arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2003.06417cs.LGcs.AIcs.CVcs.ROstat.ML
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用于鲁棒规划的稀疏图形存储器

Sparse Graphical Memory for Robust Planning

Berkeley AI Research(伯克利人工智能研究院);Carnegie Mellon University(卡内基梅隆大学)

Scott Emmons, Ajay Jain, Michael Laskin, Thanard Kurutach, Pieter Abbeel, Deepak Pathak

摘要:

为了在现实世界中有效地运作,智能体应该能够从高维原始感官输入(如图像)中采取行动,并在长时间范围内实现不同的目标。目前的深度强化和模仿学习方法可以直接从高维输入中学习,但不能很好地扩展到长时间任务。相比之下,像A* 搜索这样的经典图形方法能够解决长期任务,但假设状态空间是从原始感官输入中抽象出来的。最近的研究试图将深度学习和经典规划的优势结合起来;然而,该领域的主流方法仍然非常脆弱,并且随着环境的大小而扩展性很差。我们介绍了稀疏图形存储器(SGM),一个新的数据结构,存储状态和可行的转移在一个稀疏的内存。SGM根据一种新的双向一致性目标聚合状态,将经典的状态聚合标准适应于目标条件强化学习:当两个状态作为目标和起始状态都可互换时,它们是冗余的。从理论上讲,我们证明了合并节点根据双向一致性导致最短路径长度的增加,仅与合并阈值呈线性关系。在实验中,我们表明,SGM显着优于目前最先进的方法在长时间,稀疏奖励的视觉导航任务。项目视频和代码可在https://mishalaskin.github.io/sgm/上获得

英文摘要:

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can learn directly from high-dimensional inputs but do not scale well to long-horizon tasks. In contrast, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the state space is abstracted away from raw sensory input. Recent works have attempted to combine the strengths of deep learning and classical planning; however, dominant methods in this domain are still quite brittle and scale poorly with the size of the environment. We introduce Sparse Graphical Memory (SGM), a new data structure that stores states and feasible transitions in a sparse memory. SGM aggregates states according to a novel two-way consistency objective, adapting classic state aggregation criteria to goal-conditioned RL: two states are redundant when they are interchangeable both as goals and as starting states. Theoretically, we prove that merging nodes according to two-way consistency leads to an increase in shortest path lengths that scales only linearly with the merging threshold. Experimentally, we show that SGM significantly outperforms current state of the art methods on long horizon, sparse-reward visual navigation tasks. Project video and code are available at https://mishalaskin.github.io/sgm/

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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