title: Align-RUDDER: Learning From Few Demonstrations by Reward Redistribution
abstract: Reinforcement Learning algorithms require a large number of samples to solve complex tasks with sparse and delayed rewards. Complex tasks are often hierarchically composed of sub-tasks. Solving a sub-task increases the return expectation and leads to a step in the $Q$-function. RUDDER identifies these steps and then redistributes reward to them, thus immediately giving reward if sub-tasks are solved. Since the delay of rewards is reduced, learning is considerably sped up. However, for complex tasks, current exploration strategies struggle with discovering episodes with high rewards. Therefore, we assume that episodes with high rewards are given as demonstrations and do not have to be discovered by exploration. Unfortunately, the number of demonstrations is typically small and RUDDER's LSTM as a deep learning model does not learn well on these few training samples. Hence, we introduce Align-RUDDER, which is RUDDER with two major modifications. First, Align-RUDDER assumes that episodes with high rewards are given as demonstrations, replacing RUDDER’s safe exploration and lessons replay buffer. Second, we substitute RUDDER’s LSTM model by a profile model that is obtained from multiple sequence alignment of demonstrations. Profile models can be constructed from as few as two demonstrations. Align-RUDDER uses reward redistribution to speed up learning by reducing the delay of rewards. Align-RUDDER outperforms competitors on complex artificial tasks with delayed rewards and few demonstrations. On the MineCraft ObtainDiamond task, Align-RUDDER is able to mine a diamond, though not frequently. 
authors: Vihang Prakash Patil Markus Hofmarcher Marius-Constantin Dinu Matthias Dorfer Patrick M Blies Johannes Brandstetter Jose Arjona-Medina Sepp Hochreiter
hIndex: Sepp Hochreiter 43