We propose a novel framework for multi-task reinforcement learning (MTRL). Using a variational inference formulation, we learn policies that generalize across both changing dynamics and goals. The resulting policies are parametrized by shared parameters that allow for transfer between different dynamics and goal conditions, and by task-specific latent-space embeddings that allow for specialization to particular tasks. We show how the latent-spaces enable generalization to unseen dynamics and goals conditions. Additionally, policies equipped with such embeddings serve as a space of skills (or options) for hierarchical reinforcement learning. Since we can change task dynamics and goals independently, we name our framework Disentangled Skill Embeddings (DSE).
We derive our algorithm using a variational infernence formulation for RL. Several previous works have described RL as an inference problem including its relation to entropy regularization @cite_2 @cite_4 @cite_0 @cite_6 @cite_1 . This formalism has recently attracted attention , because it provides a powerful and intuitive way to describe more complex agent architectures using the tools from graphical models.
@cite_4 @cite_1 @cite_6 @cite_0 @cite_2
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We introduce an approach for deep reinforcement learning (RL) that improves upon the efficiency, generalization capacity, and interpretability of conventional approaches through structured perception and relational reasoning. It uses self-attention to iteratively reason about the relations between entities in a scene and to guide a model-free policy. Our results show that in a novel navigation and planning task called Box-World, our agent finds interpretable solutions that improve upon baselines in terms of sample complexity, ability to generalize to more complex scenes than experienced during training, and overall performance. In the StarCraft II Learning Environment, our agent achieves state-of-the-art performance on six mini-games -- surpassing human grandmaster performance on four. By considering architectural inductive biases, our work opens new directions for overcoming important, but stubborn, challenges in deep RL. We leverage causal inference tools to support a principled and more robust transfer of knowledge in reinforcement learning (RL) settings. In particular, we tackle the problem of transferring knowledge across bandit agents in settings where causal effects cannot be identified by Pearl's do-calculus nor standard off-policy learning techniques. Our new identification strategy combines two steps -- first, deriving bounds over the arm's distribution based on structural knowledge; second, incorporating these bounds in a novel bandit algorithm, B-kl-UCB. Simulations demonstrate that our strategy is consistently more efficient than the current (non-causal) state-of-the-art methods. We present an inference algorithm that organizes observed words (tokens) into structured inflectional paradigms (types). It also naturally predicts the spelling of unobserved forms that are missing from these paradigms, and discovers inflectional principles (grammar) that generalize to wholly unobserved words. Our Bayesian generative model of the data explicitly represents tokens, types, inflections, paradigms, and locally conditioned string edits. It assumes that inflected word tokens are generated from an infinite mixture of inflectional paradigms (string tuples). Each paradigm is sampled all at once from a graphical model, whose potential functions are weighted finite-state transducers with language-specific parameters to be learned. These assumptions naturally lead to an elegant empirical Bayes inference procedure that exploits Monte Carlo EM, belief propagation, and dynamic programming. Given 50--100 seed paradigms, adding a 10-million-word corpus reduces prediction error for morphological inflections by up to 10 . Hybrid continuous-discrete models naturally represent many real-world applications in robotics, finance, and environmental engineering. Inference with large-scale models is challenging because relational structures deteriorate rapidly during inference with observations. The main contribution of this paper is an efficient relational variational inference algorithm that factors largescale probability models into simpler variational models, composed of mixtures of iid (Bernoulli) random variables. The algorithm takes probability relational models of largescale hybrid systems and converts them to a close-to-optimal variational models. Then, it efficiently calculates marginal probabilities on the variational models by using a latent (or lifted) variable elimination or a lifted stochastic sampling. This inference is unique because it maintains the relational structure upon individual observations and during inference steps.