GNN s deteriorating rapidly as the number of sensors and actuators grows.

Reinforcement Learning algorithms can be broadly classified into value-based methods and policy-based methods.

The policy gradient theorem states that the policy should only be updated in states that are visited by the current policy, which leads to insufficient planning in the off-policy states, and thus to convergence to suboptimal policies. We tackle this planning issue by extending the policy gradient theory to policy updates with respect to any state density. Under these generalized policy updates, we show convergence to optimality under a necessary and sufficient condition on the updates' state densities, and thereby solve the aforementioned planning issue. We also prove asymptotic convergence rates that significantly improve those in the policy gradient literature. To implement the principles prescribed by our theory, we propose an agent, Dr Jekyll & Mr Hyde (J&H), with a double personality: Dr Jekyll purely exploits while Mr Hyde purely explores. J&H's independent policies allow to record two separate replay buffers: one on-policy (Dr Jekyll's) and one off-policy (Mr Hyde's), and therefore to update J&H's models with a mixture of on-policy and off-policy updates. More than an algorithm, J&H defines principles for actor-critic algorithms to satisfy the requirements we identify in our analysis. We extensively test on finite MDPs where J&H demonstrates a superior ability to recover from converging to a suboptimal policy without impairing its speed of convergence. We also implement a deep version of the algorithm and test it on a simple problem where it shows promising results.

Policy Optimization (PO) algorithms have been proven particularly suited to handle the high-dimensionality of real-world continuous control tasks. In this context, Trust Region Policy Optimization methods represent a popular approach to stabilize the policy updates. These usually rely on the Kullback-Leibler (KL) divergence to limit the change in the policy. The Wasserstein distance represents a natural alternative, in place of the KL divergence, to define trust regions or to regularize the objective function. However, state-of-the-art works either resort to its approximations or do not provide an algorithm for continuous state-action spaces, reducing the applicability of the method.In this paper, we explore optimal transport discrepancies (which include the Wasserstein distance) to define trust regions, and we propose a novel algorithm - Optimal Transport Trust Region Policy Optimization (OT-TRPO) - for continuous state-action spaces. We circumvent the infinite-dimensional optimization problem for PO by providing a one-dimensional dual reformulation for which strong duality holds.We then analytically derive the optimal policy update given the solution of the dual problem. This way, we bypass the computation of optimal transport costs and of optimal transport maps, which we implicitly characterize by solving the dual formulation.Finally, we provide an experimental evaluation of our approach across various control tasks. Our results show that optimal transport discrepancies can offer an advantage over state-of-the-art approaches.

We say an algorithm is batch size-invariant if changes to the batch size can largely be compensated for by changes to other hyperparameters. Stochastic gradient descent is well-known to have this property at small batch sizes, via the learning rate. However, some policy optimization algorithms (such as PPO) do not have this property, because of how they control the size of policy updates. In this work we show how to make these algorithms batch size-invariant. Our key insight is to decouple the proximal policy (used for controlling policy updates) from the behavior policy (used for off-policy corrections). Our experiments help explain why these algorithms work, and additionally show how they can make more efficient use of stale data.

We study the generalized linear contextual bandit problem within the constraints of limited adaptivity. In this paper, we present two algorithms, B-GLinCB and RS-GLinCB, that address, respectively, two prevalent limited adaptivity settings. Given a budget $M$ on the number of policy updates, in the first setting, the algorithm needs to decide upfront $M$ rounds at which it will update its policy, while in the second setting it can adaptively perform $M$ policy updates during its course. For the first setting, we design an algorithm B-GLinCB, that incurs $\tilde{O}(\sqrt{T})$ regret when $M = \Omega( \log{\log T})$ and the arm feature vectors are generated stochastically. For the second setting, we design an algorithm RS-GLinCB that updates its policy $\tilde{O}(\log^2 T)$ times and achieves a regret of $\tilde{O}(\sqrt{T})$ even when the arm feature vectors are adversarially generated. Notably, in these bounds, we manage to eliminate the dependence on a key instance dependent parameter $\kappa$, that captures non-linearity of the underlying reward model. Our novel approach for removing this dependence for generalized linear contextual bandits might be of independent interest.