Wasserstein Robust Reinforcement LearningDownload PDF

25 Sep 2019 (modified: 24 Dec 2019)ICLR 2020 Conference Blind SubmissionReaders: Everyone
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  • Keywords: Reinforcement Learning, Robustness, Wasserstein distance
  • TL;DR: An RL algorithm that learns to be robust to changes in dynamics
  • Abstract: Reinforcement learning algorithms, though successful, tend to over-fit to training environments, thereby hampering their application to the real-world. This paper proposes $\text{W}\text{R}^{2}\text{L}$ -- a robust reinforcement learning algorithm with significant robust performance on low and high-dimensional control tasks. Our method formalises robust reinforcement learning as a novel min-max game with a Wasserstein constraint for a correct and convergent solver. Apart from the formulation, we also propose an efficient and scalable solver following a novel zero-order optimisation method that we believe can be useful to numerical optimisation in general. We empirically demonstrate significant gains compared to standard and robust state-of-the-art algorithms on high-dimensional MuJuCo environments
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