Align-RUDDER: Learning From Few Demonstrations by Reward RedistributionDownload PDF

28 Sep 2020 (modified: 14 Jan 2021)ICLR 2021 Conference Blind SubmissionReaders: Everyone
  • Abstract: Reinforcement Learning algorithms require a large number of samples to solve complex tasks with sparse and delayed rewards. Complex tasks are often hierarchically composed of sub-tasks. A step in the Q-function indicates solving a sub-task, where the expectation of the return increases. RUDDER identifies these steps and then redistributes reward to them, thus immediately giving reward if sub-tasks are solved. Since the delay of rewards is reduced, learning is considerably sped up. However, for complex tasks, current exploration strategies struggle with discovering episodes with high rewards. Therefore, we assume that episodes with high rewards are given as demonstrations and do not have to be discovered by exploration. Typically the number of demonstrations is small and RUDDER's LSTM model does not learn well. Hence, we introduce Align-RUDDER, which is RUDDER with two major modifications. First, Align-RUDDER assumes that episodes with high rewards are given as demonstrations, replacing RUDDER’s safe exploration and lessons replay buffer. Second, we substitute RUDDER’s LSTM model by a profile model that is obtained from multiple sequence alignment of demonstrations. Profile models can be constructed from as few as two demonstrations. Align-RUDDER inherits the concept of reward redistribution, which speeds up learning by reducing the delay of rewards. Align-RUDDER outperforms competitors on complex artificial tasks with delayed reward and few demonstrations. On the MineCraft ObtainDiamond task, Align-RUDDER is able to mine a diamond, though not frequently.
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