GrASP: Gradient-Based Affordance Selection for PlanningDownload PDF


Sep 29, 2021 (edited Oct 05, 2021)ICLR 2022 Conference Blind SubmissionReaders: Everyone
  • Keywords: reinforcement learning, affordances
  • Abstract: Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with continuous action spaces when using tree-search planning (e.g., it is not feasible to consider every action even at just the root node of the tree). In this paper we present a method for \emph{selecting} affordances useful for planning---for learning which small number of actions/options from a continuous space of actions/options to consider in the tree-expansion process during planning. We consider affordances that are goal-and-state-conditional mappings to actions/options as well as unconditional affordances that simply select actions/options available in all states. Our selection method is gradient based: we compute gradients through the planning procedure to update the parameters of the function that represents affordances. Our empirical work shows that it is feasible to learn to select both primitive-action and option affordances, and that simultaneously learning to select affordances and planning with a learned value-equivalent model can outperform model-free RL.
  • One-sentence Summary: Learning to select affordances in the form of options and primitive actions for lookahead planning
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