Diversity Progress for Goal Selection in Discriminability-Motivated RL
This work addresses a known bottleneck in intrinsically-motivated goal-conditioned RL for improving skill diversity, though it appears incremental as it builds on existing discriminability-motivated agents.
The paper tackled the problem of non-uniform goal selection in reinforcement learning by introducing Diversity Progress (DP), a method that forms a curriculum based on discriminability improvement, resulting in faster learning of distinguishable skills without goal distribution collapse compared to prior approaches.
Non-uniform goal selection has the potential to improve the reinforcement learning (RL) of skills over uniform-random selection. In this paper, we introduce a method for learning a goal-selection policy in intrinsically-motivated goal-conditioned RL: "Diversity Progress" (DP). The learner forms a curriculum based on observed improvement in discriminability over its set of goals. Our proposed method is applicable to the class of discriminability-motivated agents, where the intrinsic reward is computed as a function of the agent's certainty of following the true goal being pursued. This reward can motivate the agent to learn a set of diverse skills without extrinsic rewards. We demonstrate empirically that a DP-motivated agent can learn a set of distinguishable skills faster than previous approaches, and do so without suffering from a collapse of the goal distribution -- a known issue with some prior approaches. We end with plans to take this proof-of-concept forward.