REINFORCEMENT LEARNING

CORE MACHINE LEARNING

Learning Invariant Representations for Reinforcement Learning without Reconstruction

May 4, 2021

Abstract

We study how representation learning can accelerate reinforcement learning from rich observations, such as images, without relying either on domain knowledge or pixel-reconstruction. Our goal is to learn representations that provide for effective downstream control and invariance to task-irrelevant details. Bisimulation metrics quantify behavioral similarity between states in continuous MDPs, which we propose using to learn robust latent representations which encode only the task-relevant information from observations. Our method trains encoders such that distances in latent space equal bisimulation distances in state space. We demonstrate the effectiveness of our method at disregarding task-irrelevant information using modified visual MuJoCo tasks, where the background is replaced with moving distractors and natural videos, while achieving SOTA performance. We also test a first-person highway driving task where our method learns invariance to clouds, weather, and time of day. Finally, we provide generalization results drawn from properties of bisimulation metrics, and links to causal inference.

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AUTHORS

Written by

Amy Zhang

Rowan McAllister

Roberto Calandra

Yarin Gal

Sergey Levine

Publisher

ICLR 2021

Research Topics

Reinforcement Learning

Core Machine Learning

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