Diffusing Policies : Towards Wasserstein Policy Gradient Flows
Policy gradients methods often achieve better performance when the change in policy is limited to a small Kullback-Leibler divergence.We derive policy gradients where the change in policy is limited to a small Wasserstein distance.This is done in the discrete and continuous multi-armed bandit settings with entropy regularisation.We show that in the small steps limit with respect to the Wasserstein distance, policy dynamics are governed by the heat equation, following the Jordan-Kinderlehrer-Otto result.This means that policies undergo diffusion and advection, concentrating near actions with high reward.This helps elucidate the nature of convergence in the probability matching setup, and provides justification for empirical practices such as Gaussian policy priors and additive gradient noise.
Linking Wasserstein-trust region entropic policy gradients, and the heat equation.The paper explores the connections between reinforcement learning and the theory of quadratic optimal transportThe authors studied policy gradient with change of policies limited by a trust region of Wasserstein distance in the multi-armed bandit setting, showing that in the small steps limit, the policy dynamics are governed by the heat equation (Fokker-Planck equation).