Despite the close connection between exploration and sample efficiency, most state of the art reinforcement learning algorithms include no considerations for exploration beyond maximizing the entropy of the policy. In this work we address this seeming missed opportunity. We observe that the most common formulation of directed exploration in deep RL, known as bonus-based exploration (BBE), suffers from bias and slow coverage in the few-sample regime. This causes BBE to be actively detrimental to policy learning in many control tasks. We show that by decoupling the task policy from the exploration policy, directed exploration can be highly effective for sample-efficient continuous control. Our method, Decoupled Exploration and Exploitation Policies (DEEP), can be combined with any off-policy RL algorithm without modification. When used in conjunction with soft actor-critic, DEEP incurs no performance penalty in densely-rewarding environments. On sparse environments, DEEP gives a several-fold improvement in data efficiency due to better exploration.
University of Edinburgh（爱丁堡大学）；University of Wisconsin–Madison（威斯康星大学麦迪逊分校）
Intrinsic rewards can improve exploration in reinforcement learning, but the exploration process may suffer from instability caused by non-stationary reward shaping and strong dependency on hyperparameters. In this work, we introduce Decoupled RL (DeRL) as a general framework which trains separate policies for intrinsically-motivated exploration and exploitation. Such decoupling allows DeRL to leverage the benefits of intrinsic rewards for exploration while demonstrating improved robustness and sample efficiency. We evaluate DeRL algorithms in two sparse-reward environments with multiple types…
This paper investigates a class of attacks targeting the confidentiality aspect of security in Deep Reinforcement Learning (DRL) policies. Recent research have established the vulnerability of supervised machine learning models (e.g., classifiers) to model extraction attacks. Such attacks leverage the loosely-restricted ability of the attacker to iteratively query the model for labels, thereby allowing for the forging of a labeled dataset which can be used to train a replica of the original model. In this work, we demonstrate the feasibility of exploiting imitation learning techniques in launc…
Binghamton University（宾汉姆顿大学）；Yantai University（烟台大学）；Assured Information Security（Assured Information Security（Assured Information Security公司））
We study an important yet under-addressed problem of quickly and safely improving policies in online reinforcement learning domains. As its solution, we propose a novel exploration strategy - diverse exploration (DE), which learns and deploys a diverse set of safe policies to explore the environment. We provide DE theory explaining why diversity in behavior policies enables effective exploration without sacrificing exploitation. Our empirical study shows that an online policy improvement algorithm framework implementing the DE strategy can achieve both fast policy improvement and safe online p…
In continuous action domains, standard deep reinforcement learning algorithms like DDPG suffer from inefficient exploration when facing sparse or deceptive reward problems. Conversely, evolutionary and developmental methods focusing on exploration like Novelty Search, Quality-Diversity or Goal Exploration Processes explore more robustly but are less efficient at fine-tuning policies using gradient descent. In this paper, we present the GEP-PG approach, taking the best of both worlds by sequentially combining a Goal Exploration Process and two variants of DDPG. We study the learning performance…
This paper proposes new, end-to-end deep reinforcement learning algorithms for learning two-player zero-sum Markov games. Different from prior efforts on training agents to beat a fixed set of opponents, our objective is to find the Nash equilibrium policies that are free from exploitation by even the adversarial opponents. We propose (a) Nash-DQN algorithm, which integrates the deep learning techniques from single DQN into the classic Nash Q-learning algorithm for solving tabular Markov games; (b) Nash-DQN-Exploiter algorithm, which additionally adopts an exploiter to guide the exploration of…
We consider online sequential decision problems where an agent must balance exploration and exploitation. We derive a set of Bayesian `optimistic' policies which, in the stochastic multi-armed bandit case, includes the Thompson sampling policy. We provide a new analysis showing that any algorithm producing policies in the optimistic set enjoys $\tilde O(\sqrt{AT})$ Bayesian regret for a problem with $A$ actions after $T$ rounds. We extend the regret analysis for optimistic policies to bilinear saddle-point problems which include zero-sum matrix games and constrained bandits as special cases. I…
Is Pure Exploitation Sufficient in Exogenous MDPs with Linear Function Approximation?
