In contrast, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the state space is abstracted away from raw sensory input. Recent works have attempted to combine the strengths of deep learning and classical planning; however, dominant methods in this domain are stillquite brittle andscale poorly withthesizeoftheenvironment.

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can learn directly from high-dimensional inputs but do not scale well to long-horizon tasks. In contrast, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the state space is abstracted away from raw sensory input. Recent works have attempted to combine the strengths of deep learning and classical planning; however, dominant methods in this domain are still quite brittle and scale poorly with the size of the environment. We introduce Sparse Graphical Memory (SGM), a new data structure that stores states and feasible transitions in a sparse memory. SGM aggregates states according to a novel two-way consistency objective, adapting classic state aggregation criteria to goal-conditioned RL: two states are redundant when they are interchangeable both as goals and as starting states. Theoretically, we prove that merging nodes according to two-way consistency leads to an increase in shortest path lengths that scales only linearly with the merging threshold. Experimentally, we show that SGM significantly outperforms current state of the art methods on long horizon, sparse-reward visual navigation tasks.

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can learn directly from high-dimensional inputs but do not scale well to long-horizon tasks. In contrast, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the state space is abstracted away from raw sensory input. Recent works have attempted to combine the strengths of deep learning and classical planning; however, dominant methods in this domain are still quite brittle and scale poorly with the size of the environment. We introduce Sparse Graphical Memory (SGM), a new data structure that stores states and feasible transitions in a sparse memory.

To operate effectively in the real world, agents should be able to act from high-dimensional raw sensory input such as images and achieve diverse goals across long time-horizons. Current deep reinforcement and imitation learning methods can learn directly from high-dimensional inputs but do not scale well to long-horizon tasks. In contrast, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the state space is abstracted away from raw sensory input. Recent works have attempted to combine the strengths of deep learning and classical planning; however, dominant methods in this domain are still quite brittle and scale poorly with the size of the environment. We introduce Sparse Graphical Memory (SGM), a new data structure that stores states and feasible transitions in a sparse memory.

To operate effectively in the real world, artificial agents must act from raw sensory input such as images and achieve diverse goals across long time-horizons. On the one hand, recent strides in deep reinforcement and imitation learning have demonstrated impressive ability to learn goal-conditioned policies from high-dimensional image input, though only for short-horizon tasks. On the other hand, classical graphical methods like A* search are able to solve long-horizon tasks, but assume that the graph structure is abstracted away from raw sensory input and can only be constructed with task-specific priors. We wish to combine the strengths of deep learning and classical planning to solve long-horizon tasks from raw sensory input. To this end, we introduce Sparse Graphical Memory (SGM), a new data structure that stores observations and feasible transitions in a sparse memory. SGM can be combined with goal-conditioned RL or imitative agents to solve long-horizon tasks across a diverse set of domains. We show that SGM significantly outperforms current state of the art methods on long-horizon, sparse-reward visual navigation tasks. Project video and code are available at https://mishalaskin.github.io/sgm/