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Title: RTFM: Generalising to New Environment Dynamics via Reading

Paper content:
Obtaining policies that can generalise to new environments in reinforcement learning is challenging.
In this work, we demonstrate that language understanding via a reading policy learner is a promising vehicle for generalisation to new environments.
We propose a grounded policy learning problem, Read to Fight Monsters (RTFM), in which the agent must jointly reason over a language goal, relevant dynamics described in a document, and environment observations.
We procedurally generate environment dynamics and corresponding language descriptions of the dynamics, such that agents must read to understand new environment dynamics instead of memorising any particular information.
In addition, we propose txt2π, a model that captures three-way interactions between the goal, document, and observations.
On RTFM, txt2π generalises to new environments with dynamics not seen during training via reading.
Furthermore, our model outperforms baselines such as FiLM and language-conditioned CNNs on RTFM.
Through curriculum learning, txt2π produces policies that excel on complex RTFM tasks requiring several reasoning and coreference steps.
Reinforcement learning (RL) has been successful in a variety of areas such as continuous control (Lillicrap et al., 2015) , dialogue systems (Li et al., 2016) , and game-playing (Mnih et al., 2013) .
However, RL adoption in real-world problems is limited due to poor sample efficiency and failure to generalise to environments even slightly different from those seen during training.
We explore language-conditioned policy learning, where agents use machine reading to discover strategies required to solve a task, thereby leveraging language as a means to generalise to new environments.
Prior work on language grounding and language-based RL (see Luketina et al. (2019) for a recent survey) are limited to scenarios in which language specifies the goal for some fixed environment dynamics (Branavan et al., 2011; Hermann et al., 2017; Bahdanau et al., 2019; Fried et al., 2018; Co-Reyes et al., 2019) , or the dynamics of the environment vary and are presented in language for some fixed goal .
In practice, changes to goals and to environment dynamics tend to occur simultaneously-given some goal, we need to find and interpret relevant information to understand how to achieve the goal.
That is, the agent should account for variations in both by selectively reading, thereby generalising to environments with dynamics not seen during training.
Our contributions are two-fold.
First, we propose a grounded policy learning problem that we call Read to Fight Monsters (RTFM).
In RTFM, the agent must jointly reason over a language goal, a document that specifies environment dynamics, and environment observations.
In particular, it must identify relevant information in the document to shape its policy and accomplish the goal.
To necessitate reading comprehension, we expose the agent to ever changing environment dynamics and corresponding language descriptions such that it cannot avoid reading by memorising any particular environment dynamics.
We procedurally generate environment dynamics and natural language templated descriptions of dynamics and goals to produced a combinatorially large number of environment dynamics to train and evaluate RTFM.
Second, we propose txt2π to model the joint reasoning problem in RTFM.
We show that txt2π generalises to goals and environment dynamics not seen during training, and outperforms previous language-conditioned models such as language-conditioned CNNs and FiLM (Perez et al., 2018; Bahdanau et al., 2019) both in terms of sample efficiency and final win-rate on RTFM.
Through curriculum learning where we adapt txt2π trained on simpler tasks to more complex tasks, we obtain agents that generalise to tasks with natural language documents that require five hops of reasoning between the goal, document, and environment observations.
Our qualitative analyses show that txt2π attends to parts of the document relevant to the goal and environment observations, and that the resulting agents exhibit complex behaviour such as retrieving correct items, engaging correct enemies after acquiring correct items, and avoiding incorrect enemies.
Finally, we highlight the complexity of RTFM in scaling to longer documents, richer dynamics, and natural language variations.
We show that significant improvement in language-grounded policy learning is needed to solve these problems in the future.
We proposed RTFM, a grounded policy learning problem in which the agent must jointly reason over a language goal, relevant dynamics specified in a document, and environment observations.
In order to study RTFM, we procedurally generated a combinatorially large number of environment dynamics such that the model cannot memorise a set of environment dynamics and must instead generalise via reading.
We proposed txt2π, a model that captures three-way interactions between the goal, document, and observations, and that generalises to new environments with dynamics not seen during training.
txt2π outperforms baselines such as FiLM and language-conditioned CNNs.
Through curriculum learning, txt2π performs well on complex RTFM tasks that require several reasoning and coreference steps with natural language templated goals and descriptions of the dynamics.
Our work suggests that language understanding via reading is a promising way to learn policies that generalise to new environments.
Despite curriculum learning, our best models trail performance of human players, suggesting that there is ample room for improvement in grounded policy learning on complex RTFM problems.
In addition to jointly learning policies based on external documentation and language goals, we are interested in exploring how to use supporting evidence in external documentation to reason about plans and induce hierarchical policies (Hu et al., 2019; Jiang et al., 2019) .
A PLAYTHROUGH EXAMPLES These figures shows key snapshots from a trained policy on randomly sampled environments.
Figure 6 : The initial world is shown in 1.
In 4, the agent avoids the target "lightning shaman" because it does not yet have "arcane spear", which beats the target.
In 7 and 8, the agent is cornered by monsters.
In 9, the agent is forced to engage in combat and loses.
Hyperparameters.
The txt2π used in our experiments consists of 5 consecutive FiLM 2 layers, each with 3x3 convolutions and padding and stride sizes of 1.
The txt2π layers have channels of 16, 32, 64, 64, and 64 , with residual connections from the 3rd layer to the 5th layer.
The Goal-doc LSTM (see Figure 3) shares weight with the Goal LSTM.
The Inventory and Goal LSTMs have a hidden dimension of size 10, whereas the Vis-doc LSTM has a dimension of 100.
We use a word embedding dimension of 30.
The input to the network is the concatenation of the observations V (0) and text representations.
The text representations consist of self-attention over bidirectional LSTM-encoded goal, document, and inventory.
These attention outputs are replicated over the dimensions of the grid and concatenated feature-wise with the observation embeddings in each cell.
Figure 8 illustrates the CNN baseline.

assistant: text: We show language understanding via reading is promising way to learn policies that generalise to new environments.