Value constrained model-free continuous control (1902.04623v1)

Published 12 Feb 2019 in cs.RO

Abstract: The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially as bang-bang control. Although such solutions may indeed maximize task reward, they can be unsuitable for real world systems. Bang-bang control may lead to increased wear and tear or energy consumption, and tends to excite undesired second-order dynamics. To counteract this issue, multi-objective optimization can be used to simultaneously optimize both the reward and some auxiliary cost that discourages undesired (e.g. high-amplitude) control. In principle, such an approach can yield the sought after, smooth, control policies. It can, however, be hard to find the correct trade-off between cost and return that results in the desired behavior. In this paper we propose a new constraint-based reinforcement learning approach that ensures task success while minimizing one or more auxiliary costs (such as control effort). We employ Lagrangian relaxation to learn both (a) the parameters of a control policy that satisfies the desired constraints and (b) the Lagrangian multipliers for the optimization. Moreover, we demonstrate that we can satisfy constraints either in expectation or in a per-step fashion, and can even learn a single policy that is able to dynamically trade-off between return and cost. We demonstrate the efficacy of our approach using a number of continuous control benchmark tasks, a realistic, energy-optimized quadruped locomotion task, as well as a reaching task on a real robot arm.

Authors (6)

Steven Bohez (18 papers)
Abbas Abdolmaleki (38 papers)
Michael Neunert (29 papers)
Jonas Buchli (30 papers)
Nicolas Heess (139 papers)
Raia Hadsell (50 papers)

Citations (60)

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Summary

Value Constrained Model-Free Continuous Control: A Critical Analysis

The paper "Value Constrained Model-Free Continuous Control" by Bohez et al. introduces a novel approach to reinforcement learning (RL) that addresses the persistent challenge of smooth control in continuous action spaces. While RL has notably progressed in domains with discrete actions, its application in areas such as robotics with continuous, high-dimensional state-action spaces remains problematic, particularly due to the tendency of RL algorithms to produce control signals characterized by high amplitude and frequency—known as bang-bang control—that are unsuitable for real-world systems.

Key Contributions

Constraint-based RL Approach: The authors propose an RL framework that integrates constraint-based optimization in a model-free context to yield smoother control policies. This approach replaces the typical reward function with one that includes explicit constraints, thus reducing the complexity associated with finding the optimal trade-off between cost and task reward.
Lagrangian Relaxation Technique: The paper employs Lagrangian relaxation not only to adjust policy parameters but also to learn the optimal trade-off coefficients that balance task success and auxiliary costs (like control effort) associated with the reward function. This enables addressing constraints both in expectation and on a per-step basis.
General Applicability: The developed method is applicable to any value-based RL algorithm and is demonstrated across various tasks—producing smoother policies in control benchmarks like cart-pole swingup, humanoid locomotion, and a realistic quadruped locomotion task.
Optimized Task Execution: Experimental results demonstrate that by constraining the optimization problem, smoother and more energy-efficient control policies can be learned. This is evidenced by the reduced control penalties compared to conventional RL approaches without sacrificing task reward success.

Numerical Results

The experiments in simulated environments highlight significant improvements. In tasks like cart-pole swingup and humanoid stand, the constraint-based method achieves policies with lower average control amplitudes while maintaining task performance comparable to traditional reward-based policy optimization. In the quadruped locomotion task, policies optimized with constraints demonstrate both lower velocity overshoot and reduced power consumption against various static penalty coefficient benchmarks.

Implications and Future Directions

Strategically integrating constraints within RL frameworks can offer substantial advancements in how continuous control problems are approached, providing a pathway for converging simulated RL advancements into practical applications within robotics. These methods pave the way for AI systems capable of dynamic trade-offs between different performance metrics based on contextual requirements, which is crucial for real-time applications in dynamic environments.

Looking ahead, further exploration into handling constraints with diverse conditions or tasks and optimizing multi-objective functions concurrently can significantly enhance the deployment of RL in robotic systems. Moreover, expanding the domain of uncertainties and dealing with real-world imperfections introduces another layer of complexity that future research may tackle to reinforce the robustness and adaptability of RL methodologies.

The work by Bohez et al. offers a constructive approach to refining RL's ability to produce viable policies for continuous control, supporting the ongoing evolution of AI towards more efficient, effective, and adaptable solutions in complex environments.

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