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Register a new userMaximum a Posteriori Policy Optimisation
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Added by
Abbas Abdolmaleki
Publication date
2018
fields
Informatics Engineering
and research's language is
English
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We introduce a new algorithm for reinforcement learning called Maximum aposteriori Policy Optimisation (MPO) based on coordinate ascent on a relative entropy objective. We show that several existing methods can directly be related to our derivation. We develop two off-policy algorithms and demonstrate that they are competitive with the state-of-the-art in deep reinforcement learning. In particular, for continuous control, our method outperforms existing methods with respect to sample efficiency, premature convergence and robustness to hyperparameter settings while achieving similar or better final performance.
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This paper presents a new approach, called perturb-max, for high-dimensional statistical inference that is based on applying random perturbations followed by optimization. This framework injects randomness to maximum a-posteriori (MAP) predictors by randomly perturbing the potential function for the input. A classic result from extreme value statistics asserts that perturb-max operations generate unbiased samples from the Gibbs distribution using high-dimensional perturbations. Unfortunately, the computational cost of generating so many high-dimensional random variables can be prohibitive. However, when the perturbations are of low dimension, sampling the perturb-max prediction is as efficient as MAP optimization. This paper shows that the expected value of perturb-max inference with low dimensional perturbations can be used sequentially to generate unbiased samples from the Gibbs distribution. Furthermore the expected value of the maximal perturbations is a natural bound on the entropy of such perturb-max models. A measure concentration result for perturb-max values shows that the deviation of their sampled average from its expectation decays exponentially in the number of samples, allowing effective approximation of the expectation.
This work focuses on off-policy evaluation (OPE) with function approximation in infinite-horizon undiscounted Markov decision processes (MDPs). For MDPs that are ergodic and linear (i.e. where rewards and dynamics are linear in some known features), we provide the first finite-sample OPE error bound, extending existing results beyond the episodic and discounted cases. In a more general setting, when the feature dynamics are approximately linear and for arbitrary rewards, we propose a new approach for estimating stationary distributions with function approximation. We formulate this problem as finding the maximum-entropy distribution subject to matching feature expectations under empirical dynamics. We show that this results in an exponential-family distribution whose sufficient statistics are the features, paralleling maximum-entropy approaches in supervised learning. We demonstrate the effectiveness of the proposed OPE approaches in multiple environments.
Model-free deep reinforcement learning (RL) algorithms have been demonstrated on a range of challenging decision making and control tasks. However, these methods typically suffer from two major challenges: very high sample complexity and brittle convergence properties, which necessitate meticulous hyperparameter tuning. Both of these challenges severely limit the applicability of such methods to complex, real-world domains. In this paper, we propose soft actor-critic, an off-policy actor-critic deep RL algorithm based on the maximum entropy reinforcement learning framework. In this framework, the actor aims to maximize expected reward while also maximizing entropy. That is, to succeed at the task while acting as randomly as possible. Prior deep RL methods based on this framework have been formulated as Q-learning methods. By combining off-policy updates with a stable stochastic actor-critic formulation, our method achieves state-of-the-art performance on a range of continuous control benchmark tasks, outperforming prior on-policy and off-policy methods. Furthermore, we demonstrate that, in contrast to other off-policy algorithms, our approach is very stable, achieving very similar performance across different random seeds.
Gravitational lensing of the CMB is a valuable cosmological signal that correlates to tracers of large-scale structure and acts as a important source of confusion for primordial $B$-mode polarization. State-of-the-art lensing reconstruction analyses use quadratic estimators, which are easily applicable to data. However, these estimators are known to be suboptimal, in particular for polarization, and large improvements are expected to be possible for high signal-to-noise polarization experiments. We develop a method and numerical code, $rm{LensIt}$, that is able to find efficiently the most probable lensing map, introducing no significant approximations to the lensed CMB likelihood, and applicable to beamed and masked data with inhomogeneous noise. It works by iteratively reconstructing the primordial unlensed CMB using a deflection estimate and its inverse, and removing residual lensing from these maps with quadratic estimator techniques. Roughly linear computational cost is maintained due to fast convergence of iterative searches, combined with the local nature of lensing. The method achieves the maximal improvement in signal to noise expected from analytical considerations on the unmasked parts of the sky. Delensing with this optimal map leads to forecast tensor-to-scalar ratio parameter errors improved by a factor $simeq 2 $ compared to the quadratic estimator in a CMB stage IV configuration.
Off-policy Reinforcement Learning (RL) holds the promise of better data efficiency as it allows sample reuse and potentially enables safe interaction with the environment. Current off-policy policy gradient methods either suffer from high bias or high variance, delivering often unreliable estimates. The price of inefficiency becomes evident in real-world scenarios such as interaction-driven robot learning, where the success of RL has been rather limited, and a very high sample cost hinders straightforward application. In this paper, we propose a nonparametric Bellman equation, which can be solved in closed form. The solution is differentiable w.r.t the policy parameters and gives access to an estimation of the policy gradient. In this way, we avoid the high variance of importance sampling approaches, and the high bias of semi-gradient methods. We empirically analyze the quality of our gradient estimate against state-of-the-art methods, and show that it outperforms the baselines in terms of sample efficiency on classical control tasks.
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