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Poster
Interpolated Policy Gradient: Merging On-Policy and Off-Policy Gradient Estimation for Deep Reinforcement Learning
Shixiang (Shane) Gu · Timothy Lillicrap · Richard Turner · Zoubin Ghahramani · Bernhard Schölkopf · Sergey Levine

Mon Dec 04 06:30 PM -- 10:30 PM (PST) @ Pacific Ballroom #203
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Off-policy model-free deep reinforcement learning methods using previously collected data can improve sample efficiency over on-policy policy gradient techniques. On the other hand, on-policy algorithms are often more stable and easier to use. This paper examines, both theoretically and empirically, approaches to merging on- and off-policy updates for deep reinforcement learning. Theoretical results show that off-policy updates with a value function estimator can be interpolated with on-policy policy gradient updates whilst still satisfying performance bounds. Our analysis uses control variate methods to produce a family of policy gradient algorithms, with several recently proposed algorithms being special cases of this family. We then provide an empirical comparison of these techniques with the remaining algorithmic details fixed, and show how different mixing of off-policy gradient estimates with on-policy samples contribute to improvements in empirical performance. The final algorithm provides a generalization and unification of existing deep policy gradient techniques, has theoretical guarantees on the bias introduced by off-policy updates, and improves on the state-of-the-art model-free deep RL methods on a number of OpenAI Gym continuous control benchmarks.

Keywords: Deep Learning · Reinforcement Learning and Planning · Reinforcement Learning
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Author Information

Shixiang (Shane) Gu (Google Brain, University of Cambridge)
Timothy Lillicrap (Google DeepMind)
Richard Turner (University of Cambridge)
Zoubin Ghahramani (Uber and University of Cambridge)

Zoubin Ghahramani is Professor of Information Engineering at the University of Cambridge, where he leads the Machine Learning Group. He studied computer science and cognitive science at the University of Pennsylvania, obtained his PhD from MIT in 1995, and was a postdoctoral fellow at the University of Toronto. His academic career includes concurrent appointments as one of the founding members of the Gatsby Computational Neuroscience Unit in London, and as a faculty member of CMU's Machine Learning Department for over 10 years. His current research interests include statistical machine learning, Bayesian nonparametrics, scalable inference, probabilistic programming, and building an automatic statistician. He has held a number of leadership roles as programme and general chair of the leading international conferences in machine learning including: AISTATS (2005), ICML (2007, 2011), and NIPS (2013, 2014). In 2015 he was elected a Fellow of the Royal Society.

Bernhard Schölkopf (MPI for Intelligent Systems)

Bernhard Scholkopf received degrees in mathematics (London) and physics (Tubingen), and a doctorate in computer science from the Technical University Berlin. He has researched at AT&T Bell Labs, at GMD FIRST, Berlin, at the Australian National University, Canberra, and at Microsoft Research Cambridge (UK). In 2001, he was appointed scientific member of the Max Planck Society and director at the MPI for Biological Cybernetics; in 2010 he founded the Max Planck Institute for Intelligent Systems. For further information, see www.kyb.tuebingen.mpg.de/~bs.

Sergey Levine (UC Berkeley)
Sergey Levine

Sergey Levine received a BS and MS in Computer Science from Stanford University in 2009, and a Ph.D. in Computer Science from Stanford University in 2014. He joined the faculty of the Department of Electrical Engineering and Computer Sciences at UC Berkeley in fall 2016. His work focuses on machine learning for decision making and control, with an emphasis on deep learning and reinforcement learning algorithms. Applications of his work include autonomous robots and vehicles, as well as applications in other decision-making domains. His research includes developing algorithms for end-to-end training of deep neural network policies that combine perception and control, scalable algorithms for inverse reinforcement learning, deep reinforcement learning algorithms, and more

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