Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866910478770372608 |
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| author | Celik, Onur Taranovic, Aleksandar Neumann, Gerhard |
| author_facet | Celik, Onur Taranovic, Aleksandar Neumann, Gerhard |
| contents | Reinforcement learning (RL) is a powerful approach for acquiring a good-performing policy. However, learning diverse skills is challenging in RL due to the commonly used Gaussian policy parameterization. We propose \textbf{Di}verse \textbf{Skil}l \textbf{L}earning (Di-SkilL\footnote{Videos and code are available on the project webpage: \url{https://alrhub.github.io/di-skill-website/}}), an RL method for learning diverse skills using Mixture of Experts, where each expert formalizes a skill as a contextual motion primitive. Di-SkilL optimizes each expert and its associate context distribution to a maximum entropy objective that incentivizes learning diverse skills in similar contexts. The per-expert context distribution enables automatic curricula learning, allowing each expert to focus on its best-performing sub-region of the context space. To overcome hard discontinuities and multi-modalities without any prior knowledge of the environment's unknown context probability space, we leverage energy-based models to represent the per-expert context distributions and demonstrate how we can efficiently train them using the standard policy gradient objective. We show on challenging robot simulation tasks that Di-SkilL can learn diverse and performant skills. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_06966 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts Celik, Onur Taranovic, Aleksandar Neumann, Gerhard Machine Learning Robotics Reinforcement learning (RL) is a powerful approach for acquiring a good-performing policy. However, learning diverse skills is challenging in RL due to the commonly used Gaussian policy parameterization. We propose \textbf{Di}verse \textbf{Skil}l \textbf{L}earning (Di-SkilL\footnote{Videos and code are available on the project webpage: \url{https://alrhub.github.io/di-skill-website/}}), an RL method for learning diverse skills using Mixture of Experts, where each expert formalizes a skill as a contextual motion primitive. Di-SkilL optimizes each expert and its associate context distribution to a maximum entropy objective that incentivizes learning diverse skills in similar contexts. The per-expert context distribution enables automatic curricula learning, allowing each expert to focus on its best-performing sub-region of the context space. To overcome hard discontinuities and multi-modalities without any prior knowledge of the environment's unknown context probability space, we leverage energy-based models to represent the per-expert context distributions and demonstrate how we can efficiently train them using the standard policy gradient objective. We show on challenging robot simulation tasks that Di-SkilL can learn diverse and performant skills. |
| title | Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts |
| topic | Machine Learning Robotics |
| url | https://arxiv.org/abs/2403.06966 |