Department of Informatics, King’s College London（伦敦国王学院信息学院）；Independent Researcher（独立研究者）；Department of Industrial Engineering and Management Sciences, Northwestern University（西北大学工业工程与管理科学系）；The Alan Turing Institute（艾伦·图灵研究所）
The purpose of this paper is to provide further understanding into the structure of the sequential allocation ("stochastic multi-armed bandit", or MAB) problem by establishing probability one finite horizon bounds and convergence rates for the sample (or "pseudo") regret associated with two simple classes of allocation policies $π$. For any slowly increasing function $g$, subject to mild regularity constraints, we construct two policies (the $g$-Forcing, and the $g$-Inflated Sample Mean) that achieve a measure of regret of order $ O(g(n))$ almost surely as $n \to \infty$, bound from above and …
Department of Electrical-Engineering, Technion Institute of Technology, Israel（电气工程系，技术学院技术研究所，以色列）；Nvidia Research（Nvidia研究）；Technion (currently at Google Research)（技术学院（目前在谷歌研究））
We consider a finite-horizon multi-armed bandit (MAB) problem in a Bayesian setting, for which we propose an information relaxation sampling framework. With this framework, we define an intuitive family of control policies that include Thompson sampling (TS) and the Bayesian optimal policy as endpoints. Analogous to TS, which, at each decision epoch pulls an arm that is best with respect to the randomly sampled parameters, our algorithms sample entire future reward realizations and take the corresponding best action. However, this is done in the presence of "penalties" that seek to compensate …
The goal of meta-reinforcement learning (meta-RL) is to build agents that can quickly learn new tasks by leveraging prior experience on related tasks. Learning a new task often requires both exploring to gather task-relevant information and exploiting this information to solve the task. In principle, optimal exploration and exploitation can be learned end-to-end by simply maximizing task performance. However, such meta-RL approaches struggle with local optima due to a chicken-and-egg problem: learning to explore requires good exploitation to gauge the exploration's utility, but learning to exp…
We propose a reinforcement learning agent to solve hard exploration games by learning a range of directed exploratory policies. We construct an episodic memory-based intrinsic reward using k-nearest neighbors over the agent's recent experience to train the directed exploratory policies, thereby encouraging the agent to repeatedly revisit all states in its environment. A self-supervised inverse dynamics model is used to train the embeddings of the nearest neighbour lookup, biasing the novelty signal towards what the agent can control. We employ the framework of Universal Value Function Approxim…
The University of Sydney Business School（悉尼大学商学院）；University of Southampton（南安普顿大学）
In budget-limited multi-armed bandit (MAB) problems, the learner's actions are costly and constrained by a fixed budget. Consequently, an optimal exploitation policy may not be to pull the optimal arm repeatedly, as is the case in other variants of MAB, but rather to pull the sequence of different arms that maximises the agent's total reward within the budget. This difference from existing MABs means that new approaches to maximising the total reward are required. Given this, we develop two pulling policies, namely: (i) KUBE; and (ii) fractional KUBE. Whereas the former provides better perform…
University of California San Diego（加州大学圣地亚哥分校）；The Abdus Salam International Centre for Theoretical Physics (ICTP)（阿卜杜勒·萨拉姆国际理论物理中心（ICTP））
Proper balance between exploitation and exploration is what makes good decisions, which achieve high rewards like payoff or evolutionary fitness. The Infomax principle postulates that maximization of information directs the function of diverse systems, from living systems to artificial neural networks. While specific applications are successful, the validity of information as a proxy for reward remains unclear. Here, we consider the multi-armed bandit decision problem, which features arms (slot-machines) of unknown probabilities of success and a player trying to maximize cumulative payoff by c…
Nankai University（南开大学）；Microsoft Research Asia（微软亚洲研究院）
