Fast Adaptation to New Environments via Policy-Dynamics Value Functions
- Raileanu, Roberta*; Goldstein, Max; Szlam, Arthur; Fergus, Rob
- Spotlight talk
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Poster session from 15:00 to 16:00 EAT and from 20:45 to 21:45 EAT
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Standard RL algorithms assume fixed environment dynamics and require a significant amount of interaction to adapt to new environments. We introduce Policy-Dynamics Value Functions (PD-VF), a novel approach for rapidly adapting to dynamics different from those previously seen in training. PD-VF explicitly estimates the cumulative reward in a space of policies and environments. An ensemble of conventional RL policies is used to gather experience on training environments, from which embeddings of both policies and environments can be learned. Then, a value function conditioned on both embeddings is trained. At test time, a few actions are sufficient to infer the environment embedding, enabling a policy to be selected by maximizing the learned value function. We show that our method can rapidly adapt to new dynamics on a set of MuJoCo domains.