`

Timezone: »

 
Poster
A Unified Bellman Optimality Principle Combining Reward Maximization and Empowerment
Felix Leibfried · Sergio Pascual-Díaz · Jordi Grau-Moya

Tue Dec 10 10:45 AM -- 12:45 PM (PST) @ East Exhibition Hall B + C #200

Empowerment is an information-theoretic method that can be used to intrinsically motivate learning agents. It attempts to maximize an agent's control over the environment by encouraging visiting states with a large number of reachable next states. Empowered learning has been shown to lead to complex behaviors, without requiring an explicit reward signal. In this paper, we investigate the use of empowerment in the presence of an extrinsic reward signal. We hypothesize that empowerment can guide reinforcement learning (RL) agents to find good early behavioral solutions by encouraging highly empowered states. We propose a unified Bellman optimality principle for empowered reward maximization. Our empowered reward maximization approach generalizes both Bellman’s optimality principle as well as recent information-theoretical extensions to it. We prove uniqueness of the empowered values and show convergence to the optimal solution. We then apply this idea to develop off-policy actor-critic RL algorithms which we validate in high-dimensional continuous robotics domains (MuJoCo). Our methods demonstrate improved initial and competitive final performance compared to model-free state-of-the-art techniques.

Author Information

Felix Leibfried (PROWLER.io)
Sergio Pascual-Díaz (-)
Jordi Grau-Moya (PROWLER.io)

More from the Same Authors

  • 2019 : Poster Presentations »
    Rahul Mehta · Andrew Lampinen · Binghong Chen · Sergio Pascual-Diaz · Jordi Grau-Moya · Aldo Faisal · Jonathan Tompson · Yiren Lu · Khimya Khetarpal · Martin Klissarov · Pierre-Luc Bacon · Doina Precup · Thanard Kurutach · Aviv Tamar · Pieter Abbeel · Jinke He · Maximilian Igl · Shimon Whiteson · Wendelin Boehmer · Raphaël Marinier · Olivier Pietquin · Karol Hausman · Sergey Levine · Chelsea Finn · Tianhe Yu · Lisa Lee · Benjamin Eysenbach · Emilio Parisotto · Eric Xing · Ruslan Salakhutdinov · Hongyu Ren · Anima Anandkumar · Deepak Pathak · Christopher Lu · Trevor Darrell · Alexei Efros · Phillip Isola · Feng Liu · Bo Han · Gang Niu · Masashi Sugiyama · Saurabh Kumar · Janith Petangoda · Johan Ferret · James McClelland · Kara Liu · Animesh Garg · Robert Lange
  • 2019 : Oral Presentations »
    Janith Petangoda · Sergio Pascual-Diaz · Jordi Grau-Moya · Raphaël Marinier · Olivier Pietquin · Alexei Efros · Phillip Isola · Trevor Darrell · Christopher Lu · Deepak Pathak · Johan Ferret