Context-aware Dynamics Model for Generalization in Model-Based Reinforcement Learning

• URL: http://arxiv.org/abs/2005.06800v3
• Date: Mon, 29 Jun 2020 06:41:27 GMT
• Title: Context-aware Dynamics Model for Generalization in Model-Based Reinforcement Learning
• Authors: Kimin Lee, Younggyo Seo, Seunghyun Lee, Honglak Lee, Jinwoo Shin
• Abstract summary: We decompose the task of learning a global dynamics model into two stages: (a) learning a context latent vector that captures the local dynamics, then (b) predicting the next state conditioned on it. In order to encode dynamics-specific information into the context latent vector, we introduce a novel loss function that encourages the context latent vector to be useful for predicting both forward and backward dynamics. The proposed method achieves superior generalization ability across various simulated robotics and control tasks, compared to existing RL schemes.
• Score: 124.9856253431878
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Model-based reinforcement learning (RL) enjoys several benefits, such as data-efficiency and planning, by learning a model of the environment's dynamics. However, learning a global model that can generalize across different dynamics is a challenging task. To tackle this problem, we decompose the task of learning a global dynamics model into two stages: (a) learning a context latent vector that captures the local dynamics, then (b) predicting the next state conditioned on it. In order to encode dynamics-specific information into the context latent vector, we introduce a novel loss function that encourages the context latent vector to be useful for predicting both forward and backward dynamics. The proposed method achieves superior generalization ability across various simulated robotics and control tasks, compared to existing RL schemes.

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