The ability to explore efficiently and effectively is a central challenge of reinforcement learning. In this work, we consider exploration through the lens of information theory. Specifically, we cast exploration as a problem of maximizing the Shannon entropy of the state occupation measure. This is done by maximizing a sequence of divergences between distributions representing an agent's past behavior and its current behavior. Intuitively, this encourages the agent to explore new behaviors that are distinct from past behaviors. Hence, we call our method RAMP, for "Running Away from the Past." A fundamental question of this method is the quantification of the distribution change over time. We consider both the Kullback-Leibler divergence and the Wasserstein distance to quantify divergence between successive state occupation measures, and explain why the former might lead to undesirable exploratory behaviors in some tasks. We demonstrate that by encouraging the agent to explore by actively distancing itself from past experiences, it can effectively explore mazes and a wide range of behaviors on robotic manipulation and locomotion tasks.

The ability to perform different skills can encourage agents to explore. In this work, we aim to construct a set of diverse skills which uniformly cover the state space. We propose a formalization of this search for diverse skills, building on a previous definition based on the mutual information between states and skills. We consider the distribution of states reached by a policy conditioned on each skill and leverage the successor state measure to maximize the difference between these skill distributions. We call this approach LEADS: Learning Diverse Skills through Successor States. We demonstrate our approach on a set of maze navigation and robotic control tasks which show that our method is capable of constructing a diverse set of skills which exhaustively cover the state space without relying on reward or exploration bonuses. Our findings demonstrate that this new formalization promotes more robust and efficient exploration by combining mutual information maximization and exploration bonuses.

Evolution Strategies (ES) are effective gradient-free optimization methods that can be competitive with gradient-based approaches for policy search. ES only rely on the total episodic scores of solutions in their population, from which they estimate fitness gradients for their update with no access to true gradient information. However this makes them sensitive to deceptive fitness landscapes, and they tend to only explore one way to solve a problem. Quality-Diversity methods such as MAP-Elites introduced additional information with behavior descriptors (BD) to return a population of diverse solutions, which helps exploration but leads to a large part of the evaluation budget not being focused on finding the best performing solution. Here we show that behavior information can also be leveraged to find the best policy by identifying promising search areas which can then be efficiently explored with ES. We introduce the framework of Quality with Just Enough Diversity (JEDi) which learns the relationship between behavior and fitness to focus evaluations on solutions that matter. When trying to reach higher fitness values, JEDi outperforms both QD and ES methods on hard exploration tasks like mazes and on complex control problems with large policies.

When searching for policies, reward-sparse environments often lack sufficient information about which behaviors to improve upon or avoid. In such environments, the policy search process is bound to blindly search for reward-yielding transitions and no early reward can bias this search in one direction or another. A way to overcome this is to use intrinsic motivation in order to explore new transitions until a reward is found. In this work, we use a recently proposed definition of intrinsic motivation, Curiosity, in an evolutionary policy search method. We propose Curiosity-ES, an evolutionary strategy adapted to use Curiosity as a fitness metric. We compare Curiosity with Novelty, a commonly used diversity metric, and find that Curiosity can generate higher diversity over full episodes without the need for an explicit diversity criterion and lead to multiple policies which find reward.

Incorporating equivariance to symmetry groups as a constraint during neural network training can improve performance and generalization for tasks exhibiting those symmetries, but such symmetries are often not perfectly nor explicitly present. This motivates algorithmically optimizing the architectural constraints imposed by equivariance. We propose the equivariance relaxation morphism, which preserves functionality while reparameterizing a group equivariant layer to operate with equivariance constraints on a subgroup, as well as the [G]-mixed equivariant layer, which mixes layers constrained to different groups to enable within-layer equivariance optimization. We further present evolutionary and differentiable neural architecture search (NAS) algorithms that utilize these mechanisms respectively for equivariance-aware architectural optimization. Experiments across a variety of datasets show the benefit of dynamically constrained equivariance to find effective architectures with approximate equivariance.

Differentiable Architecture Search (DARTS) is a recently proposed neural architecture search (NAS) method based on a differentiable relaxation. Due to its success, numerous variants analyzing and improving parts of the DARTS framework have recently been proposed. By considering the problem as a constrained bilevel optimization, we propose and analyze three improvements to architectural weight competition, update scheduling, and regularization towards discretization. First, we introduce a new approach to the activation of architecture weights, which prevents confounding competition within an edge and allows for fair comparison across edges to aid in discretization. Next, we propose a dynamic schedule based on per-minibatch network information to make architecture updates more informed. Finally, we consider two regularizations, based on proximity to discretization and the Alternating Directions Method of Multipliers (ADMM) algorithm, to promote early discretization. Our results show that this new activation scheme reduces final architecture size and the regularizations improve reliability in search results while maintaining comparable performance to state-of-the-art in NAS, especially when used with our new dynamic informed schedule.