David Yunis

David Yunis, Justin Jung, Falcon Dai et al.

Exploration in sparse-reward reinforcement learning is difficult due to the requirement of long, coordinated sequences of actions in order to achieve any reward. Moreover, in continuous action spaces there are an infinite number of possible actions, which only increases the difficulty of exploration. One class of methods designed to address these issues forms temporally extended actions, often called skills, from interaction data collected in the same domain, and optimizes a policy on top of this new action space. Typically such methods require a lengthy pretraining phase, especially in continuous action spaces, in order to form the skills before reinforcement learning can begin. Given prior evidence that the full range of the continuous action space is not required in such tasks, we propose a novel approach to skill-generation with two components. First we discretize the action space through clustering, and second we leverage a tokenization technique borrowed from natural language processing to generate temporally extended actions. Such a method outperforms baselines for skill-generation in several challenging sparse-reward domains, and requires orders-of-magnitude less computation in skill-generation and online rollouts. Our code is available at \url{https://github.com/dyunis/subwords_as_skills}.

Charles Schaff, David Yunis, Ayan Chakrabarti et al.

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based approaches, such as deep reinforcement learning, have proven effective at designing control policies. For most tasks, the only way to evaluate a physical design with respect to such control policies is empirical--i.e., by picking a design and training a control policy for it. Since training these policies is time-consuming, it is computationally infeasible to train separate policies for all possible designs as a means to identify the best one. In this work, we address this limitation by introducing a method that performs simultaneous joint optimization of the physical design and control network. Our approach maintains a distribution over designs and uses reinforcement learning to optimize a control policy to maximize expected reward over the design distribution. We give the controller access to design parameters to allow it to tailor its policy to each design in the distribution. Throughout training, we shift the distribution towards higher-performing designs, eventually converging to a design and control policy that are jointly optimal. We evaluate our approach in the context of legged locomotion, and demonstrate that it discovers novel designs and walking gaits, outperforming baselines in both performance and efficiency.