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Title: Composable Planning with Attributes

Paper content:
The tasks that an agent will need to solve often aren’t known during training.
However, if the agent knows which properties of the environment we consider im- portant, then after learning how its actions affect those properties the agent may be able to use this knowledge to solve complex tasks without training specifi- cally for them.
Towards this end, we consider a setup in which an environment is augmented with a set of user defined attributes that parameterize the features of interest.
We propose a model that learns a policy for transitioning between “nearby” sets of attributes, and maintains a graph of possible transitions.
Given a task at test time that can be expressed in terms of a target set of attributes, and a current state, our model infers the attributes of the current state and searches over paths through attribute space to get a high level plan, and then uses its low level policy to execute the plan.
We show in grid-world games and 3D block stacking that our model is able to generalize to longer, more complex tasks at test time even when it only sees short, simple tasks at train time.
Deep reinforcement learning has demonstrated impressive successes in building agents that can solve difficult tasks, e.g. BID20 ; .
However, these successes have mostly been confined to situations where it is possible to train a large number of times on a single known task or distribution of tasks.
On the other hand, in some situations, the tasks of interest are not known at training time or are too complex to be completed by uninformed exploration on a sparse set of rewards.
In these situations, it may be that the cost of the supervision required to identify the important features of the environment, or to describe the space of possible tasks within it, is not so onerous.
Recently several papers have taken this approach, for example Reed & de Freitas (2015) ; BID2 ; BID22 ; BID7 .If
we expect an agent to be able to solve many different kinds of tasks, the representation of the task space is particularly important. In
this paper, we impose structure on the task space through the use of attribute sets, a high-level abstraction of the environment state. The
form of these are chosen by hand to capture task-relevant concepts, allowing both end goals as well as intermediate sub-tasks to be succinctly represented. As
in Reed & de Freitas (2015) ; BID2 ; BID22 , we thus trade extra supervision for generalization.The attributes yield a natural space in which to plan: instead of searching over possible sequences of actions, we instead search over attribute sets. Once
the agent learns how its actions affect the environment in terms of its relevant attributes, novel tasks can be solved compositionally by executing a plan consisting of a sequence of transitions between abstract states defined by those attributes. In the
experiments below, we will show that in various environments, training only on simple tasks, our agents are able to generalize to novel, more complex tasks.
Our results show that structuring the space of tasks with high level attributes allows an agent to compose policies for the solutions of simple tasks into solutions of more complex tasks.
The agent plans a path to the final goal at the level of the attributes, and executes the steps in this path with a reactive policy.
Thus, supervision of an agent by labeling attributes can lead to generalization from simple tasks at train time to more complex tasks at test time.
Nevertheless, there are many fronts for further work:Sample complexity of the planning module: In Table 5 we can see both the benefits and the liabilities of the explicit non-parametric form for c.
By 10K samples, the parametric lower level policy is already able to have a reasonable success rate.
However, because in this environment, there are roughly 200K edges in the graph, most of the edges have not been seen, and without any weight-sharing, our model cannot estimate these transition probabilities.
On the other hand, by 100K samples the model has seen enough of the graph to make nontrivial plans; and the non-parametric form of the graph makes planning straightforward.
In future work, we hope to combine parametric models for c with search to increase the sample efficiency of the planning module.
Alternatively, In frame 4 of this example, the policy is directed to place the green block in front of the red and blue blocks, but this is impossible because the blue and red are already in the frontmost position.we might hope to make progress on dynamic abstraction (projecting out some of the attributes) depending on the current state and goal, which would make the effective number of edges of the graph smaller.Exploration Although we discuss an agent in an environment, we have elided many of the difficult problems of reinforcement learning.
In particular, the environments considered in this work allow sampling low level transitions by starting at random states and following random policies, and these are sufficient to cover the state space, although we note that the method for training the model described in Section 2.1 allows for more sophisticated exploration policies.
Thus we sidestep the exploration problem, one of the key difficulties of reinforcement learning.
Nevertheless, building composable models even in this setting is nontrivial, and our view is that it is important to demonstrate success here (and decouple issues of exploration and composability) before moving on to the full RL problem.We believe that the attributes ρ and c, in addition to their usefulness for planning, provide a framework for incentivizing exploration.
The agent can be rewarded for finding unseen (or rarely-seen) high level transitions, or for validating or falsifying hypotheses about the existence of entries of c.Learning the attributes: Discovering the attributes automatically would remove much of the need for human supervision.
Recent work, such as BID33 , demonstrates how this could be done.
Another avenue for discovering attributes is to use a few "seed" attributes; and use aliasing as a signal that some attributes need to be refined.

assistant: text: Compositional attribute-based planning that generalizes to long test tasks, despite being trained on short & simple tasks.