Learning Diverse Policies with Soft Self-Generated Guidance

Reinforcement learning (RL) with sparse and deceptive rewards is challenging because non-zero rewards are rarely obtained. Hence, the gradient calculated by the agent can be stochastic and without valid information. Recent studies that utilize memory buffers of previous experiences can lead to a more efficient learning process. However, existing methods often require these experiences to be successful and may overly exploit them, which can cause the agent to adopt suboptimal behaviors. This paper develops an approach that uses diverse past trajectories for faster and more efficient online RL, even if these trajectories are suboptimal or not highly rewarded. The proposed algorithm combines a policy improvement step with an additional exploration step using offline demonstration data. The main contribution of this paper is that by regarding diverse past trajectories as guidance, instead of imitating them, our method directs its policy to follow and expand past trajectories while still being able to learn without rewards and approach optimality. Furthermore, a novel diversity measurement is introduced to maintain the team's diversity and regulate exploration. The proposed algorithm is evaluated on discrete and continuous control tasks with sparse and deceptive rewards. Compared with the existing RL methods, the experimental results indicate that our proposed algorithm is significantly better than the baseline methods regarding diverse exploration and avoiding local optima.

Trajectory-Oriented Policy Optimization with Sparse Rewards

Deep reinforcement learning (DRL) remains challenging in tasks with sparse rewards. These sparse rewards often only indicate whether the task is partially or fully completed, meaning that many exploration actions must be performed before the agent obtains useful feedback. Hence, most existing DRL algorithms fail to learn feasible policies within a reasonable time frame. To overcome this problem, we develop an approach that exploits offline demonstration trajectories for faster and more efficient online RL in sparse reward settings. Our key insight is that by regarding offline demonstration trajectories as guidance, instead of imitating them, our method learns a policy whose state-action visitation marginal distribution matches that of offline demonstrations. Specifically, we introduce a novel trajectory distance based on maximum mean discrepancy (MMD) and formulate policy optimization as a distance-constrained optimization problem. Then, we show that this distance-constrained optimization problem can be reduced into a policy-gradient algorithm with shaped rewards learned from offline demonstrations. The proposed algorithm is evaluated on extensive discrete and continuous control tasks with sparse and deceptive rewards. The experimental results indicate that our proposed algorithm is significantly better than the baseline methods regarding diverse exploration and learning the optimal policy.

Policy Optimization with Smooth Guidance Rewards Learned from Sparse-Reward Demonstrations

The sparsity of reward feedback remains a challenging problem in online deep reinforcement learning (DRL). Previous approaches have utilized temporal credit assignment (CA) to achieve impressive results in multiple hard tasks. However, many CA methods relied on complex architectures or introduced sensitive hyperparameters to estimate the impact of state-action pairs. Meanwhile, the premise of the feasibility of CA methods is to obtain trajectories with sparse rewards, which can be troublesome in sparse-reward environments with large state spaces. To tackle these problems, we propose a simple and efficient algorithm called Policy Optimization with Smooth Guidance (POSG) that leverages a small set of sparse-reward demonstrations to make reliable and effective long-term credit assignments while efficiently facilitating exploration. The key idea is that the relative impact of state-action pairs can be indirectly estimated using offline demonstrations rather than directly leveraging the sparse reward trajectories generated by the agent. Specifically, we first obtain the trajectory importance by considering both the trajectory-level distance to demonstrations and the returns of the relevant trajectories. Then, the guidance reward is calculated for each state-action pair by smoothly averaging the importance of the trajectories through it, merging the demonstration's distribution and reward information. We theoretically analyze the performance improvement bound caused by smooth guidance rewards and derive a new worst-case lower bound on the performance improvement. Extensive results demonstrate POSG's significant advantages in control performance and convergence speed compared to benchmark DRL algorithms. Notably, the specific metrics and quantifiable results are investigated to demonstrate the superiority of POSG.

Adaptive trajectory-constrained exploration strategy for deep reinforcement learning

Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL. Most previous exploration methods relied on complex architectures to estimate state novelty or introduced sensitive hyperparameters, resulting in instability. To mitigate these issues, we propose an efficient adaptive trajectory-constrained exploration strategy for DRL. The proposed method guides the policy of the agent away from suboptimal solutions by leveraging incomplete offline demonstrations as references. This approach gradually expands the exploration scope of the agent and strives for optimality in a constrained optimization manner. Additionally, we introduce a novel policy-gradient-based optimization algorithm that utilizes adaptively clipped trajectory-distance rewards for both single- and multi-agent reinforcement learning. We provide a theoretical analysis of our method, including a deduction of the worst-case approximation error bounds, highlighting the validity of our approach for enhancing exploration. To evaluate the effectiveness of the proposed method, we conducted experiments on two large 2D grid world mazes and several MuJoCo tasks. The extensive experimental results demonstrate the significant advantages of our method in achieving temporally extended exploration and avoiding myopic and suboptimal behaviors in both single- and multi-agent settings. Notably, the specific metrics and quantifiable results further support these findings. The code used in the study is available at \url{https://github.com/buaawgj/TACE}.