Abstract | ||
---|---|---|
A major challenge in modern reinforcement learning (RL) is efficient control of dynamical systems from high-dimensional sensory observations. Learning controllable embedding (LCE) is a promising approach that addresses this challenge by embedding the observations into a lower-dimensional latent space, estimating the latent dynamics, and utilizing it to perform control in the latent space. Two important questions in this area are how to learn a representation that is amenable to the control problem at hand, and how to achieve an end-to-end framework for representation learning and control. In this paper, we take a few steps towards addressing these questions. We first formulate a LCE model to learn representations that are suitable to be used by a policy iteration style algorithm in the latent space. We call this model control-aware representation learning (CARL). We derive a loss function and three implementations for CARL. In the offline implementation, we replace the locally-linear control algorithm (e.g., iLQR) used by the existing LCE methods with a RL algorithm, namely model-based soft actor-critic, and show that it results in significant improvement. In online CARL, we interleave representation learning and control, and demonstrate further gain in performance. Finally, we propose value-guided CARL, a variation in which we optimize a weighted version of the CARL loss function, where the weights depend on the TD-error of the current policy. We evaluate the proposed algorithms by extensive experiments on benchmark tasks and compare them with several LCE baselines. |
Year | Venue | DocType |
---|---|---|
2021 | ICLR | Conference |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Brandon Cui | 1 | 0 | 1.01 |
Chow, Yinlam | 2 | 98 | 14.03 |
Mohammad Ghavamzadeh | 3 | 814 | 67.73 |