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Inspired by human conscious planning, we propose Skipper, a model-based reinforcement learning framework utilizing spatio-temporal abstracti… (voir plus)ons to generalize better in novel situations. It automatically decomposes the given task into smaller, more manageable subtasks, and thus enables sparse decision-making and focused computation on the relevant parts of the environment. The decomposition relies on the extraction of an abstracted proxy problem represented as a directed graph, in which vertices and edges are learned end-to-end from hindsight. Our theoretical analyses provide performance guarantees under appropriate assumptions and establish where our approach is expected to be helpful. Generalization-focused experiments validate Skipper's significant advantage in zero-shot generalization, compared to some existing state-of-the-art hierarchical planning methods.
The core operation of current Graph Neural Networks (GNNs) is the aggregation enabled by the graph Laplacian or message passing, which filte… (voir plus)rs the neighborhood node information. Though effective for various tasks, in this paper, we show that they are potentially a problematic factor underlying all GNN methods for learning on certain datasets, as they force the node representations similar, making the nodes gradually lose their identity and become indistinguishable. Hence, we augment the aggregation operations with their dual, i.e. diversification operators that make the node more distinct and preserve the identity. Such augmentation replaces the aggregation with a two-channel filtering process that, in theory, is beneficial for enriching the node representations. In practice, the proposed two-channel filters can be easily patched on existing GNN methods with diverse training strategies, including spectral and spatial (message passing) methods. In the experiments, we observe desired characteristics of the models and significant performance boost upon the baselines on 9 node classification tasks.
In reinforcement learning, the graph Laplacian has proved to be a valuable tool in the task-agnostic setting, with applications ranging from… (voir plus) skill discovery to reward shaping. Recently, learning the Laplacian representation has been framed as the optimization of a temporally-contrastive objective to overcome its computational limitations in large (or continuous) state spaces. However, this approach requires uniform access to all states in the state space, overlooking the exploration problem that emerges during the representation learning process. In this work, we propose an alternative method that is able to recover, in a non-uniform-prior setting, the expressiveness and the desired properties of the Laplacian representation. We do so by combining the representation learning with a skill-based covering policy, which provides a better training distribution to extend and refine the representation. We also show that a simple augmentation of the representation objective with the learned temporal abstractions improves dynamics-awareness and helps exploration. We find that our method succeeds as an alternative to the Laplacian in the non-uniform setting and scales to challenging continuous control environments. Finally, even if our method is not optimized for skill discovery, the learned skills can successfully solve difficult continuous navigation tasks with sparse rewards, where standard skill discovery approaches are no so effective.
Learning reward-agnostic representations is an emerging paradigm in reinforcement learning. These representations can be leveraged for sever… (voir plus)al purposes ranging from reward shaping to skill discovery. Nevertheless, in order to learn such representations, existing methods often rely on assuming uniform access to the state space. With such a privilege, the agent’s coverage of the environment can be limited which hurts the quality of the learned representations. In this work, we introduce a method that explicitly couples representation learning with exploration when the agent is not provided with a uniform prior over the state space. Our method learns representations that constantly drive exploration while the data generated by the agent’s exploratory behavior drives the learning of better representations. We empirically validate our approach in goal-achieving tasks, demonstrating that the learned representation captures the dynamics of the environment, leads to more accurate value estimation, and to faster credit assignment, both when used for control and for reward shaping. Finally, the exploratory policy that emerges from our approach proves to be successful at continuous navigation tasks with sparse rewards.
