Planning to Explore via Self-Supervised World Models (Paper Explained)
What can an agent do without any reward? Explore the world! While many formulations of intrinsic rewards exist (Curiosity, Novelty, etc.), they all look back in time to learn. Plan2Explore is the first model that uses planning in a learned imaginary latent world model to seek out states where it is uncertain about what will happen.
OUTLINE:
0:00 - Intro & Problem Statement
3:30 - Model
5:10 - Intrinsic Motivation
9:05 - Planning in Latent Space
11:15 - Latent Disagreement
16:30 - Maximizing Information Gain
21:00 - More problems with the model
26:45 - Experiments
32:10 - Final Comments
Paper: https://arxiv.org/abs/2005.05960
Website: https://ramanans1.github.io/plan2expl...
Code: https://github.com/ramanans1/plan2exp...
Abstract:
Reinforcement learning allows solving complex tasks, however, the learning tends to be task-specific and the sample efficiency remains a challenge. We present Plan2Explore, a self-supervised reinforcement learning agent that tackles both these challenges through a new approach to self-supervised exploration and fast adaptation to new tasks, which need not be known during exploration. During exploration, unlike prior methods which retrospectively compute the novelty of observations after the agent has already reached them, our agent acts efficiently by leveraging planning to seek out expected future novelty. After exploration, the agent quickly adapts to multiple downstream tasks in a zero or a few-shot manner. We evaluate on challenging control tasks from high-dimensional image inputs. Without any training supervision or task-specific interaction, Plan2Explore outperforms prior self-supervised exploration methods, and in fact, almost matches the performances oracle which has access to rewards. Videos and code at this https URL
Authors: Ramanan Sekar, Oleh Rybkin, Kostas Daniilidis, Pieter Abbeel, Danijar Hafner, Deepak Pathak
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