Enhanced Meta Reinforcement Learning using Demonstrations in Sparse Reward Environments

• URL: http://arxiv.org/abs/2209.13048v1
• Date: Mon, 26 Sep 2022 22:01:12 GMT
• Title: Enhanced Meta Reinforcement Learning using Demonstrations in Sparse Reward Environments
• Authors: Desik Rengarajan, Sapana Chaudhary, Jaewon Kim, Dileep Kalathil, Srinivas Shakkottai
• Abstract summary: We develop a class of algorithms entitled Enhanced Meta-RL using Demonstrations. We show how EMRLD jointly utilizes RL and supervised learning over the offline data to generate a meta-policy. We also show that our EMRLD algorithms significantly outperform existing approaches in a variety of sparse reward environments.
• Score: 10.360491332190433
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Meta reinforcement learning (Meta-RL) is an approach wherein the experience gained from solving a variety of tasks is distilled into a meta-policy. The meta-policy, when adapted over only a small (or just a single) number of steps, is able to perform near-optimally on a new, related task. However, a major challenge to adopting this approach to solve real-world problems is that they are often associated with sparse reward functions that only indicate whether a task is completed partially or fully. We consider the situation where some data, possibly generated by a sub-optimal agent, is available for each task. We then develop a class of algorithms entitled Enhanced Meta-RL using Demonstrations (EMRLD) that exploit this information even if sub-optimal to obtain guidance during training. We show how EMRLD jointly utilizes RL and supervised learning over the offline data to generate a meta-policy that demonstrates monotone performance improvements. We also develop a warm started variant called EMRLD-WS that is particularly efficient for sub-optimal demonstration data. Finally, we show that our EMRLD algorithms significantly outperform existing approaches in a variety of sparse reward environments, including that of a mobile robot.

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