A fundamental issue in reinforcement learning algorithms is the balance between exploration of the environment and exploitation of information already obtained by the agent. Especially, exploration has played a critical role for both efficiency and efficacy of the learning process. However, Existing works for exploration involve task-agnostic design, that is performing well in one environment, but be ill-suited to another. To the purpose of learning an effective and efficient exploration policy in an automated manner. We formalized a feasible metric for measuring the utility of exploration bas…
This work theoretically studies a ubiquitous reinforcement learning policy for controlling the canonical model of continuous-time stochastic linear-quadratic systems. We show that randomized certainty equivalent policy addresses the exploration-exploitation dilemma in linear control systems that evolve according to unknown stochastic differential equations and their operating cost is quadratic. More precisely, we establish square-root of time regret bounds, indicating that randomized certainty equivalent policy learns optimal control actions fast from a single state trajectory. Further, linear…
Efficient reinforcement learning (RL) involves a trade-off between "exploitative" actions that maximise expected reward and "explorative'" ones that sample unvisited states. To encourage exploration, recent approaches proposed adding stochasticity to actions, separating exploration and exploitation phases, or equating reduction in uncertainty with reward. However, these techniques do not necessarily offer entirely systematic approaches making this trade-off. Here we introduce SElective Reinforcement Exploration Network (SEREN) that poses the exploration-exploitation trade-off as a game between…
Tsinghua University（清华大学）；University of California, Davis（加利福尼亚大学戴维斯分校）；Shanghai Jiao Tong University（上海交通大学）；Ohio State University（俄亥俄州立大学）
The demand for seamless Internet access under extreme user mobility, such as on high-speed trains and vehicles, has become a norm rather than an exception. However, the 4G/5G mobile network is not always reliable to meet this demand, with non-negligible failures during the handover between base stations. A fundamental challenge of reliability is to balance the exploration of more measurements for satisfactory handover, and exploitation for timely handover (before the fast-moving user leaves the serving base station's radio coverage). This paper formulates this trade-off in extreme mobility as …
Google Research（谷歌研究院）；National Technical University of Athens（雅典国立技术大学）；Yale University（耶鲁大学）；ETH Zurich（苏黎世联邦理工学院）
In this paper, we introduce the notion of replicable policies in the context of stochastic bandits, one of the canonical problems in interactive learning. A policy in the bandit environment is called replicable if it pulls, with high probability, the exact same sequence of arms in two different and independent executions (i.e., under independent reward realizations). We show that not only do replicable policies exist, but also they achieve almost the same optimal (non-replicable) regret bounds in terms of the time horizon. More specifically, in the stochastic multi-armed bandits setting, we de…
We consider a new form of reinforcement learning (RL) that is based on opportunities to directly learn the optimal control policy and a general Markov decision process (MDP) framework devised to support these opportunities. Derivations of general classes of our control-based RL methods are presented, together with forms of exploration and exploitation in learning and applying the optimal control policy over time. Our general MDP framework extends the classical Bellman operator and optimality criteria by generalizing the definition and scope of a policy for any given state. We establish the con…
Performing autonomous exploration is essential for unmanned aerial vehicles (UAVs) operating in unknown environments. Often, these missions start with building a map for the environment via pure exploration and subsequently using (i.e. exploiting) the generated map for downstream navigation tasks. Accomplishing these navigation tasks in two separate steps is not always possible or even disadvantageous for UAVs deployed in outdoor and dynamically changing environments. Current exploration approaches either use a priori human-generated maps or use heuristics such as frontier-based exploration. O…
We consider an agent who is involved in a Markov decision process and receives a vector of outcomes every round. Her objective is to maximize a global concave reward function on the average vectorial outcome. The problem models applications such as multi-objective optimization, maximum entropy exploration, and constrained optimization in Markovian environments. In our general setting where a stationary policy could have multiple recurrent classes, the agent faces a subtle yet consequential trade-off in alternating among different actions for balancing the vectorial outcomes. In particular, sta…
