Proceedings Article•
Scalable trust-region method for deep reinforcement learning using Kronecker-factored approximation
01 Jan 2017-Vol. 30, pp 5279-5288
TL;DR: Actor Critic using Kronecker-Factored Trust Region (ACKTR) as mentioned in this paper is the state-of-the-art on-policy actor-critic method.
Abstract: In this work, we propose to apply trust region optimization to deep reinforcement learning using a recently proposed Kronecker-factored approximation to the curvature. We extend the framework of natural policy gradient and propose to optimize both the actor and the critic using Kronecker-factored approximate curvature (K-FAC) with trust region; hence we call our method Actor Critic using Kronecker-Factored Trust Region (ACKTR). To the best of our knowledge, this is the first scalable trust region natural gradient method for actor-critic methods. It is also the method that learns non-trivial tasks in continuous control as well as discrete control policies directly from raw pixel inputs. We tested our approach across discrete domains in Atari games as well as continuous domains in the MuJoCo environment. With the proposed methods, we are able to achieve higher rewards and a 2- to 3-fold improvement in sample efficiency on average, compared to previous state-of-the-art on-policy actor-critic methods. Code is available at https://github.com/openai/baselines
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TL;DR: This paper builds on Double Q-learning, by taking the minimum value between a pair of critics to limit overestimation, and draws the connection between target networks and overestimation bias.
Abstract: In value-based reinforcement learning methods such as deep Q-learning, function approximation errors are known to lead to overestimated value estimates and suboptimal policies. We show that this problem persists in an actor-critic setting and propose novel mechanisms to minimize its effects on both the actor and the critic. Our algorithm builds on Double Q-learning, by taking the minimum value between a pair of critics to limit overestimation. We draw the connection between target networks and overestimation bias, and suggest delaying policy updates to reduce per-update error and further improve performance. We evaluate our method on the suite of OpenAI gym tasks, outperforming the state of the art in every environment tested.
1,968 citations
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TL;DR: A new distributed agent IMPALA (Importance Weighted Actor-Learner Architecture) is developed that not only uses resources more efficiently in single-machine training but also scales to thousands of machines without sacrificing data efficiency or resource utilisation.
Abstract: In this work we aim to solve a large collection of tasks using a single reinforcement learning agent with a single set of parameters A key challenge is to handle the increased amount of data and extended training time We have developed a new distributed agent IMPALA (Importance Weighted Actor-Learner Architecture) that not only uses resources more efficiently in single-machine training but also scales to thousands of machines without sacrificing data efficiency or resource utilisation We achieve stable learning at high throughput by combining decoupled acting and learning with a novel off-policy correction method called V-trace We demonstrate the effectiveness of IMPALA for multi-task reinforcement learning on DMLab-30 (a set of 30 tasks from the DeepMind Lab environment (Beattie et al, 2016)) and Atari-57 (all available Atari games in Arcade Learning Environment (Bellemare et al, 2013a)) Our results show that IMPALA is able to achieve better performance than previous agents with less data, and crucially exhibits positive transfer between tasks as a result of its multi-task approach
1,088 citations
Proceedings Article•
03 Jul 2018TL;DR: In this paper, the authors show that the overestimation bias persists in an actor-critic setting and propose novel mechanisms to minimize its effects on both the actor and the critic.
Abstract: In value-based reinforcement learning methods such as deep Q-learning, function approximation errors are known to lead to overestimated value estimates and suboptimal policies. We show that this problem persists in an actor-critic setting and propose novel mechanisms to minimize its effects on both the actor and the critic. Our algorithm builds on Double Q-learning, by taking the minimum value between a pair of critics to limit overestimation. We draw the connection between target networks and overestimation bias, and suggest delaying policy updates to reduce per-update error and further improve performance. We evaluate our method on the suite of OpenAI gym tasks, outperforming the state of the art in every environment tested.
954 citations
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TL;DR: This work discusses core RL elements, including value function, in particular, Deep Q-Network (DQN), policy, reward, model, planning, and exploration, and important mechanisms for RL, including attention and memory, unsupervised learning, transfer learning, multi-agent RL, hierarchical RL, and learning to learn.
