Learning Guidance Rewards with Trajectory-space Smoothing

Long-term temporal credit assignment is an important challenge in deep reinforcement learning (RL). It refers to the ability of the agent to attribute actions to consequences that may occur after a long time interval. Existing policy-gradient and Q-learning algorithms typically rely on dense environmental rewards that provide rich short-term supervision and help with credit assignment. However, they struggle to solve tasks with delays between an action and the corresponding rewarding feedback. To make credit assignment easier, recent works have proposed algorithms to learn dense "guidance" rewards that could be used in place of the sparse or delayed environmental rewards. This paper is in the same vein -- starting with a surrogate RL objective that involves smoothing in the trajectory-space, we arrive at a new algorithm for learning guidance rewards.