Representation Learning for Out-Of-Distribution Generalization in Reinforcement Learning

• URL: http://arxiv.org/abs/2107.05686v1
• Date: Mon, 12 Jul 2021 18:49:48 GMT
• Title: Representation Learning for Out-Of-Distribution Generalization in Reinforcement Learning
• Authors: Andrea Dittadi, Frederik Tr\"auble, Manuel W\"uthrich, Felix Widmaier, Peter Gehler, Ole Winther, Francesco Locatello, Olivier Bachem, Bernhard Sch\"olkopf, Stefan Bauer
• Abstract summary: This paper aims to establish the first systematic characterization of the usefulness of learned representations for real-world downstream tasks. By training over 10,000 reinforcement learning policies, we extensively evaluate to what extent different representation properties affect out-of-distribution generalization. We demonstrate zero-shot transfer of these policies from simulation to the real world, without any domain randomization or fine-tuning.
• Score: 39.21650402977466
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Learning data representations that are useful for various downstream tasks is a cornerstone of artificial intelligence. While existing methods are typically evaluated on downstream tasks such as classification or generative image quality, we propose to assess representations through their usefulness in downstream control tasks, such as reaching or pushing objects. By training over 10,000 reinforcement learning policies, we extensively evaluate to what extent different representation properties affect out-of-distribution (OOD) generalization. Finally, we demonstrate zero-shot transfer of these policies from simulation to the real world, without any domain randomization or fine-tuning. This paper aims to establish the first systematic characterization of the usefulness of learned representations for real-world OOD downstream tasks.

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