Pareto Inverse Reinforcement Learning for Diverse Expert Policy Generation
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arXiv
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| Format: | Preprint |
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2024
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| author | Kim, Woo Kyung Yoo, Minjong Woo, Honguk |
| author_facet | Kim, Woo Kyung Yoo, Minjong Woo, Honguk |
| contents | Data-driven offline reinforcement learning and imitation learning approaches have been gaining popularity in addressing sequential decision-making problems. Yet, these approaches rarely consider learning Pareto-optimal policies from a limited pool of expert datasets. This becomes particularly marked due to practical limitations in obtaining comprehensive datasets for all preferences, where multiple conflicting objectives exist and each expert might hold a unique optimization preference for these objectives. In this paper, we adapt inverse reinforcement learning (IRL) by using reward distance estimates for regularizing the discriminator. This enables progressive generation of a set of policies that accommodate diverse preferences on the multiple objectives, while using only two distinct datasets, each associated with a different expert preference. In doing so, we present a Pareto IRL framework (ParIRL) that establishes a Pareto policy set from these limited datasets. In the framework, the Pareto policy set is then distilled into a single, preference-conditioned diffusion model, thus allowing users to immediately specify which expert's patterns they prefer. Through experiments, we show that ParIRL outperforms other IRL algorithms for various multi-objective control tasks, achieving the dense approximation of the Pareto frontier. We also demonstrate the applicability of ParIRL with autonomous driving in CARLA. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_12110 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Pareto Inverse Reinforcement Learning for Diverse Expert Policy Generation Kim, Woo Kyung Yoo, Minjong Woo, Honguk Machine Learning Data-driven offline reinforcement learning and imitation learning approaches have been gaining popularity in addressing sequential decision-making problems. Yet, these approaches rarely consider learning Pareto-optimal policies from a limited pool of expert datasets. This becomes particularly marked due to practical limitations in obtaining comprehensive datasets for all preferences, where multiple conflicting objectives exist and each expert might hold a unique optimization preference for these objectives. In this paper, we adapt inverse reinforcement learning (IRL) by using reward distance estimates for regularizing the discriminator. This enables progressive generation of a set of policies that accommodate diverse preferences on the multiple objectives, while using only two distinct datasets, each associated with a different expert preference. In doing so, we present a Pareto IRL framework (ParIRL) that establishes a Pareto policy set from these limited datasets. In the framework, the Pareto policy set is then distilled into a single, preference-conditioned diffusion model, thus allowing users to immediately specify which expert's patterns they prefer. Through experiments, we show that ParIRL outperforms other IRL algorithms for various multi-objective control tasks, achieving the dense approximation of the Pareto frontier. We also demonstrate the applicability of ParIRL with autonomous driving in CARLA. |
| title | Pareto Inverse Reinforcement Learning for Diverse Expert Policy Generation |
| topic | Machine Learning |
| url | https://arxiv.org/abs/2408.12110 |