DGRO: Enhancing LLM Reasoning via Exploration-Exploitation Control and Reward Variance Management
School of Mathematics and Statistics（数学与统计学学院）；Beijing Jiaotong University（北京交通大学）；Yau Mathematical Sciences Center（叶中科学中心）；Tsinghua University（清华大学）；Department of Mathematical Sciences（数学科学系）；Beijing, China（中国北京）；Zhongguancun Academy（中关村学院）；Yanqi Lake Beijing Institute of Mathematical Sciences and Applications（燕琪湖数学科学与应用研究所）；Academy of Mathematics and Systems Science（数学与系统科学研究院）；Chinese Academy of Sciences（中国科学院）；Microsoft Research AI4Science（微软研究院AI4Science）
Korea Advanced Institute of Science and Technology (KAIST)（韩国科学技术院）
Recently, deep reinforcement learning (DRL) frameworks have shown potential for solving NP-hard routing problems such as the traveling salesman problem (TSP) without problem-specific expert knowledge. Although DRL can be used to solve complex problems, DRL frameworks still struggle to compete with state-of-the-art heuristics showing a substantial performance gap. This paper proposes a novel hierarchical problem-solving strategy, termed learning collaborative policies (LCP), which can effectively find the near-optimum solution using two iterative DRL policies: the seeder and reviser. The seeder…
Facebook AI Research（Facebook AI研究院）；Inria Lille（里尔法国国家信息与自动化研究所）；DeepMind
One of the challenges in online reinforcement learning (RL) is that the agent needs to trade off the exploration of the environment and the exploitation of the samples to optimize its behavior. Whether we optimize for regret, sample complexity, state-space coverage or model estimation, we need to strike a different exploration-exploitation trade-off. In this paper, we propose to tackle the exploration-exploitation problem following a decoupled approach composed of: 1) An "objective-specific" algorithm that (adaptively) prescribes how many samples to collect at which states, as if it has access…
Contextual bandits have the same exploration-exploitation trade-off as standard multi-armed bandits. On adding positive externalities that decay with time, this problem becomes much more difficult as wrong decisions at the start are hard to recover from. We explore existing policies in this setting and highlight their biases towards the inherent reward matrix. We propose a rejection based policy that achieves a low regret irrespective of the structure of the reward probability matrix.
Carnegie Mellon University（卡内基梅隆大学）；University of Texas - Austin（德克萨斯大学奥斯汀分校）
In multi-server queueing systems where there is no central queue holding all incoming jobs, job dispatching policies are used to assign incoming jobs to the queue at one of the servers. Classic job dispatching policies such as join-the-shortest-queue and shortest expected delay assume that the service rates and queue lengths of the servers are known to the dispatcher. In this work, we tackle the problem of job dispatching without the knowledge of service rates and queue lengths, where the dispatcher can only obtain noisy estimates of the service rates by observing job departures. This problem …
ORBIT: On-policy Exploration-Exploitation for Controllable Multi-Budget Reasoning
School of Computer Science, Peking University（北京大学计算机科学学院）；National Key Laboratory for Multimedia Information Processing, Peking University（北京大学多媒体信息处理国家重点实验室）；LLM Department, Tencent（腾讯LLM部门）；The Hong Kong University of Science and Technology（香港科技大学）
Reinforcement Learning (RL) has made remarkable achievements, but it still suffers from inadequate exploration strategies, sparse reward signals, and deceptive reward functions. To alleviate these problems, a Population-guided Novelty Search (PNS) parallel learning method is proposed in this paper. In PNS, the population is divided into multiple sub-populations, each of which has one chief agent and several exploring agents. The chief agent evaluates the policies learned by exploring agents and shares the optimal policy with all sub-populations. The exploring agents learn their policies in col…
Australian National University（澳大利亚国立大学）；Data61, CSIRO（联邦科学与工业研究组织Data61）；Deakin University（迪肯大学）；Microsoft Research Asia（微软亚洲研究院）
