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Text-based adventure games provide a platform on which to explore reinforcement learning in the context of a combinatorial action space, such as natural language. We present a deep reinforcement learning architecture that represents the game state as a knowledge graph which is learned during exploration. This graph is used to prune the action space, enabling more efficient exploration. The question of which action to take can be reduced to a question-answering task, a form of transfer learning that pre-trains certain parts of our architecture. In experiments using the TextWorld framework, we show that our proposed technique can learn a control policy faster than baseline alternatives. We have also open-sourced our code at //github.com/rajammanabrolu/KG-DQN.

Deep reinforcement learning (RL) algorithms have shown an impressive ability to learn complex control policies in high-dimensional environments. However, despite the ever-increasing performance on popular benchmarks such as the Arcade Learning Environment (ALE), policies learned by deep RL algorithms often struggle to generalize when evaluated in remarkably similar environments. In this paper, we assess the generalization capabilities of DQN, one of the most traditional deep RL algorithms in the field. We provide evidence suggesting that DQN overspecializes to the training environment. We comprehensively evaluate the impact of traditional regularization methods, $\ell_2$-regularization and dropout, and of reusing the learned representations to improve the generalization capabilities of DQN. We perform this study using different game modes of Atari 2600 games, a recently introduced modification for the ALE which supports slight variations of the Atari 2600 games traditionally used for benchmarking. Despite regularization being largely underutilized in deep RL, we show that it can, in fact, help DQN learn more general features. These features can then be reused and fine-tuned on similar tasks, considerably improving the sample efficiency of DQN.

Few-shot Learning aims to learn classifiers for new classes with only a few training examples per class. Existing meta-learning or metric-learning based few-shot learning approaches are limited in handling diverse domains with various number of labels. The meta-learning approaches train a meta learner to predict weights of homogeneous-structured task-specific networks, requiring a uniform number of classes across tasks. The metric-learning approaches learn one task-invariant metric for all the tasks, and they fail if the tasks diverge. We propose to deal with these limitations with meta metric learning. Our meta metric learning approach consists of task-specific learners, that exploit metric learning to handle flexible labels, and a meta learner, that discovers good parameters and gradient decent to specify the metrics in task-specific learners. Thus the proposed model is able to handle unbalanced classes as well as to generate task-specific metrics. We test our approach in the `$k$-shot $N$-way' few-shot learning setting used in previous work and new realistic few-shot setting with diverse multi-domain tasks and flexible label numbers. Experiments show that our approach attains superior performances in both settings.

Deep reinforcement learning suggests the promise of fully automated learning of robotic control policies that directly map sensory inputs to low-level actions. However, applying deep reinforcement learning methods on real-world robots is exceptionally difficult, due both to the sample complexity and, just as importantly, the sensitivity of such methods to hyperparameters. While hyperparameter tuning can be performed in parallel in simulated domains, it is usually impractical to tune hyperparameters directly on real-world robotic platforms, especially legged platforms like quadrupedal robots that can be damaged through extensive trial-and-error learning. In this paper, we develop a stable variant of the soft actor-critic deep reinforcement learning algorithm that requires minimal hyperparameter tuning, while also requiring only a modest number of trials to learn multilayer neural network policies. This algorithm is based on the framework of maximum entropy reinforcement learning, and automatically trades off exploration against exploitation by dynamically and automatically tuning a temperature parameter that determines the stochasticity of the policy. We show that this method achieves state-of-the-art performance on four standard benchmark environments. We then demonstrate that it can be used to learn quadrupedal locomotion gaits on a real-world Minitaur robot, learning to walk from scratch directly in the real world in two hours of training.

We introduce an approach for deep reinforcement learning (RL) that improves upon the efficiency, generalization capacity, and interpretability of conventional approaches through structured perception and relational reasoning. It uses self-attention to iteratively reason about the relations between entities in a scene and to guide a model-free policy. Our results show that in a novel navigation and planning task called Box-World, our agent finds interpretable solutions that improve upon baselines in terms of sample complexity, ability to generalize to more complex scenes than experienced during training, and overall performance. In the StarCraft II Learning Environment, our agent achieves state-of-the-art performance on six mini-games -- surpassing human grandmaster performance on four. By considering architectural inductive biases, our work opens new directions for overcoming important, but stubborn, challenges in deep 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.

