Introduction to Reinforcement Learning
CS 285
Instructor: Sergey Levine
UC Berkeley
Definitions
Terminology & notation
1. run away
2. ignore
3. pet
Imitation Learning
training supervised
data learning
Images: Bojarski et al. ‘16, NVIDIA
Reward functions
Definitions
Andrey Markov
Definitions
Richard
Andrey Bellman
Markov
Definitions
Richard Bellman
Definitions
The goal of reinforcement learning
we’ll come back to partially observed later
The goal of reinforcement learning
The goal of reinforcement learning
Finite horizon case: state-action marginal
state-action marginal
Infinite horizon case: stationary distribution
stationary distribution
stationary = the
same before and
after transition
Infinite horizon case: stationary distribution
stationary distribution
stationary = the
same before and
after transition
Expectations and stochastic systems
infinite horizon case finite horizon case
In RL, we almost always care about expectations
+1 -1
Algorithms
The anatomy of a reinforcement learning algorithm
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
A simple example
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Another example: RL by backprop
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Which parts are expensive?
trivial, fast
fit a model/
estimate the return
real robot/car/power
grid/whatever: expensive
1x real time, until we
invent time travel generate samples
(i.e. run the policy)
MuJoCo simulator:
up to 10000x real time
improve the policy
Value Functions
How do we deal with all these expectations?
what if we knew this part?
Definition: Q-function
Definition: value function
Using Q-functions and value functions
The anatomy of a reinforcement learning algorithm
this often uses Q-
fit a model/ functions or value
estimate the return functions
generate samples
(i.e. run the policy)
improve the policy
Types of Algorithms
Types of RL algorithms
• Policy gradients: directly differentiate the above objective
• Value-based: estimate value function or Q-function of the optimal policy
(no explicit policy)
• Actor-critic: estimate value function or Q-function of the current policy,
use it to improve policy
• Model-based RL: estimate the transition model, and then…
• Use it for planning (no explicit policy)
• Use it to improve a policy
• Something else
Model-based RL algorithms
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Model-based RL algorithms
improve the policy
1. Just use the model to plan (no policy)
• Trajectory optimization/optimal control (primarily in continuous spaces) –
essentially backpropagation to optimize over actions
• Discrete planning in discrete action spaces – e.g., Monte Carlo tree search
2. Backpropagate gradients into the policy
• Requires some tricks to make it work
3. Use the model to learn a value function
• Dynamic programming
• Generate simulated experience for model-free learner
Value function based algorithms
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Direct policy gradients
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Actor-critic: value functions + policy gradients
fit a model/
estimate the return
generate samples
(i.e. run the policy)
improve the policy
Tradeoffs Between Algorithms
Why so many RL algorithms?
• Different tradeoffs
• Sample efficiency
• Stability & ease of use fit a model/
estimate return
• Different assumptions
• Stochastic or deterministic? generate
samples (i.e.
• Continuous or discrete? run the policy)
• Episodic or infinite horizon? improve the
policy
• Different things are easy or hard in
different settings
• Easier to represent the policy?
• Easier to represent the model?
Comparison: sample efficiency
• Sample efficiency = how many samples fit a model/
do we need to get a good policy? estimate return
• Most important question: is the generate
samples (i.e.
algorithm off policy? run the policy)
• Off policy: able to improve the policy improve the
without generating new samples from that policy
policy
• On policy: each time the policy is changed,
even a little bit, we need to generate new
samples
just one gradient step
Comparison: sample efficiency
off-policy on-policy
More efficient Less efficient
(fewer samples) (more samples)
model-based model-based off-policy actor-critic on-policy policy evolutionary or
shallow RL deep RL Q-function style gradient gradient-free
learning methods algorithms algorithms
Why would we use a less efficient algorithm?
Wall clock time is not the same as efficiency!
Comparison: stability and ease of use
• Does it converge?
• And if it converges, to what?
• And does it converge every time?
Why is any of this even a question???
• Supervised learning: almost always gradient descent
• Reinforcement learning: often not gradient descent
• Q-learning: fixed point iteration
• Model-based RL: model is not optimized for expected reward
• Policy gradient: is gradient descent, but also often the least
efficient!
Comparison: stability and ease of use
• Value function fitting
• At best, minimizes error of fit (“Bellman error”)
• Not the same as expected reward
• At worst, doesn’t optimize anything
• Many popular deep RL value fitting algorithms are not guaranteed to
converge to anything in the nonlinear case
• Model-based RL
• Model minimizes error of fit
• This will converge
• No guarantee that better model = better policy
• Policy gradient
• The only one that actually performs gradient descent (ascent) on
the true objective
Comparison: assumptions
• Common assumption #1: full observability
• Generally assumed by value function fitting
methods
• Can be mitigated by adding recurrence
• Common assumption #2: episodic learning
• Often assumed by pure policy gradient methods
• Assumed by some model-based RL methods
• Common assumption #3: continuity or
smoothness
• Assumed by some continuous value function
learning methods
• Often assumed by some model-based RL
methods
Examples of Algorithms
Examples of specific algorithms
• Value function fitting methods
• Q-learning, DQN
• Temporal difference learning
• Fitted value iteration
• Policy gradient methods
• REINFORCE We’ll learn about
• Natural policy gradient most of these in the
• Trust region policy optimization
• Actor-critic algorithms
next few weeks!
• Asynchronous advantage actor-critic (A3C)
• Soft actor-critic (SAC)
• Model-based RL algorithms
• Dyna
• Guided policy search
Example 1: Atari games with Q-functions
• Playing Atari with deep
reinforcement learning,
Mnih et al. ‘13
• Q-learning with
convolutional neural
networks
Example 2: robots and model-based RL
• End-to-end training of
deep visuomotor
policies, L.* , Finn* ’16
• Guided policy search
(model-based RL) for
image-based robotic
manipulation
Example 3: walking with policy gradients
• High-dimensional
continuous control with
generalized advantage
estimation, Schulman et
al. ‘16
• Trust region policy
optimization with value
function approximation
Example 4: robotic grasping with Q-functions
• QT-Opt, Kalashnikov et
al. ‘18
• Q-learning from images
for real-world robotic
grasping
