Attaining Interpretability in Reinforcement Learning via Hierarchical Primitive Composition.
Year: 2021
Type: preprint
Abstract: Deep reinforcement learning has shown its effectiveness in various applications and provides a promising direction for solving tasks with high complexity. In most reinforcement learning algorithms, however, two major issues need to be dealt with - the sample inefficiency and the interpretability of a policy. The former happens when the environment is sparsely rewarded and/or has a long-term credit assignment problem, while the latter becomes a problem when the learned policies are deployed at the customer side product. In this paper, we propose a novel hierarchical reinforcement learning algorithm that mitigates the aforementioned issues by decomposing the original task in a hierarchy and by compounding pretrained primitives with intents. We show how the proposed scheme can be employed in practice by solving a pick and place task with a 6 DoF manipulator.
Source: arXiv (Cornell University)
Authors: Jeong Hoon Lee, Jongeun Choi
Institution: Yonsei University
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3201666735