43,038 research outputs found
Model Learning for Look-ahead Exploration in Continuous Control
We propose an exploration method that incorporates look-ahead search over
basic learnt skills and their dynamics, and use it for reinforcement learning
(RL) of manipulation policies . Our skills are multi-goal policies learned in
isolation in simpler environments using existing multigoal RL formulations,
analogous to options or macroactions. Coarse skill dynamics, i.e., the state
transition caused by a (complete) skill execution, are learnt and are unrolled
forward during lookahead search. Policy search benefits from temporal
abstraction during exploration, though itself operates over low-level primitive
actions, and thus the resulting policies does not suffer from suboptimality and
inflexibility caused by coarse skill chaining. We show that the proposed
exploration strategy results in effective learning of complex manipulation
policies faster than current state-of-the-art RL methods, and converges to
better policies than methods that use options or parametrized skills as
building blocks of the policy itself, as opposed to guiding exploration. We
show that the proposed exploration strategy results in effective learning of
complex manipulation policies faster than current state-of-the-art RL methods,
and converges to better policies than methods that use options or parameterized
skills as building blocks of the policy itself, as opposed to guiding
exploration.Comment: This is a pre-print of our paper which is accepted in AAAI 201
Classifying Options for Deep Reinforcement Learning
In this paper we combine one method for hierarchical reinforcement learning -
the options framework - with deep Q-networks (DQNs) through the use of
different "option heads" on the policy network, and a supervisory network for
choosing between the different options. We utilise our setup to investigate the
effects of architectural constraints in subtasks with positive and negative
transfer, across a range of network capacities. We empirically show that our
augmented DQN has lower sample complexity when simultaneously learning subtasks
with negative transfer, without degrading performance when learning subtasks
with positive transfer.Comment: IJCAI 2016 Workshop on Deep Reinforcement Learning: Frontiers and
Challenge
A Deep Hierarchical Approach to Lifelong Learning in Minecraft
We propose a lifelong learning system that has the ability to reuse and
transfer knowledge from one task to another while efficiently retaining the
previously learned knowledge-base. Knowledge is transferred by learning
reusable skills to solve tasks in Minecraft, a popular video game which is an
unsolved and high-dimensional lifelong learning problem. These reusable skills,
which we refer to as Deep Skill Networks, are then incorporated into our novel
Hierarchical Deep Reinforcement Learning Network (H-DRLN) architecture using
two techniques: (1) a deep skill array and (2) skill distillation, our novel
variation of policy distillation (Rusu et. al. 2015) for learning skills. Skill
distillation enables the HDRLN to efficiently retain knowledge and therefore
scale in lifelong learning, by accumulating knowledge and encapsulating
multiple reusable skills into a single distilled network. The H-DRLN exhibits
superior performance and lower learning sample complexity compared to the
regular Deep Q Network (Mnih et. al. 2015) in sub-domains of Minecraft
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