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Register a new userRank the Episodes: A Simple Approach for Exploration in Procedurally-Generated Environments
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Daochen Zha
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Exploration under sparse reward is a long-standing challenge of model-free reinforcement learning. The state-of-the-art methods address this challenge by introducing intrinsic rewards to encourage exploration in novel states or uncertain environment dynamics. Unfortunately, methods based on intrinsic rewards often fall short in procedurally-generated environments, where a different environment is generated in each episode so that the agent is not likely to visit the same state more than once. Motivated by how humans distinguish good exploration behaviors by looking into the entire episode, we introduce RAPID, a simple yet effective episode-level exploration method for procedurally-generated environments. RAPID regards each episode as a whole and gives an episodic exploration score from both per-episode and long-term views. Those highly scored episodes are treated as good exploration behaviors and are stored in a small ranking buffer. The agent then imitates the episodes in the buffer to reproduce the past good exploration behaviors. We demonstrate our method on several procedurally-generated MiniGrid environments, a first-person-view 3D Maze navigation task from MiniWorld, and several sparse MuJoCo tasks. The results show that RAPID significantly outperforms the state-of-the-art intrinsic reward strategies in terms of sample efficiency and final performance. The code is available at https://github.com/daochenzha/rapid
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Exploration in sparse reward environments remains one of the key challenges of model-free reinforcement learning. Instead of solely relying on extrinsic rewards provided by the environment, many state-of-the-art methods use intrinsic rewards to encourage exploration. However, we show that existing methods fall short in procedurally-generated environments where an agent is unlikely to visit a state more than once. We propose a novel type of intrinsic reward which encourages the agent to take actions that lead to significant changes in its learned state representation. We evaluate our method on multiple challenging procedurally-generated tasks in MiniGrid, as well as on tasks with high-dimensional observations used in prior work. Our experiments demonstrate that this approach is more sample efficient than existing exploration methods, particularly for procedurally-generated MiniGrid environments. Furthermore, we analyze the learned behavior as well as the intrinsic reward received by our agent. In contrast to previous approaches, our intrinsic reward does not diminish during the course of training and it rewards the agent substantially more for interacting with objects that it can control.
This paper is an initial endeavor to bridge the gap between powerful Deep Reinforcement Learning methodologies and the problem of exploration/coverage of unknown terrains. Within this scope, MarsExplorer, an openai-gym compatible environment tailored to exploration/coverage of unknown areas, is presented. MarsExplorer translates the original robotics problem into a Reinforcement Learning setup that various off-the-shelf algorithms can tackle. Any learned policy can be straightforwardly applied to a robotic platform without an elaborate simulation model of the robots dynamics to apply a different learning/adaptation phase. One of its core features is the controllable multi-dimensional procedural generation of terrains, which is the key for producing policies with strong generalization capabilities. Four different state-of-the-art RL algorithms (A3C, PPO, Rainbow, and SAC) are trained on the MarsExplorer environment, and a proper evaluation of their results compared to the average human-level performance is reported. In the follow-up experimental analysis, the effect of the multi-dimensional difficulty setting on the learning capabilities of the best-performing algorithm (PPO) is analyzed. A milestone result is the generation of an exploration policy that follows the Hilbert curve without providing this information to the environment or rewarding directly or indirectly Hilbert-curve-like trajectories. The experimental analysis is concluded by comparing PPO learned policy results with frontier-based exploration context for extended terrain sizes. The source code can be found at: https://github.com/dimikout3/GeneralExplorationPolicy.
Modern reinforcement learning algorithms can learn solutions to increasingly difficult control problems while at the same time reduce the amount of prior knowledge needed for their application. One of the remaining challenges is the definition of reward schemes that appropriately facilitate exploration without biasing the solution in undesirable ways, and that can be implemented on real robotic systems without expensive instrumentation. In this paper we focus on a setting in which goal tasks are defined via simple sparse rewards, and exploration is facilitated via agent-internal auxiliary tasks. We introduce the idea of simple sensor intentions (SSIs) as a generic way to define auxiliary tasks. SSIs reduce the amount of prior knowledge that is required to define suitable rewards. They can further be computed directly from raw sensor streams and thus do not require expensive and possibly brittle state estimation on real systems. We demonstrate that a learning system based on these rewards can solve complex robotic tasks in simulation and in real world settings. In particular, we show that a real robotic arm can learn to grasp and lift and solve a Ball-in-a-Cup task from scratch, when only raw sensor streams are used for both controller input and in the auxiliary reward definition.
A grand challenge in reinforcement learning is intelligent exploration, especially when rewards are sparse or deceptive. Two Atari games serve as benchmarks for such hard-exploration domains: Montezumas Revenge and Pitfall. On both games, current RL algorithms perform poorly, even those with intrinsic motivation, which is the dominant method to improve performance on hard-exploration domains. To address this shortfall, we introduce a new algorithm called Go-Explore. It exploits the following principles: (1) remember previously visited states, (2) first return to a promising state (without exploration), then explore from it, and (3) solve simulated environments through any available means (including by introducing determinism), then robustify via imitation learning. The combined effect of these principles is a dramatic performance improvement on hard-exploration problems. On Montezumas Revenge, Go-Explore scores a mean of over 43k points, almost 4 times the previous state of the art. Go-Explore can also harness human-provided domain knowledge and, when augmented with it, scores a mean of over 650k points on Montezumas Revenge. Its max performance of nearly 18 million surpasses the human world record, meeting even the strictest definition of superhuman performance. On Pitfall, Go-Explore with domain knowledge is the first algorithm to score above zero. Its mean score of almost 60k points exceeds expert human performance. Because Go-Explore produces high-performing demonstrations automatically and cheaply, it also outperforms imitation learning work where humans provide solution demonstrations. Go-Explore opens up many new research directions into improving it and weaving its insights into current RL algorithms. It may also enable progress on previously unsolvable hard-exploration problems in many domains, especially those that harness a simulator during training (e.g. robotics).
The fundamental problem in Neural Architecture Search (NAS) is to efficiently find high-performing architectures from a given search space. We propose a simple but powerful method which we call FEAR, for ranking architectures in any search space. FEAR leverages the viewpoint that neural networks are powerful non-linear feature extractors. First, we train different architectures in the search space to the same training or validation error. Then, we compare the usefulness of the features extracted by each architecture. We do so with a quick training keeping most of the architecture frozen. This gives fast estimates of the relative performance. We validate FEAR on Natsbench topology search space on three different datasets against competing baselines and show strong ranking correlation especially compared to recently proposed zero-cost methods. FEAR particularly excels at ranking high-performance architectures in the search space. When used in the inner loop of discrete search algorithms like random search, FEAR can cut down the search time by approximately 2.4X without losing accuracy. We additionally empirically study very recently proposed zero-cost measures for ranking and find that they breakdown in ranking performance as training proceeds and also that data-agnostic ranking scores which ignore the dataset do not generalize across dissimilar datasets.
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