Robust Model Based Reinforcement Learning Using L1 Adaptive Control at ICLR 2024

核心概念

Introducing L1-MBRL for robust reinforcement learning with model-based algorithms.

要約

Introduces L1-MBRL as an augmentation scheme for MBRL.
Outlines the challenges in combining robust and adaptive control with MBRL.
Demonstrates improved performance and sample efficiency with L1 augmentation.
Discusses the theoretical analysis of the L1-MBRL framework.
Presents simulation results comparing METRPO and L1-METRPO across various environments.
Conducts ablation studies to evaluate the impact of L1 control during training and testing phases.
Addresses the sim-to-real gap by testing the model in noisy environments with and without L1 augmentation.
Acknowledges limitations related to baseline MBRL performance and trade-offs in choosing parameters.

統計

MBRL algorithms learn a model of the transition function using data.
MBRL algorithms offer superior sample complexity compared to MFRL.
The proposed switching law generates approximate control-affine models.

引用

"Our approach generates a series of approximate control-affine models of the learned transition function."
"MBRL algorithms with L1 augmentation exhibit enhanced performance and sample efficiency."

抽出されたキーインサイト

Robust Model Based Reinforcement Learning Using $\mathcal{L}_1$ Adaptive Control

by Minjun Sung,... 場所 arxiv.org 03-25-2024

https://arxiv.org/pdf/2403.14860.pdf

深掘り質問

How can the L1-MBRL framework be extended to address distribution shift in offline MBRL

To extend the L1-MBRL framework to address distribution shift in offline MBRL, we can incorporate techniques from distributionally robust optimization. By formulating the problem as a min-max optimization where we aim to find policies that perform well under worst-case scenarios of data distribution shifts, we can enhance the robustness of our model. This approach involves optimizing for policies that are not only effective on the observed data but also generalize well to unseen distributions. By incorporating uncertainty sets or constraints on the distribution shift, we can ensure that our learned policies are more resilient to changes in data distribution.

What are the implications of selecting different values for ϵa on the robustness properties exhibited by L1 control

The selection of different values for ϵa in L1 control has implications on its robustness properties. When choosing a small value for ϵa, it results in a closer approximation between the control-affine and nonlinear models, leading to improved performance under nominal conditions. However, this may compromise robustness against uncertainties since smaller ϵa values restrict deviations between models and limit adaptability to unknown dynamics or disturbances. On the other hand, selecting larger values for ϵa allows for greater flexibility and adaptability by permitting significant deviations between models but might lead to decreased performance under nominal conditions due to larger prediction errors.

How does incorporating covariance information in probabilistic models affect the design of L1-MBRL

Incorporating covariance information in probabilistic models affects the design of L1-MBRL by providing additional insights into uncertainty estimation and rejection strategies. By leveraging covariance information from probabilistic models such as Gaussian Processes (GPs), we can better capture uncertainties associated with model predictions and observations. This enhanced understanding allows us to tailor the L1 adaptive control mechanism based on not just point estimates but also their associated uncertainties represented through covariances. By considering covariance information, we can adjust our adaptation laws and controller designs more effectively to account for varying levels of uncertainty across different states and actions within our system dynamics.