On Rollouts in Model-Based Reinforcement Learning
Keywords: Model-Based Reinforcement Learning, Model Rollouts, Uncertainty Quantification
TL;DR: We propose Infoprop a novel rollout mechanism for model-based reinforcement learning yielding substantially improved data consistency and long-term planning capabilities.
Abstract: Model-based reinforcement learning (MBRL) seeks to enhance data efficiency by learning a model of the environment and generating synthetic rollouts from it. However, accumulated model errors during these rollouts can distort the data distribution, negatively impacting policy learning and hindering long-term planning. Thus, the accumulation of model errors is a key bottleneck in current MBRL methods. We propose Infoprop, a model-based rollout mechanism that separates aleatoric from epistemic model uncertainty and reduces the influence of the latter on the data distribution. Further, Infoprop keeps track of accumulated model errors along a model rollout and provides termination criteria to limit data corruption. We demonstrate the capabilities of Infoprop in the Infoprop-Dyna algorithm, reporting state-of-the-art performance in Dyna-style MBRL on common MuJoCo benchmark tasks while substantially increasing rollout length and data quality.
Supplementary Material: zip
Primary Area: reinforcement learning
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Submission Number: 6364
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