Exploiting Multiple Abstractions in Episodic RL via Reward Shaping

One major limitation to the applicability of Reinforcement Learning (RL) to many practical domains is the large number of samples required to learn an optimal policy. To address this problem and improve learning efficiency, we consider a linear hierarchy of abstraction layers of the Markov Decision Process (MDP) underlying the target domain. Each layer is an MDP representing a coarser model of the one immediately below in the hierarchy. In this work, we propose a novel form of Reward Shaping where the solution obtained at the abstract level is used to offer rewards to the more concrete MDP, in such a way that the abstract solution guides the learning in the more complex domain. In contrast with other works in Hierarchical RL, our technique has few requirements in the design of the abstract models and it is also tolerant to modeling errors, thus making the proposed approach practical. We formally analyze the relationship between the abstract models and the exploration heuristic induced in the lower-level domain. Moreover, we prove that the method guarantees optimal convergence and we demonstrate its effectiveness experimentally.Comment: This is an extended version of the paper presented at AAAI 2023, https://doi.org/10.1609/aaai.v37i6.2588

Integrating computation into the mechanistic hierarchy in the cognitive and neural sciences

It is generally accepted that, in the cognitive sciences, there are both computational and mechanistic explanations. We ask how computational explanations can integrate into the mechanistic hierarchy. The problem stems from the fact that implementation and mechanistic relations have different forms. The implementation relation, from the states of an abstract computational system (e.g., an automaton) to the physical, implementing states is a homomorphism mapping relation. The mechanistic relation, however, is that of part/whole; the explanans in a mechanistic explanation are components of the explanandum phenomenon. Moreover, each component in one level of mechanism is constituted and explained by components of an underlying level of mechanism. Hence, it seems, computational variables and functions cannot be mechanistically explained by the medium-dependent properties that implement them. How then, do the computational and implementational properties integrate to create the mechanistic hierarchy? After explicating the general problem (section 2), we further demonstrate it through a concrete example, of reinforcement learning, in cognitive neuroscience (sections 3 and 4). We then examine two possible solutions (section 5). On one solution, the mechanistic hierarchy embeds at the same levels computational and implementational properties. This picture fits with the view that computational explanations are mechanism sketches. On the other solution, there are two separate hierarchies, one computational and another implementational, which are related by the implementation relation. This picture fits with the view that computational explanations are functional and autonomous explanations. It is less clear how these solutions fit with the view that computational explanations are full-fledged mechanistic explanations. Finally, we argue that both pictures are consistent with the reinforcement learning example, but that scientific practice does not align with the view that computational models are merely mechanistic sketches (section 6)

Self-organization of action hierarchy and compositionality by reinforcement learning with recurrent neural networks

Recurrent neural networks (RNNs) for reinforcement learning (RL) have shown distinct advantages, e.g., solving memory-dependent tasks and meta-learning. However, little effort has been spent on improving RNN architectures and on understanding the underlying neural mechanisms for performance gain. In this paper, we propose a novel, multiple-timescale, stochastic RNN for RL. Empirical results show that the network can autonomously learn to abstract sub-goals and can self-develop an action hierarchy using internal dynamics in a challenging continuous control task. Furthermore, we show that the self-developed compositionality of the network enhances faster re-learning when adapting to a new task that is a re-composition of previously learned sub-goals, than when starting from scratch. We also found that improved performance can be achieved when neural activities are subject to stochastic rather than deterministic dynamics

ToyArchitecture: Unsupervised Learning of Interpretable Models of the World

Research in Artificial Intelligence (AI) has focused mostly on two extremes: either on small improvements in narrow AI domains, or on universal theoretical frameworks which are usually uncomputable, incompatible with theories of biological intelligence, or lack practical implementations. The goal of this work is to combine the main advantages of the two: to follow a big picture view, while providing a particular theory and its implementation. In contrast with purely theoretical approaches, the resulting architecture should be usable in realistic settings, but also form the core of a framework containing all the basic mechanisms, into which it should be easier to integrate additional required functionality. In this paper, we present a novel, purposely simple, and interpretable hierarchical architecture which combines multiple different mechanisms into one system: unsupervised learning of a model of the world, learning the influence of one's own actions on the world, model-based reinforcement learning, hierarchical planning and plan execution, and symbolic/sub-symbolic integration in general. The learned model is stored in the form of hierarchical representations with the following properties: 1) they are increasingly more abstract, but can retain details when needed, and 2) they are easy to manipulate in their local and symbolic-like form, thus also allowing one to observe the learning process at each level of abstraction. On all levels of the system, the representation of the data can be interpreted in both a symbolic and a sub-symbolic manner. This enables the architecture to learn efficiently using sub-symbolic methods and to employ symbolic inference.Comment: Revision: changed the pdftitl