gSDE

2000년 도입 · 논문 1편에서 사용

Generalized State-Dependent Exploration, or gSDE, is an exploration method for reinforcement learning that uses more general features and re-sampling the noise periodically. State-Dependent Exploration (SDE) is an intermediate solution for exploration that consists in adding noise as a function of the state $s\_{t}$, to the deterministic action $\mu\left(\mathbf{s}\_{t}\right)$. At the beginning of an episode, the parameters $\theta\_{\epsilon}$ of that exploration function are drawn from a Gaussian distribution. The resulting action $\mathbf{a}\_{t}$ is as follows: $$ \mathbf{a}\_{t}=\mu\left(\mathbf{s}\_{t} ; \theta\_{\mu}\right)+\epsilon\left(\mathbf{s}\_{t} ; \theta\_{\epsilon}\right), \quad \theta\_{\epsilon} \sim \mathcal{N}\left(0, \sigma^{2}\right) $$ This episode-based exploration is smoother and more consistent than the unstructured step-based exploration. Thus, during one episode, instead of oscillating around a mean value, the action a for a given state $s$ will be the same. In the case of a linear exploration function $\epsilon\left(\mathbf{s} ; \theta\_{\epsilon}\right)=\theta\_{\epsilon} \mathbf{s}$, by operation on Gaussian distributions, Rückstieß et al. show that the action element $\mathbf{a}\_{j}$ is normally distributed: $$ \pi]_{j}\left(\mathbf{a}\_{j} \mid \mathbf{s}\right) \sim \mathcal{N}\left(\mu\_{j}(\mathbf{s}), \hat{\sigma\_{j}}^{2}\right) $$ where $\hat{\sigma}$ is a diagonal matrix with elements $\hat{\sigma}\_{j}=\sqrt{\sum\_{i}\left(\sigma\_{i j} \mathbf{s}\_{i}\right)^{2}}$. Because we know the policy distribution, we can obtain the derivative of the log-likelihood $\log \pi(\mathbf{a} \mid \mathbf{s})$ with respect to the variance $\sigma$ : $$ \frac{\partial \log \pi(\mathbf{a} \mid \mathbf{s})}{\partial \sigma_{i j}}=\frac{\left(\mathbf{a}\_{j}-\mu\_{j}\right)^{2}-\hat{\sigma\_{j}}^{2}}{\hat{\sigma}\_{j}^{3}} \frac{\mathbf{s}\_{i}^{2} \sigma\_{i j}}{\hat{\sigma_{j}}} $$ This can be easily plugged into the likelihood ratio gradient estimator, which allows to adapt $\sigma$ during training. SDE is therefore compatible with standard policy gradient methods, while addressing most shortcomings of the unstructured exploration. For gSDE, two improvements are suggested: 1. We sample the parameters $\theta\_{\epsilon}$ of the exploration function every $n$ steps instead of every episode. 2. Instead of the state s, we can in fact use any features. We chose policy features $\mathbf{z}\_{\mu}\left(\mathbf{s} ; \theta\_{\mathbf{z}\_{\mu}}\right)$ (last layer before the deterministic output $\left.\mu(\mathbf{s})=\theta\_{\mu} \mathbf{z}\_{\mu}\left(\mathbf{s} ; \theta_{\mathbf{z}\_{\mu}}\right)\right)$ as input to the noise function $\epsilon\left(\mathbf{s} ; \theta\_{\epsilon}\right)=\theta\_{\epsilon} \mathbf{z}\_{\mu}(\mathbf{s})$

출처: Smooth Exploration for Robotic Reinforcement Learning

소개 논문: Smooth Exploration for Robotic Reinforcement Learning