Relative Entropy Policy Search

Policy search is a successful approach to reinforcement learning. However, policy improvements often result in the loss of information. Hence, it has been marred by premature convergence and implausible solutions. As first suggested in the context of covariant policy gradients (Bagnell and Schneider 2003), many of these problems may be addressed by constraining the information loss. In this paper, we continue this path of reasoning and suggest the Relative Entropy Policy Search (REPS) method. The resulting method differs significantly from previous policy gradient approaches and yields an exact update step. It works well on typical reinforcement learning benchmark problems. Introduction Policy search is a reinforcement learning approach that attempts to learn improved policies based on information observed in past trials or from observations of another agent’s actions (Bagnell and Schneider 2003). However, policy search, as most reinforcement learning approaches, is usually phrased in an optimal control framework where it directly optimizes the expected return. As there is no notion of the sampled data or a sampling policy in this problem statement, there is a disconnect between finding an optimal policy and staying close to the observed data. In an online setting, many methods can deal with this problem by staying close to the previous policy (e.g., policy gradient methods allow only small incremental policy updates). Hence, approaches that allow stepping further away from the data are problematic, particularly, off-policy approaches Directly optimizing a policy will automatically result in a loss of data as an improved policy needs to forget experience to avoid the mistakes of the past and to aim on the observed successes. However, choosing an improved policy purely based on its return favors biased solutions that eliminate states in which only bad actions have been tried out. This problem is known as optimization bias (Mannor et al. 2007). Optimization biases may appear in most onand off-policy reinforcement learning methods due to undersampling (e.g., if we cannot sample all state-actions pairs prescribed by a policy, we will overfit the taken actions), model errors or even the policy update step itself. Copyright c © 2010, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. Policy updates may often result in a loss of essential information due to the policy improvement step. For example, a policy update that eliminates most exploration by taking the best observed action often yields fast but premature convergence to a suboptimal policy. This problem was observed by Kakade (2002) in the context of policy gradients. There, it can be attributed to the fact that the policy parameter update δθ was maximizing it collinearity δθ∇θJ to the policy gradient while only regularized by fixing the Euclidian length of the parameter update δθ δθ = ε to a stepsize ε. Kakade (2002) concluded that the identity metric of the distance measure was the problem, and that the usage of the Fisher information metric F (θ) in a constraint δθF (θ)δθ = ε leads to a better, more natural gradient. Bagnell and Schneider (2003) clarified that the constraint introduced in (Kakade 2002) can be seen as a Taylor expansion of the loss of information or relative entropy between the path distributions generated by the original and the updated policy. Bagnell and Schneider’s (2003) clarification serves as a key insight to this paper. In this paper, we propose a new method based on this insight, that allows us to estimate new policies given a data distribution both for off-policy or on-policy reinforcement learning. We start from the optimal control problem statement subject to the constraint that the loss in information is bounded by a maximal step size. Note that the methods proposed in (Bagnell and Schneider 2003; Kakade 2002; Peters and Schaal 2008) used a small fixed step size instead. As we do not work in a parametrized policy gradient framework, we can directly compute a policy update based on all information observed from previous policies or exploratory sampling distributions. All sufficient statistics can be determined by optimizing the dual function that yields the equivalent of a value function of a policy for a data set. We show that the method outperforms the previous policy gradient algorithms (Peters and Schaal 2008) as well as SARSA (Sutton and Barto 1998). Background & Notation We consider the regular reinforcememt learning setting (Sutton and Barto 1998; Sutton et al. 2000) of a stationary Markov decision process (MDP) with n states s and m actions a. When an agent is in state s, he draws an action a ∼ π(a|s) from a stochastic policy π. Subsequently, the 1607 Proceedings of the Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI-10)