MoDem: Accelerating Visual Model-Based Reinforcement Learning with DemonstrationsDownload PDF

Anonymous

22 Sept 2022, 12:37 (modified: 17 Nov 2022, 05:01)ICLR 2023 Conference Blind SubmissionReaders: Everyone
Keywords: model-based reinforcement learning, visual reinforcement learning, learning from demonstrations
TL;DR: We find that leveraging just a handful of demonstrations can dramatically improve the sample-efficiency of model-based RL, but requires three key ingredients: policy pretraining, targeted exploration, and oversampling of demonstration data.
Abstract: Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly sample efficient by concurrently learning a world model and using synthetic rollouts for planning and policy improvement. However, in practice, sample-efficient learning with model-based RL is bottlenecked by the exploration challenge. In this work, we find that leveraging just a handful of demonstrations can dramatically improve the sample-efficiency of model-based RL. Simply appending demonstrations to the interaction dataset, however, does not suffice. We identify key ingredients for leveraging demonstrations in model learning -- policy pretraining, targeted exploration, and oversampling of demonstration data -- which forms the three phases of our model-based RL framework. We empirically study three complex visuo-motor control domains and find that our method is 260%-350% more successful in completing sparse reward tasks compared to prior approaches in the low data regime (100K interaction steps, 5 demonstrations). Webpage: https://modemrl.github.io/
Anonymous Url: I certify that there is no URL (e.g., github page) that could be used to find authors’ identity.
No Acknowledgement Section: I certify that there is no acknowledgement section in this submission for double blind review.
Code Of Ethics: I acknowledge that I and all co-authors of this work have read and commit to adhering to the ICLR Code of Ethics
Submission Guidelines: Yes
Please Choose The Closest Area That Your Submission Falls Into: Reinforcement Learning (eg, decision and control, planning, hierarchical RL, robotics)
11 Replies

Loading