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Register a new userBenchmarking Model-Based Reinforcement Learning
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Tingwu Wang
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Model-based reinforcement learning (MBRL) is widely seen as having the potential to be significantly more sample efficient than model-free RL. However, research in model-based RL has not been very standardized. It is fairly common for authors to experiment with self-designed environments, and there are several separate lines of research, which are sometimes closed-sourced or not reproducible. Accordingly, it is an open question how these various existing MBRL algorithms perform relative to each other. To facilitate research in MBRL, in this paper we gather a wide collection of MBRL algorithms and propose over 18 benchmarking environments specially designed for MBRL. We benchmark these algorithms with unified problem settings, including noisy environments. Beyond cataloguing performance, we explore and unify the underlying algorithmic differences across MBRL algorithms. We characterize three key research challenges for future MBRL research: the dynamics bottleneck, the planning horizon dilemma, and the early-termination dilemma. Finally, to maximally facilitate future research on MBRL, we open-source our benchmark in http://www.cs.toronto.edu/~tingwuwang/mbrl.html.
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Significant progress has been made in the area of model-based reinforcement learning. State-of-the-art algorithms are now able to match the asymptotic performance of model-free methods while being significantly more data efficient. However, this success has come at a price: state-of-the-art model-based methods require significant computation interleaved with data collection, resulting in run times that take days, even if the amount of agent interaction might be just hours or even minutes. When considering the goal of learning in real-time on real robots, this means these state-of-the-art model-based algorithms still remain impractical. In this work, we propose an asynchronous framework for model-based reinforcement learning methods that brings down the run time of these algorithms to be just the data collection time. We evaluate our asynchronous framework on a range of standard MuJoCo benchmarks. We also evaluate our asynchronous framework on three real-world robotic manipulation tasks. We show how asynchronous learning not only speeds up learning w.r.t wall-clock time through parallelization, but also further reduces the sample complexity of model-based approaches by means of improving the exploration and by means of effectively avoiding the policy overfitting to the deficiencies of learned dynamics models.
Effective planning in model-based reinforcement learning (MBRL) and model-predictive control (MPC) relies on the accuracy of the learned dynamics model. In many instances of MBRL and MPC, this model is assumed to be stationary and is periodically re-trained from scratch on state transition experience collected from the beginning of environment interactions. This implies that the time required to train the dynamics model - and the pause required between plan executions - grows linearly with the size of the collected experience. We argue that this is too slow for lifelong robot learning and propose HyperCRL, a method that continually learns the encountered dynamics in a sequence of tasks using task-conditional hypernetworks. Our method has three main attributes: first, it includes dynamics learning sessions that do not revisit training data from previous tasks, so it only needs to store the most recent fixed-size portion of the state transition experience; second, it uses fixed-capacity hypernetworks to represent non-stationary and task-aware dynamics; third, it outperforms existing continual learning alternatives that rely on fixed-capacity networks, and does competitively with baselines that remember an ever increasing coreset of past experience. We show that HyperCRL is effective in continual model-based reinforcement learning in robot locomotion and manipulation scenarios, such as tasks involving pushing and door opening. Our project website with videos is at this link https://rvl.cs.toronto.edu/blog/2020/hypercrl
Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on these results due to open source implementations of learning algorithms and simulated benchmark tasks. To carry forward these successes to real-world applications, it is crucial to withhold utilizing the unique advantages of simulations that do not transfer to the real world and experiment directly with physical robots. However, reinforcement learning research with physical robots faces substantial resistance due to the lack of benchmark tasks and supporting source code. In this work, we introduce several reinforcement learning tasks with multiple commercially available robots that present varying levels of learning difficulty, setup, and repeatability. On these tasks, we test the learning performance of off-the-shelf implementations of four reinforcement learning algorithms and analyze sensitivity to their hyper-parameters to determine their readiness for applications in various real-world tasks. Our results show that with a careful setup of the task interface and computations, some of these implementations can be readily applicable to physical robots. We find that state-of-the-art learning algorithms are highly sensitive to their hyper-parameters and their relative ordering does not transfer across tasks, indicating the necessity of re-tuning them for each task for best performance. On the other hand, the best hyper-parameter configuration from one task may often result in effective learning on held-out tasks even with different robots, providing a reasonable default. We make the benchmark tasks publicly available to enhance reproducibility in real-world reinforcement learning.
Accuracy and generalization of dynamics models is key to the success of model-based reinforcement learning (MBRL). As the complexity of tasks increases, so does the sample inefficiency of learning accurate dynamics models. However, many complex tasks also exhibit sparsity in the dynamics, i.e., actions have only a local effect on the system dynamics. In this paper, we exploit this property with a causal invariance perspective in the single-task setting, introducing a new type of state abstraction called textit{model-invariance}. Unlike previous forms of state abstractions, a model-invariance state abstraction leverages causal sparsity over state variables. This allows for compositional generalization to unseen states, something that non-factored forms of state abstractions cannot do. We prove that an optimal policy can be learned over this model-invariance state abstraction and show improved generalization in a simple toy domain. Next, we propose a practical method to approximately learn a model-invariant representation for complex domains and validate our approach by showing improved modelling performance over standard maximum likelihood approaches on challenging tasks, such as the MuJoCo-based Humanoid. Finally, within the MBRL setting we show strong performance gains with respect to sample efficiency across a host of other continuous control tasks.
The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-based reinforcement learning (RL) methods that plan future actions directly have shown impressive results on tasks that require only short-horizon reasoning, however, these methods struggle on temporally extended tasks. We argue that it is easier to solve long-horizon tasks by planning sequences of states rather than just actions, as the effects of actions greatly compound over time and are harder to optimize. To achieve this, we draw on the idea of collocation, which has shown good results on long-horizon tasks in optimal control literature, and adapt it to the image-based setting by utilizing learned latent state space models. The resulting latent collocation method (LatCo) optimizes trajectories of latent states, which improves over previously proposed shooting methods for visual model-based RL on tasks with sparse rewards and long-term goals. Videos and code at https://orybkin.github.io/latco/.
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