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The framework of mixed observable Markov decision processes (MOMDP) models many robotic domains in which some state variables are fully observable while others are not. In this work, we identify a significant subclass of MOMDPs defined by how actions influence the fully observable components of the state and how those, in turn, influence the partially observable components and the rewards. This unique property allows for a two-level hierarchical approach we call HIerarchical Reinforcement Learning under Mixed Observability (HILMO), which restricts partial observability to the top level while the bottom level remains fully observable, enabling higher learning efficiency. The top level produces desired goals to be reached by the bottom level until the task is solved. We further develop theoretical guarantees to show that our approach can achieve optimal and quasi-optimal behavior under mild assumptions. Empirical results on long-horizon continuous control tasks demonstrate the efficacy and efficiency of our approach in terms of improved success rate, sample efficiency, and wall-clock training time. We also deploy policies learned in simulation on a real robot.

Many problems in RL, such as meta-RL, robust RL, generalization in RL, and temporal credit assignment, can be cast as POMDPs. In theory, simply augmenting model-free RL with memory-based architectures, such as recurrent neural networks, provides a general approach to solving all types of POMDPs. However, prior work has found that such recurrent model-free RL methods tend to perform worse than more specialized algorithms that are designed for specific types of POMDPs. This paper revisits this claim. We find that careful architecture and hyperparameter decisions can often yield a recurrent model-free implementation that performs on par with (and occasionally substantially better than) more sophisticated recent techniques. We compare to 21 environments from 6 prior specialized methods and find that our implementation achieves greater sample efficiency and asymptotic performance than these methods on 18/21 environments. We also release a simple and efficient implementation of recurrent model-free RL for future work to use as a baseline for POMDPs.

The quintessential model-based reinforcement-learning agent iteratively refines its estimates or prior beliefs about the true underlying model of the environment. Recent empirical successes in model-based reinforcement learning with function approximation, however, eschew the true model in favor of a surrogate that, while ignoring various facets of the environment, still facilitates effective planning over behaviors. Recently formalized as the value equivalence principle, this algorithmic technique is perhaps unavoidable as real-world reinforcement learning demands consideration of a simple, computationally-bounded agent interacting with an overwhelmingly complex environment, whose underlying dynamics likely exceed the agent's capacity for representation. In this work, we consider the scenario where agent limitations may entirely preclude identifying an exactly value-equivalent model, immediately giving rise to a trade-off between identifying a model that is simple enough to learn while only incurring bounded sub-optimality. To address this problem, we introduce an algorithm that, using rate-distortion theory, iteratively computes an approximately-value-equivalent, lossy compression of the environment which an agent may feasibly target in lieu of the true model. We prove an information-theoretic, Bayesian regret bound for our algorithm that holds for any finite-horizon, episodic sequential decision-making problem. Crucially, our regret bound can be expressed in one of two possible forms, providing a performance guarantee for finding either the simplest model that achieves a desired sub-optimality gap or, alternatively, the best model given a limit on agent capacity.

The quintessential model-based reinforcement-learning agent iteratively refines its estimates or prior beliefs about the true underlying model of the environment. Recent empirical successes in model-based reinforcement learning with function approximation, however, eschew the true model in favor of a surrogate that, while ignoring various facets of the environment, still facilitates effective planning over behaviors. Recently formalized as the value equivalence principle, this algorithmic technique is perhaps unavoidable as real-world reinforcement learning demands consideration of a simple, computationally-bounded agent interacting with an overwhelmingly complex environment. In this work, we entertain an extreme scenario wherein some combination of immense environment complexity and limited agent capacity entirely precludes identifying an exactly value-equivalent model. In light of this, we embrace a notion of approximate value equivalence and introduce an algorithm for incrementally synthesizing simple and useful approximations of the environment from which an agent might still recover near-optimal behavior. Crucially, we recognize the information-theoretic nature of this lossy environment compression problem and use the appropriate tools of rate-distortion theory to make mathematically precise how value equivalence can lend tractability to otherwise intractable sequential decision-making problems.

