253 research outputs found
Hierarchical Reinforcement Learning with the MAXQ Value Function Decomposition
This paper presents the MAXQ approach to hierarchical reinforcement learning
based on decomposing the target Markov decision process (MDP) into a hierarchy
of smaller MDPs and decomposing the value function of the target MDP into an
additive combination of the value functions of the smaller MDPs. The paper
defines the MAXQ hierarchy, proves formal results on its representational
power, and establishes five conditions for the safe use of state abstractions.
The paper presents an online model-free learning algorithm, MAXQ-Q, and proves
that it converges wih probability 1 to a kind of locally-optimal policy known
as a recursively optimal policy, even in the presence of the five kinds of
state abstraction. The paper evaluates the MAXQ representation and MAXQ-Q
through a series of experiments in three domains and shows experimentally that
MAXQ-Q (with state abstractions) converges to a recursively optimal policy much
faster than flat Q learning. The fact that MAXQ learns a representation of the
value function has an important benefit: it makes it possible to compute and
execute an improved, non-hierarchical policy via a procedure similar to the
policy improvement step of policy iteration. The paper demonstrates the
effectiveness of this non-hierarchical execution experimentally. Finally, the
paper concludes with a comparison to related work and a discussion of the
design tradeoffs in hierarchical reinforcement learning.Comment: 63 pages, 15 figure
State Abstraction in MAXQ Hierarchical Reinforcement Learning
Many researchers have explored methods for hierarchical reinforcement
learning (RL) with temporal abstractions, in which abstract actions are defined
that can perform many primitive actions before terminating. However, little is
known about learning with state abstractions, in which aspects of the state
space are ignored. In previous work, we developed the MAXQ method for
hierarchical RL. In this paper, we define five conditions under which state
abstraction can be combined with the MAXQ value function decomposition. We
prove that the MAXQ-Q learning algorithm converges under these conditions and
show experimentally that state abstraction is important for the successful
application of MAXQ-Q learning.Comment: 7 pages, 2 figure
Gaussian Approximation of Collective Graphical Models
The Collective Graphical Model (CGM) models a population of independent and
identically distributed individuals when only collective statistics (i.e.,
counts of individuals) are observed. Exact inference in CGMs is intractable,
and previous work has explored Markov Chain Monte Carlo (MCMC) and MAP
approximations for learning and inference. This paper studies Gaussian
approximations to the CGM. As the population grows large, we show that the CGM
distribution converges to a multivariate Gaussian distribution (GCGM) that
maintains the conditional independence properties of the original CGM. If the
observations are exact marginals of the CGM or marginals that are corrupted by
Gaussian noise, inference in the GCGM approximation can be computed efficiently
in closed form. If the observations follow a different noise model (e.g.,
Poisson), then expectation propagation provides efficient and accurate
approximate inference. The accuracy and speed of GCGM inference is compared to
the MCMC and MAP methods on a simulated bird migration problem. The GCGM
matches or exceeds the accuracy of the MAP method while being significantly
faster.Comment: Accepted by ICML 2014. 10 page version with appendi
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