We consider the problem of personalised news recommendation where each user consumes news in a sequential fashion. Existing personalised news recommendation methods focus on exploiting user interests and ignores exploration in recommendation, which leads to biased feedback loops and hurt recommendation quality in the long term. We build on contextual bandits recommendation strategies which naturally address the exploitation-exploration trade-off. The main challenges are the computational efficiency for exploring the large-scale item space and utilising the deep representations with uncertainty…
While learning in an unknown Markov Decision Process (MDP), an agent should trade off exploration to discover new information about the MDP, and exploitation of the current knowledge to maximize the reward. Although the agent will eventually learn a good or optimal policy, there is no guarantee on the quality of the intermediate policies. This lack of control is undesired in real-world applications where a minimum requirement is that the executed policies are guaranteed to perform at least as well as an existing baseline. In this paper, we introduce the notion of conservative exploration for a…
The Knowledge Gradient (KG) policy was originally proposed for online ranking and selection problems but has recently been adapted for use in online decision making in general and multi-armed bandit problems (MABs) in particular. We study its use in a class of exponential family MABs and identify weaknesses, including a propensity to take actions which are dominated with respect to both exploitation and exploration. We propose variants of KG which avoid such errors. These new policies include an index heuristic which deploys a KG approach to develop an approximation to the Gittins index. A num…
One of the preeminent obstacles to scaling multi-agent reinforcement learning to large numbers of agents is assigning credit to individual agents' actions. In this paper, we address this credit assignment problem with an approach that we call \textit{partial reward decoupling} (PRD), which attempts to decompose large cooperative multi-agent RL problems into decoupled subproblems involving subsets of agents, thereby simplifying credit assignment. We empirically demonstrate that decomposing the RL problem using PRD in an actor-critic algorithm results in lower variance policy gradient estimates,…
Imperial College London（帝国理工学院）；Universitat Pompeu Fabra（庞培法布拉大学）
In this paper we present ISA, an approach for learning and exploiting subgoals in episodic reinforcement learning (RL) tasks. ISA interleaves reinforcement learning with the induction of a subgoal automaton, an automaton whose edges are labeled by the task's subgoals expressed as propositional logic formulas over a set of high-level events. A subgoal automaton also consists of two special states: a state indicating the successful completion of the task, and a state indicating that the task has finished without succeeding. A state-of-the-art inductive logic programming system is used to learn a…
Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However, training these multi-level policies has had limited success due to challenges arising from interactions between the goal-assigning and goal-achieving levels within a hierarchy. In this article, we consider the policy optimization process as a multi-agent process. This allows us to draw on connections between communication and cooperation in multi-agent RL, and demo…
Meta reinforcement learning (meta-RL) extracts knowledge from previous tasks and achieves fast adaptation to new tasks. Despite recent progress, efficient exploration in meta-RL remains a key challenge in sparse-reward tasks, as it requires quickly finding informative task-relevant experiences in both meta-training and adaptation. To address this challenge, we explicitly model an exploration policy learning problem for meta-RL, which is separated from exploitation policy learning, and introduce a novel empowerment-driven exploration objective, which aims to maximize information gain for task i…
McGill University（麦吉尔大学）；Mila Quebec AI Institute（米拉魁北克人工智能研究所）
The stochastic multi-armed bandit problem is a well-known model for studying the exploration-exploitation trade-off. It has significant possible applications in adaptive clinical trials, which allow for dynamic changes in the treatment allocation probabilities of patients. However, most bandit learning algorithms are designed with the goal of minimizing the expected regret. While this approach is useful in many areas, in clinical trials, it can be sensitive to outlier data, especially when the sample size is small. In this paper, we define and study a new robustness criterion for bandit proble…
