Transfer from Multiple MDPs

Transfer reinforcement learning (RL) methods leverage on the experience collected on a set of source tasks to speed-up RL algorithms. A simple and effective approach is to transfer samples from source tasks and include them into the training set used to solve a given target task. In this paper, we investigate the theoretical properties of this transfer method and we introduce novel algorithms adapting the transfer process on the basis of the similarity between source and target tasks. Finally, we report illustrative experimental results in a continuous chain problem.Comment: 201

Smoothing Policies and Safe Policy Gradients

Policy gradient algorithms are among the best candidates for the much anticipated application of reinforcement learning to real-world control tasks, such as the ones arising in robotics. However, the trial-and-error nature of these methods introduces safety issues whenever the learning phase itself must be performed on a physical system. In this paper, we address a specific safety formulation, where danger is encoded in the reward signal and the learning agent is constrained to never worsen its performance. By studying actor-only policy gradient from a stochastic optimization perspective, we establish improvement guarantees for a wide class of parametric policies, generalizing existing results on Gaussian policies. This, together with novel upper bounds on the variance of policy gradient estimators, allows to identify those meta-parameter schedules that guarantee monotonic improvement with high probability. The two key meta-parameters are the step size of the parameter updates and the batch size of the gradient estimators. By a joint, adaptive selection of these meta-parameters, we obtain a safe policy gradient algorithm

Unimodal Thompson Sampling for Graph-Structured Arms

We study, to the best of our knowledge, the first Bayesian algorithm for unimodal Multi-Armed Bandit (MAB) problems with graph structure. In this setting, each arm corresponds to a node of a graph and each edge provides a relationship, unknown to the learner, between two nodes in terms of expected reward. Furthermore, for any node of the graph there is a path leading to the unique node providing the maximum expected reward, along which the expected reward is monotonically increasing. Previous results on this setting describe the behavior of frequentist MAB algorithms. In our paper, we design a Thompson Sampling-based algorithm whose asymptotic pseudo-regret matches the lower bound for the considered setting. We show that -as it happens in a wide number of scenarios- Bayesian MAB algorithms dramatically outperform frequentist ones. In particular, we provide a thorough experimental evaluation of the performance of our and state-of-the-art algorithms as the properties of the graph vary

Coherent Transport of Quantum States by Deep Reinforcement Learning

Some problems in physics can be handled only after a suitable \textit{ansatz }solution has been guessed. Such method is therefore resilient to generalization, resulting of limited scope. The coherent transport by adiabatic passage of a quantum state through an array of semiconductor quantum dots provides a par excellence example of such approach, where it is necessary to introduce its so called counter-intuitive control gate ansatz pulse sequence. Instead, deep reinforcement learning technique has proven to be able to solve very complex sequential decision-making problems involving competition between short-term and long-term rewards, despite a lack of prior knowledge. We show that in the above problem deep reinforcement learning discovers control sequences outperforming the \textit{ansatz} counter-intuitive sequence. Even more interesting, it discovers novel strategies when realistic disturbances affect the ideal system, with better speed and fidelity when energy detuning between the ground states of quantum dots or dephasing are added to the master equation, also mitigating the effects of losses. This method enables online update of realistic systems as the policy convergence is boosted by exploiting the prior knowledge when available. Deep reinforcement learning proves effective to control dynamics of quantum states, and more generally it applies whenever an ansatz solution is unknown or insufficient to effectively treat the problem.Comment: 5 figure

Inverse Reinforcement Learning through Policy Gradient Minimization

Inverse Reinforcement Learning (IRL) deals with the problem of recovering the reward function optimized by an expert given a set of demonstrations of the expert's policy.Most IRL algorithms need to repeatedly compute the optimal policy for different reward functions.This paper proposes a new IRL approach that allows to recover the reward function without the need of solving any "direct" RL problem.The idea is to find the reward function that minimizes the gradient of a parameterized representation of the expert's policy.In particular, when the reward function can be represented as a linear combination of some basis functions, we will show that the aforementioned optimization problem can be efficiently solved.We present an empirical evaluation of the proposed approach on a multidimensional version of the Linear-Quadratic Regulator (LQR) both in the case where the parameters of the expert's policy are known and in the (more realistic) case where the parameters of the expert's policy need to be inferred from the expert's demonstrations.Finally, the algorithm is compared against the state-of-the-art on the mountain car domain, where the expert's policy is unknown

An Intrinsically-Motivated Approach for Learning Highly Exploring and Fast Mixing Policies

What is a good exploration strategy for an agent that interacts with an environment in the absence of external rewards? Ideally, we would like to get a policy driving towards a uniform state-action visitation (highly exploring) in a minimum number of steps (fast mixing), in order to ease efficient learning of any goal-conditioned policy later on. Unfortunately, it is remarkably arduous to directly learn an optimal policy of this nature. In this paper, we propose a novel surrogate objective for learning highly exploring and fast mixing policies, which focuses on maximizing a lower bound to the entropy of the steady-state distribution induced by the policy. In particular, we introduce three novel lower bounds, that lead to as many optimization problems, that tradeoff the theoretical guarantees with computational complexity. Then, we present a model-based reinforcement learning algorithm, IDE$^{3}$AL, to learn an optimal policy according to the introduced objective. Finally, we provide an empirical evaluation of this algorithm on a set of hard-exploration tasks.Comment: In 34th AAAI Conference on Artificial Intelligence (AAAI 2020