Task Aware Dreamer for Task Generalization in Reinforcement Learning
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2023
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866918300246605824 |
|---|---|
| author | Ying, Chengyang Zhou, Xinning Hao, Zhongkai Su, Hang Liu, Songming Yan, Dong Zhu, Jun |
| author_facet | Ying, Chengyang Zhou, Xinning Hao, Zhongkai Su, Hang Liu, Songming Yan, Dong Zhu, Jun |
| contents | A long-standing goal of reinforcement learning is to acquire agents that can learn on training tasks and generalize well on unseen tasks that may share a similar dynamic but with different reward functions. The ability to generalize across tasks is important as it determines an agent's adaptability to real-world scenarios where reward mechanisms might vary. In this work, we first show that training a general world model can utilize similar structures in these tasks and help train more generalizable agents. Extending world models into the task generalization setting, we introduce a novel method named Task Aware Dreamer (TAD), which integrates reward-informed features to identify consistent latent characteristics across tasks. Within TAD, we compute the variational lower bound of sample data log-likelihood, which introduces a new term designed to differentiate tasks using their states, as the optimization objective of our reward-informed world models. To demonstrate the advantages of the reward-informed policy in TAD, we introduce a new metric called Task Distribution Relevance (TDR) which quantitatively measures the relevance of different tasks. For tasks exhibiting a high TDR, i.e., the tasks differ significantly, we illustrate that Markovian policies struggle to distinguish them, thus it is necessary to utilize reward-informed policies in TAD. Extensive experiments in both image-based and state-based tasks show that TAD can significantly improve the performance of handling different tasks simultaneously, especially for those with high TDR, and display a strong generalization ability to unseen tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_05092 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Task Aware Dreamer for Task Generalization in Reinforcement Learning Ying, Chengyang Zhou, Xinning Hao, Zhongkai Su, Hang Liu, Songming Yan, Dong Zhu, Jun Machine Learning A long-standing goal of reinforcement learning is to acquire agents that can learn on training tasks and generalize well on unseen tasks that may share a similar dynamic but with different reward functions. The ability to generalize across tasks is important as it determines an agent's adaptability to real-world scenarios where reward mechanisms might vary. In this work, we first show that training a general world model can utilize similar structures in these tasks and help train more generalizable agents. Extending world models into the task generalization setting, we introduce a novel method named Task Aware Dreamer (TAD), which integrates reward-informed features to identify consistent latent characteristics across tasks. Within TAD, we compute the variational lower bound of sample data log-likelihood, which introduces a new term designed to differentiate tasks using their states, as the optimization objective of our reward-informed world models. To demonstrate the advantages of the reward-informed policy in TAD, we introduce a new metric called Task Distribution Relevance (TDR) which quantitatively measures the relevance of different tasks. For tasks exhibiting a high TDR, i.e., the tasks differ significantly, we illustrate that Markovian policies struggle to distinguish them, thus it is necessary to utilize reward-informed policies in TAD. Extensive experiments in both image-based and state-based tasks show that TAD can significantly improve the performance of handling different tasks simultaneously, especially for those with high TDR, and display a strong generalization ability to unseen tasks. |
| title | Task Aware Dreamer for Task Generalization in Reinforcement Learning |
| topic | Machine Learning |
| url | https://arxiv.org/abs/2303.05092 |