Abstract: We give an overview of recent exciting achievements of deep reinforcement learning (RL). We discuss six core elements, six important mechanisms, and twelve applications. We start with background of machine learning, deep learning and reinforcement learning. Next we discuss core RL elements, including value function, in particular, Deep Q-Network (DQN), policy, reward, model, planning, and exploration. After that, we discuss important mechanisms for RL, including attention and memory, unsupervised learning, transfer learning, multi-agent RL, hierarchical RL, and learning to learn. Then we discuss various applications of RL, including games, in particular, AlphaGo, robotics, natural language processing, including dialogue systems, machine translation, and text generation, computer vision, neural architecture design, business management, finance, healthcare, Industry 4.0, smart grid, intelligent transportation systems, and computer systems. We mention topics not reviewed yet, and list a collection of RL resources. After presenting a brief summary, we close with discussions.
Please see Deep Reinforcement Learning, arXiv:1810.06339, for a significant update.
935 citations
TL;DR: This survey presents a brief survey on the advances that have occurred in the area of Deep Learning (DL), starting with the Deep Neural Network and goes on to cover Convolutional Neural Network, Recurrent Neural Network (RNN), and Deep Reinforcement Learning (DRL).
Abstract: In recent years, deep learning has garnered tremendous success in a variety of application domains. This new field of machine learning has been growing rapidly and has been applied to most traditional application domains, as well as some new areas that present more opportunities. Different methods have been proposed based on different categories of learning, including supervised, semi-supervised, and un-supervised learning. Experimental results show state-of-the-art performance using deep learning when compared to traditional machine learning approaches in the fields of image processing, computer vision, speech recognition, machine translation, art, medical imaging, medical information processing, robotics and control, bioinformatics, natural language processing, cybersecurity, and many others. This survey presents a brief survey on the advances that have occurred in the area of Deep Learning (DL), starting with the Deep Neural Network (DNN). The survey goes on to cover Convolutional Neural Network (CNN), Recurrent Neural Network (RNN), including Long Short-Term Memory (LSTM) and Gated Recurrent Units (GRU), Auto-Encoder (AE), Deep Belief Network (DBN), Generative Adversarial Network (GAN), and Deep Reinforcement Learning (DRL). Additionally, we have discussed recent developments, such as advanced variant DL techniques based on these DL approaches. This work considers most of the papers published after 2012 from when the history of deep learning began. Furthermore, DL approaches that have been explored and evaluated in different application domains are also included in this survey. We also included recently developed frameworks, SDKs, and benchmark datasets that are used for implementing and evaluating deep learning approaches. There are some surveys that have been published on DL using neural networks and a survey on Reinforcement Learning (RL). However, those papers have not discussed individual advanced techniques for training large-scale deep learning models and the recently developed method of generative models.
922 citations
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Proceedings Article•
01 Jan 2015TL;DR: This work introduces Adam, an algorithm for first-order gradient-based optimization of stochastic objective functions, based on adaptive estimates of lower-order moments, and provides a regret bound on the convergence rate that is comparable to the best known results under the online convex optimization framework.
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TL;DR: This work bridges the divide between high-dimensional sensory inputs and actions, resulting in the first artificial agent that is capable of learning to excel at a diverse array of challenging tasks.