Model-based methods have recently shown promising for offline reinforcement learning (RL), aiming to learn good policies from historical data without interacting with the environment. Previous model-based offline RL methods learn fully connected nets as world-models that map the states and actions to the next-step states. However, it is sensible that a world-model should adhere to the underlying causal effect such that it will support learning an effective policy generalizing well in unseen states. In this paper, We first provide theoretical results that causal world-models can outperform plain world-models for offline RL by incorporating the causal structure into the generalization error bound. We then propose a practical algorithm, oFfline mOdel-based reinforcement learning with CaUsal Structure (FOCUS), to illustrate the feasibility of learning and leveraging causal structure in offline RL. Experimental results on two benchmarks show that FOCUS reconstructs the underlying causal structure accurately and robustly. Consequently, it performs better than the plain model-based offline RL algorithms and other causal model-based RL algorithms.

Incrementality, which is used to measure the causal effect of showing an ad to a potential customer (e.g. a user in an internet platform) versus not, is a central object for advertisers in online advertising platforms. This paper investigates the problem of how an advertiser can learn to optimize the bidding sequence in an online manner \emph{without} knowing the incrementality parameters in advance. We formulate the offline version of this problem as a specially structured episodic Markov Decision Process (MDP) and then, for its online learning counterpart, propose a novel reinforcement learning (RL) algorithm with regret at most $\widetilde{O}(H^2\sqrt{T})$, which depends on the number of rounds $H$ and number of episodes $T$, but does not depend on the number of actions (i.e., possible bids). A fundamental difference between our learning problem from standard RL problems is that the realized reward feedback from conversion incrementality is \emph{mixed} and \emph{delayed}. To handle this difficulty we propose and analyze a novel pairwise moment-matching algorithm to learn the conversion incrementality, which we believe is of independent of interest.

Graph mining tasks arise from many different application domains, ranging from social networks, transportation, E-commerce, etc., which have been receiving great attention from the theoretical and algorithm design communities in recent years, and there has been some pioneering work using the hotly researched reinforcement learning (RL) techniques to address graph data mining tasks. However, these graph mining algorithms and RL models are dispersed in different research areas, which makes it hard to compare different algorithms with each other. In this survey, we provide a comprehensive overview of RL models and graph mining and generalize these algorithms to Graph Reinforcement Learning (GRL) as a unified formulation. We further discuss the applications of GRL methods across various domains and summarize the method description, open-source codes, and benchmark datasets of GRL methods. Finally, we propose possible important directions and challenges to be solved in the future. This is the latest work on a comprehensive survey of GRL literature, and this work provides a global view for researchers as well as a learning resource for researchers outside the domain. In addition, we create an online open-source for both interested researchers who want to enter this rapidly developing domain and experts who would like to compare GRL methods.

This paper surveys the field of transfer learning in the problem setting of Reinforcement Learning (RL). RL has been the key solution to sequential decision-making problems. Along with the fast advance of RL in various domains. including robotics and game-playing, transfer learning arises as an important technique to assist RL by leveraging and transferring external expertise to boost the learning process. In this survey, we review the central issues of transfer learning in the RL domain, providing a systematic categorization of its state-of-the-art techniques. We analyze their goals, methodologies, applications, and the RL frameworks under which these transfer learning techniques would be approachable. We discuss the relationship between transfer learning and other relevant topics from an RL perspective and also explore the potential challenges as well as future development directions for transfer learning in RL.

This paper presents a new multi-objective deep reinforcement learning (MODRL) framework based on deep Q-networks. We propose the use of linear and non-linear methods to develop the MODRL framework that includes both single-policy and multi-policy strategies. The experimental results on two benchmark problems including the two-objective deep sea treasure environment and the three-objective mountain car problem indicate that the proposed framework is able to converge to the optimal Pareto solutions effectively. The proposed framework is generic, which allows implementation of different deep reinforcement learning algorithms in different complex environments. This therefore overcomes many difficulties involved with standard multi-objective reinforcement learning (MORL) methods existing in the current literature. The framework creates a platform as a testbed environment to develop methods for solving various problems associated with the current MORL. Details of the framework implementation can be referred to //www.deakin.edu.au/~thanhthi/drl.htm.