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How can a reinforcement learning (RL) agent prepare to solve downstream tasks if those tasks are not known a priori? One approach is unsupervised skill discovery, a class of algorithms that learn a set of policies without access to a reward function. Such algorithms bear a close resemblance to representation learning algorithms (e.g., contrastive learning) in supervised learning, in that both are pretraining algorithms that maximize some approximation to a mutual information objective. While prior work has shown that the set of skills learned by such methods can accelerate downstream RL tasks, prior work offers little analysis into whether these skill learning algorithms are optimal, or even what notion of optimality would be appropriate to apply to them. In this work, we show that unsupervised skill discovery algorithms based on mutual information maximization do not learn skills that are optimal for every possible reward function. However, we show that the distribution over skills provides an optimal initialization minimizing regret against adversarially-chosen reward functions, assuming a certain type of adaptation procedure. Our analysis also provides a geometric perspective on these skill learning methods.
Author Information
Ben Eysenbach (Google AI Resident)
Russ Salakhutdinov (Carnegie Mellon University)
Sergey Levine (UC Berkeley)
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2012 Poster: A Better Way to Pre-Train Deep Boltzmann Machines »
Russ Salakhutdinov · Geoffrey E Hinton -
2012 Oral: Multimodal Learning with Deep Boltzmann Machines »
Nitish Srivastava · Russ Salakhutdinov -
2012 Poster: Cardinality Restricted Boltzmann Machines »
Kevin Swersky · Danny Tarlow · Ilya Sutskever · Richard Zemel · Russ Salakhutdinov · Ryan Adams -
2011 Workshop: Challenges in Learning Hierarchical Models: Transfer Learning and Optimization »
Quoc V. Le · Marc'Aurelio Ranzato · Russ Salakhutdinov · Josh Tenenbaum · Andrew Y Ng -
2011 Poster: Learning to Learn with Compound HD Models »
Russ Salakhutdinov · Josh Tenenbaum · Antonio Torralba -
2011 Spotlight: Learning to Learn with Compound HD Models »
Russ Salakhutdinov · Josh Tenenbaum · Antonio Torralba -
2011 Poster: Learning with the weighted trace-norm under arbitrary sampling distributions »
Rina Foygel · Russ Salakhutdinov · Ohad Shamir · Nati Srebro -
2011 Poster: Transfer Learning by Borrowing Examples »
Joseph Lim · Russ Salakhutdinov · Antonio Torralba -
2010 Workshop: Transfer Learning Via Rich Generative Models. »
Russ Salakhutdinov · Ryan Adams · Josh Tenenbaum · Zoubin Ghahramani · Tom Griffiths -
2010 Poster: Collaborative Filtering in a Non-Uniform World: Learning with the Weighted Trace Norm »
Russ Salakhutdinov · Nati Srebro -
2010 Poster: Practical Large-Scale Optimization for Max-norm Regularization »
Jason D Lee · Benjamin Recht · Russ Salakhutdinov · Nati Srebro · Joel A Tropp -
2009 Workshop: Approximate Learning of Large Scale Graphical Models »
Russ Salakhutdinov · Amir Globerson · David Sontag -
2009 Poster: Replicated Softmax: an Undirected Topic Model »
Russ Salakhutdinov · Geoffrey E Hinton -
2009 Poster: Learning in Markov Random Fields using Tempered Transitions »
Russ Salakhutdinov -
2009 Poster: Modelling Relational Data using Bayesian Clustered Tensor Factorization »
Ilya Sutskever · Russ Salakhutdinov · Josh Tenenbaum -
2008 Poster: Evaluating probabilities under high-dimensional latent variable models »
Iain Murray · Russ Salakhutdinov -
2008 Spotlight: Evaluating probabilities under high-dimensional latent variable models »
Iain Murray · Russ Salakhutdinov -
2007 Poster: Probabilistic Matrix Factorization »
Russ Salakhutdinov · Andriy Mnih -
2007 Oral: Probabilistic Matrix Factorization »
Russ Salakhutdinov · Andriy Mnih -
2007 Poster: Using Deep Belief Nets to Learn Covariance Kernels for Gaussian Processes »
Russ Salakhutdinov · Geoffrey E Hinton