Leave no trace: Learning to reset for safe and autonomous reinforcement learning

Benjamin Eysenbach, Shixiang Gu, Julian Ibarz, Sergey Levine

Research output: Contribution to conferencePaperpeer-review

43 Scopus citations

Abstract

Deep reinforcement learning algorithms can learn complex behavioral skills, but real-world application of these methods requires a large amount of experience to be collected by the agent. In practical settings, such as robotics, this involves repeatedly attempting a task, resetting the environment between each attempt. However, not all tasks are easily or automatically reversible. In practice, this learning process requires extensive human intervention. In this work, we propose an autonomous method for safe and efficient reinforcement learning that simultaneously learns a forward and reset policy, with the reset policy resetting the environment for a subsequent attempt. By learning a value function for the reset policy, we can automatically determine when the forward policy is about to enter a non-reversible state, providing for uncertainty-aware safety aborts. Our experiments illustrate that proper use of the reset policy can greatly reduce the number of manual resets required to learn a task, can reduce the number of unsafe actions that lead to non-reversible states, and can automatically induce a curriculum.

Original languageEnglish (US)
StatePublished - 2018
Externally publishedYes
Event6th International Conference on Learning Representations, ICLR 2018 - Vancouver, Canada
Duration: Apr 30 2018May 3 2018

Conference

Conference6th International Conference on Learning Representations, ICLR 2018
Country/TerritoryCanada
CityVancouver
Period4/30/185/3/18

All Science Journal Classification (ASJC) codes

  • Language and Linguistics
  • Education
  • Computer Science Applications
  • Linguistics and Language

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