Learning to score behaviors for guided policy optimization

Aldo Pacchiano, Jack Parker-Holder, Yunhao Tang, Anna Choromanska, Krzysztof Choromanski, Michael I. Jordan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We introduce a new approach for comparing reinforcement learning policies, using Wasserstein distances (WDs) in a newly defined latent behavioral space. We show that by utilizing the dual formulation of the WD, we can learn score functions over policy behaviors that can in turn be used to lead policy optimization towards (or away from) (un)desired behaviors. Combined with smoothed WDs, the dual formulation allows us to devise efficient algorithms that take stochastic gradient descent steps through WD regularizers. We incorporate these regularizers into two novel on-policy algorithms, Behavior-Guided Policy Gradient and Behavior-Guided Evolution Strategies, which we demonstrate can outperform existing methods in a variety of challenging environments. We also provide an open source demo1

Original languageEnglish (US)
Title of host publication37th International Conference on Machine Learning, ICML 2020
EditorsHal Daume, Aarti Singh
PublisherInternational Machine Learning Society (IMLS)
Pages7401-7410
Number of pages10
ISBN (Electronic)9781713821120
StatePublished - 2020
Event37th International Conference on Machine Learning, ICML 2020 - Virtual, Online
Duration: Jul 13 2020Jul 18 2020

Publication series

Name37th International Conference on Machine Learning, ICML 2020
VolumePartF168147-10

Conference

Conference37th International Conference on Machine Learning, ICML 2020
CityVirtual, Online
Period7/13/207/18/20

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Human-Computer Interaction
  • Software

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