Towards efficient and robust reinforcement learning via synthetic environments and offline data

Over the past decade, Deep Reinforcement Learning (RL) has driven many advances in sequential decision-making, including remarkable applications in superhuman Go-playing, robotic control, and automated algorithm discovery. However, despite these successes, deep RL is also notoriously sample-inefficient, usually generalizes poorly to settings beyond the original environment, and can be unstable during training. Moreover, the conventional RL setting still relies on exploring and learning tabula-rasa in new environments and does not make use of pre-existing data. This thesis investigates two promising directions to address these challenges. First, we explore the use of synthetic data and environments in order to broaden an agent's experience. Second, we propose principled techniques to leverage pre-existing datasets, thereby reducing or replacing the need for costly online data collection.
The first part of the thesis focuses on the generation of synthetic data and environments to train RL agents. While there is a rich history in model-based RL of leveraging a learned dynamics model to improve sample efficiency, these methods are usually restricted to single-task settings. To overcome this limitation, we propose Augmented World Models, a novel approach designed for offline-to-online transfer where the test dynamics may differ from the training data. Our method augments a learned dynamics model with simple transformations that seek to capture potential changes in the physical properties of a robot, leading to more robust policies. Additionally, we train the agent with the sampled augmentation as context for test-time inference, significantly improving zero-shot generalization to novel dynamics. Going beyond commonly used forward dynamics models, we propose an alternative paradigm, Synthetic Experience Replay, which uses generative modeling to directly model and upsample the agent's training data distribution. Leveraging recent advances in diffusion generative models, our approach outperforms and is composable with standard data augmentation, and is particularly effective in low-data regimes. Furthermore, our method opens the door for certain RL agents to train stably with much larger networks than before.
In the second part of the thesis, we explore a complementary direction to data efficiency where we can leverage pre-existing data. While adjacent fields of machine learning, such as computer vision and natural language processing, have made significant progress in scaling data and model size, traditional RL algorithms can find it difficult to incorporate additional data due to the need for on-policy data. We begin by investigating a principled method for incorporating expert demonstrations to accelerate online RL, KL-regularization to a behavioral prior, and identify a pathology stemming from the behavioral prior having uncalibrated uncertainties. We show that standard parameterizations of the behavioral reference policy can lead to unstable training dynamics, and propose a solution, Non-Parametric Prior Actor–Critic, that represents the new state-of-the-art in locomotion and dexterous manipulation tasks. Furthermore, we make advances in offline reinforcement learning, with which agents can be trained without any online data collection at all. In this domain, we elucidate the design space of offline model-based RL algorithms and highlight where prior methods use suboptimal heuristics and choices for hyperparameters. By rigorously searching through this space, we show that we can vastly improve standard algorithms and provide insights into which design choices are most important. Finally, we make progress towards extending offline RL to pixel-based environments by presenting Vision Datasets for Deep Data-Driven RL, the first comprehensive and publicly available evaluation suite for this field, alongside simple model-based and model-free baselines for assessing future progress in this domain.
In conclusion, this thesis represents explorations toward making RL algorithms more efficient and readily deployable in the real world. Further progress along these directions may bring us closer to the ultimate goal of more generally capable agents, that are able to both generate appropriate learning environments for themselves and bootstrap learning from vast quantities of pre-existing data.

Keywords: world models
generative modeling
deep reinforcement learning
offline reinforcement learning
Advisor: Osborne, M
Teh, Y