Qi Zhou

Qiyuan Liu, Qi Zhou, Rui Yang et al.

Recent work has shown that representation learning plays a critical role in sample-efficient reinforcement learning (RL) from pixels. Unfortunately, in real-world scenarios, representation learning is usually fragile to task-irrelevant distractions such as variations in background or viewpoint. To tackle this problem, we propose a novel clustering-based approach, namely Clustering with Bisimulation Metrics (CBM), which learns robust representations by grouping visual observations in the latent space. Specifically, CBM alternates between two steps: (1) grouping observations by measuring their bisimulation distances to the learned prototypes; (2) learning a set of prototypes according to the current cluster assignments. Computing cluster assignments with bisimulation metrics enables CBM to capture task-relevant information, as bisimulation metrics quantify the behavioral similarity between observations. Moreover, CBM encourages the consistency of representations within each group, which facilitates filtering out task-irrelevant information and thus induces robust representations against distractions. An appealing feature is that CBM can achieve sample-efficient representation learning even if multiple distractions exist simultaneously.Experiments demonstrate that CBM significantly improves the sample efficiency of popular visual RL algorithms and achieves state-of-the-art performance on both multiple and single distraction settings. The code is available at https://github.com/MIRALab-USTC/RL-CBM.

Jie Wang, Rui Yang, Zijie Geng et al.

Generalization in partially observed markov decision processes (POMDPs) is critical for successful applications of visual reinforcement learning (VRL) in real scenarios. A widely used idea is to learn task-relevant representations that encode task-relevant information of common features in POMDPs, i.e., rewards and transition dynamics. As transition dynamics in the latent state space -- which are task-relevant and invariant to visual distractions -- are unknown to the agents, existing methods alternatively use transition dynamics in the observation space to extract task-relevant information in transition dynamics. However, such transition dynamics in the observation space involve task-irrelevant visual distractions, degrading the generalization performance of VRL methods. To tackle this problem, we propose the reward sequence distribution conditioned on the starting observation and the predefined subsequent action sequence (RSD-OA). The appealing features of RSD-OA include that: (1) RSD-OA is invariant to visual distractions, as it is conditioned on the predefined subsequent action sequence without task-irrelevant information from transition dynamics, and (2) the reward sequence captures long-term task-relevant information in both rewards and transition dynamics. Experiments demonstrate that our representation learning approach based on RSD-OA significantly improves the generalization performance on unseen environments, outperforming several state-of-the-arts on DeepMind Control tasks with visual distractions.

Zhihai Wang, Taoxing Pan, Qi Zhou et al.

In many real-world applications of reinforcement learning (RL), performing actions requires consuming certain types of resources that are non-replenishable in each episode. Typical applications include robotic control with limited energy and video games with consumable items. In tasks with non-replenishable resources, we observe that popular RL methods such as soft actor critic suffer from poor sample efficiency. The major reason is that, they tend to exhaust resources fast and thus the subsequent exploration is severely restricted due to the absence of resources. To address this challenge, we first formalize the aforementioned problem as a resource-restricted reinforcement learning, and then propose a novel resource-aware exploration bonus (RAEB) to make reasonable usage of resources. An appealing feature of RAEB is that, it can significantly reduce unnecessary resource-consuming trials while effectively encouraging the agent to explore unvisited states. Experiments demonstrate that the proposed RAEB significantly outperforms state-of-the-art exploration strategies in resource-restricted reinforcement learning environments, improving the sample efficiency by up to an order of magnitude.

Zhihai Wang, Jie Wang, Qi Zhou et al.

Model-based reinforcement learning algorithms, which aim to learn a model of the environment to make decisions, are more sample efficient than their model-free counterparts. The sample efficiency of model-based approaches relies on whether the model can well approximate the environment. However, learning an accurate model is challenging, especially in complex and noisy environments. To tackle this problem, we propose the conservative model-based actor-critic (CMBAC), a novel approach that achieves high sample efficiency without the strong reliance on accurate learned models. Specifically, CMBAC learns multiple estimates of the Q-value function from a set of inaccurate models and uses the average of the bottom-k estimates -- a conservative estimate -- to optimize the policy. An appealing feature of CMBAC is that the conservative estimates effectively encourage the agent to avoid unreliable "promising actions" -- whose values are high in only a small fraction of the models. Experiments demonstrate that CMBAC significantly outperforms state-of-the-art approaches in terms of sample efficiency on several challenging tasks, and the proposed method is more robust than previous methods in noisy environments.