Abstract: The theory of reinforcement learning provides a normative account, deeply rooted in psychological and neuroscientific perspectives on animal behaviour, of how agents may optimize their control of an environment. To use reinforcement learning successfully in situations approaching real-world complexity, however, agents are confronted with a difficult task: they must derive efficient representations of the environment from high-dimensional sensory inputs, and use these to generalize past experience to new situations. Remarkably, humans and other animals seem to solve this problem through a harmonious combination of reinforcement learning and hierarchical sensory processing systems, the former evidenced by a wealth of neural data revealing notable parallels between the phasic signals emitted by dopaminergic neurons and temporal difference reinforcement learning algorithms. While reinforcement learning agents have achieved some successes in a variety of domains, their applicability has previously been limited to domains in which useful features can be handcrafted, or to domains with fully observed, low-dimensional state spaces. Here we use recent advances in training deep neural networks to develop a novel artificial agent, termed a deep Q-network, that can learn successful policies directly from high-dimensional sensory inputs using end-to-end reinforcement learning. We tested this agent on the challenging domain of classic Atari 2600 games. We demonstrate that the deep Q-network agent, receiving only the pixels and the game score as inputs, was able to surpass the performance of all previous algorithms and achieve a level comparable to that of a professional human games tester across a set of 49 games, using the same algorithm, network architecture and hyperparameters. This work bridges the divide between high-dimensional sensory inputs and actions, resulting in the first artificial agent that is capable of learning to excel at a diverse array of challenging tasks.
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TL;DR: Using this search algorithm, the program AlphaGo achieved a 99.8% winning rate against other Go programs, and defeated the human European Go champion by 5 games to 0.5, the first time that a computer program has defeated a human professional player in the full-sized game of Go.
Abstract: The game of Go has long been viewed as the most challenging of classic games for artificial intelligence owing to its enormous search space and the difficulty of evaluating board positions and moves. Here we introduce a new approach to computer Go that uses ‘value networks’ to evaluate board positions and ‘policy networks’ to select moves. These deep neural networks are trained by a novel combination of supervised learning from human expert games, and reinforcement learning from games of self-play. Without any lookahead search, the neural networks play Go at the level of stateof-the-art Monte Carlo tree search programs that simulate thousands of random games of self-play. We also introduce a new search algorithm that combines Monte Carlo simulation with value and policy networks. Using this search algorithm, our program AlphaGo achieved a 99.8% winning rate against other Go programs, and defeated the human European Go champion by 5 games to 0. This is the first time that a computer program has defeated a human professional player in the full-sized game of Go, a feat previously thought to be at least a decade away.
14,377 citations
Posted Content•
TL;DR: A new family of policy gradient methods for reinforcement learning, which alternate between sampling data through interaction with the environment, and optimizing a "surrogate" objective function using stochastic gradient ascent, are proposed.
Abstract: We propose a new family of policy gradient methods for reinforcement learning, which alternate between sampling data through interaction with the environment, and optimizing a "surrogate" objective function using stochastic gradient ascent. Whereas standard policy gradient methods perform one gradient update per data sample, we propose a novel objective function that enables multiple epochs of minibatch updates. The new methods, which we call proximal policy optimization (PPO), have some of the benefits of trust region policy optimization (TRPO), but they are much simpler to implement, more general, and have better sample complexity (empirically). Our experiments test PPO on a collection of benchmark tasks, including simulated robotic locomotion and Atari game playing, and we show that PPO outperforms other online policy gradient methods, and overall strikes a favorable balance between sample complexity, simplicity, and wall-time.
9,020 citations
TL;DR: This article presents a general class of associative reinforcement learning algorithms for connectionist networks containing stochastic units that are shown to make weight adjustments in a direction that lies along the gradient of expected reinforcement in both immediate-reinforcement tasks and certain limited forms of delayed-reInforcement tasks, and they do this without explicitly computing gradient estimates.
Abstract: This article presents a general class of associative reinforcement learning algorithms for connectionist networks containing stochastic units. These algorithms, called REINFORCE algorithms, are shown to make weight adjustments in a direction that lies along the gradient of expected reinforcement in both immediate-reinforcement tasks and certain limited forms of delayed-reinforcement tasks, and they do this without explicitly computing gradient estimates or even storing information from which such estimates could be computed. Specific examples of such algorithms are presented, some of which bear a close relationship to certain existing algorithms while others are novel but potentially interesting in their own right. Also given are results that show how such algorithms can be naturally integrated with backpropagation. We close with a brief discussion of a number of additional issues surrounding the use of such algorithms, including what is known about their limiting behaviors as well as further considerations that might be used to help develop similar but potentially more powerful reinforcement learning algorithms.
7,930 citations