2022}
}