Backward Learning for Goal-Conditioned Policies

Published: 03 Nov 2023, Last Modified: 27 Nov 2023GCRL WorkshopEveryoneRevisionsBibTeX
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Keywords: world models, goal-conditioned, imitation learning, reward-free
TL;DR: Learning Goal-conditioned policies without reward.
Abstract: Can we learn policies in reinforcement learning without rewards? Can we learn a policy just by trying to reach a goal state? We answer these questions positively by proposing a multi-step procedure that first learns a world model that goes backward in time, secondly generates goal-reaching backward trajectories, thirdly improves those sequences using shortest path finding algorithms, and finally trains a neural network policy by imitation learning. We evaluate our method on a deterministic maze environment where the observations are $64\times 64$ pixel bird's eye images and can show that it consistently reaches several goals.
Submission Number: 4