Abdus Salam Azad

Abdus Salam Azad, Izzeddin Gur, Jasper Emhoff et al. · berkeley

Reinforcement Learning (RL) algorithms are often known for sample inefficiency and difficult generalization. Recently, Unsupervised Environment Design (UED) emerged as a new paradigm for zero-shot generalization by simultaneously learning a task distribution and agent policies on the generated tasks. This is a non-stationary process where the task distribution evolves along with agent policies; creating an instability over time. While past works demonstrated the potential of such approaches, sampling effectively from the task space remains an open challenge, bottlenecking these approaches. To this end, we introduce CLUTR: a novel unsupervised curriculum learning algorithm that decouples task representation and curriculum learning into a two-stage optimization. It first trains a recurrent variational autoencoder on randomly generated tasks to learn a latent task manifold. Next, a teacher agent creates a curriculum by maximizing a minimax REGRET-based objective on a set of latent tasks sampled from this manifold. Using the fixed-pretrained task manifold, we show that CLUTR successfully overcomes the non-stationarity problem and improves stability. Our experimental results show CLUTR outperforms PAIRED, a principled and popular UED method, in the challenging CarRacing and navigation environments: achieving 10.6X and 45\% improvement in zero-shot generalization, respectively. CLUTR also performs comparably to the non-UED state-of-the-art for CarRacing, while requiring 500X fewer environment interactions.

Abdus Salam Azad, Edward Kim, Qiancheng Wu et al.

The capability of a reinforcement learning (RL) agent heavily depends on the diversity of the learning scenarios generated by the environment. Generation of diverse realistic scenarios is challenging for real-time strategy (RTS) environments. The RTS environments are characterized by intelligent entities/non-RL agents cooperating and competing with the RL agents with large state and action spaces over a long period of time, resulting in an infinite space of feasible, but not necessarily realistic, scenarios involving complex interaction among different RL and non-RL agents. Yet, most of the existing simulators rely on randomly generating the environments based on predefined settings/layouts and offer limited flexibility and control over the environment dynamics for researchers to generate diverse, realistic scenarios as per their demand. To address this issue, for the first time, we formally introduce the benefits of adopting an existing formal scenario specification language, SCENIC, to assist researchers to model and generate diverse scenarios in an RTS environment in a flexible, systematic, and programmatic manner. To showcase the benefits, we interfaced SCENIC to an existing RTS environment Google Research Football(GRF) simulator and introduced a benchmark consisting of 32 realistic scenarios, encoded in SCENIC, to train RL agents and testing their generalization capabilities. We also show how researchers/RL practitioners can incorporate their domain knowledge to expedite the training process by intuitively modeling stochastic programmatic policies with SCENIC.