Sequential action-induced invariant representation for reinforcement learning

Abstract

How to accurately learn task-relevant state representations from high-dimensional observations with visual distractions is a realistic and challenging problem in visual reinforcement learning. Recently, unsupervised representation learning methods based on bisimulation metrics, contrast, prediction, and reconstruction have shown the ability for task-relevant information extraction. However, due to the lack of appropriate mechanisms for the extraction of task information in the prediction, contrast, and reconstruction-related approaches and the limitations of bisimulation-related methods in domains with sparse rewards, it is still difficult for these methods to be effectively extended to environments with distractions. To alleviate these problems, in the paper, the action sequences, which contain task-intensive signals, are incorporated into representation learning. Specifically, we propose a Sequential Action–induced invariant Representation (SAR) method, which decouples the controlled part (i.e., task-relevant information) and the uncontrolled part (i.e., task-irrelevant information) in noisy observations through sequential actions, thereby extracting effective representations related to decision tasks. To achieve it, the characteristic function of the action sequence’s probability distribution is modeled to specifically optimize the state encoder. We conduct extensive experiments on the distracting DeepMind Control suite while achieving the best performance over strong baselines. We also demonstrate the effectiveness of our method at disregarding task-irrelevant information by applying SAR to real-world CARLA-based autonomous driving with natural distractions. Finally, we provide the analysis results of generalization drawn from the generalization decay and t-SNE visualization. Code and demo videos are available at https://github.com/DMU-XMU/SAR.git.