This manuscript surveys reinforcement learning from the perspective of optimization and control with a focus on continuous control applications. It surveys the general formulation, terminology, and typical experimental implementations of reinforcement learning and reviews competing solution paradigms. In order to compare the relative merits of various techniques, this survey presents a case study of the Linear Quadratic Regulator (LQR) with unknown dynamics, perhaps the simplest and best studied problem in optimal control. The manuscript describes how merging techniques from learning theory and control can provide non-asymptotic characterizations of LQR performance and shows that these characterizations tend to match experimental behavior. In turn, when revisiting more complex applications, many of the observed phenomena in LQR persist. In particular, theory and experiment demonstrate the role and importance of models and the cost of generality in reinforcement learning algorithms. This survey concludes with a discussion of some of the challenges in designing learning systems that safely and reliably interact with complex and uncertain environments and how tools from reinforcement learning and controls might be combined to approach these challenges.

Meta-learning is a powerful tool that builds on multi-task learning to learn how to quickly adapt a model to new tasks. In the context of reinforcement learning, meta-learning algorithms can acquire reinforcement learning procedures to solve new problems more efficiently by meta-learning prior tasks. The performance of meta-learning algorithms critically depends on the tasks available for meta-training: in the same way that supervised learning algorithms generalize best to test points drawn from the same distribution as the training points, meta-learning methods generalize best to tasks from the same distribution as the meta-training tasks. In effect, meta-reinforcement learning offloads the design burden from algorithm design to task design. If we can automate the process of task design as well, we can devise a meta-learning algorithm that is truly automated. In this work, we take a step in this direction, proposing a family of unsupervised meta-learning algorithms for reinforcement learning. We describe a general recipe for unsupervised meta-reinforcement learning, and describe an effective instantiation of this approach based on a recently proposed unsupervised exploration technique and model-agnostic meta-learning. We also discuss practical and conceptual considerations for developing unsupervised meta-learning methods. Our experimental results demonstrate that unsupervised meta-reinforcement learning effectively acquires accelerated reinforcement learning procedures without the need for manual task design, significantly exceeds the performance of learning from scratch, and even matches performance of meta-learning methods that use hand-specified task distributions.

Recent years have witnessed significant progresses in deep Reinforcement Learning (RL). Empowered with large scale neural networks, carefully designed architectures, novel training algorithms and massively parallel computing devices, researchers are able to attack many challenging RL problems. However, in machine learning, more training power comes with a potential risk of more overfitting. As deep RL techniques are being applied to critical problems such as healthcare and finance, it is important to understand the generalization behaviors of the trained agents. In this paper, we conduct a systematic study of standard RL agents and find that they could overfit in various ways. Moreover, overfitting could happen "robustly": commonly used techniques in RL that add stochasticity do not necessarily prevent or detect overfitting. In particular, the same agents and learning algorithms could have drastically different test performance, even when all of them achieve optimal rewards during training. The observations call for more principled and careful evaluation protocols in RL. We conclude with a general discussion on overfitting in RL and a study of the generalization behaviors from the perspective of inductive bias.

The Deep Q-Network proposed by Mnih et al. [2015] has become a benchmark and building point for much deep reinforcement learning research. However, replicating results for complex systems is often challenging since original scientific publications are not always able to describe in detail every important parameter setting and software engineering solution. In this paper, we present results from our work reproducing the results of the DQN paper. We highlight key areas in the implementation that were not covered in great detail in the original paper to make it easier for researchers to replicate these results, including termination conditions and gradient descent algorithms. Finally, we discuss methods for improving the computational performance and provide our own implementation that is designed to work with a range of domains, and not just the original Arcade Learning Environment [Bellemare et al., 2013].