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arXiv · 1809.10842

Learning and Planning with a Semantic Model

Yi Wu·Yuxin Wu·Aviv Tamar·Stuart Russell·Georgia Gkioxari·Yuandong Tian
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Abstract

Building deep reinforcement learning agents that can generalize and adapt to unseen environments remains a fundamental challenge for AI. This paper describes progresses on this challenge in the context of man-made environments, which are visually diverse but contain intrinsic semantic regularities. We propose a hybrid model-based and model-free approach, LEArning and Planning with Semantics (LEAPS), consisting of a multi-target sub-policy that acts on visual inputs, and a Bayesian model over semantic structures. When placed in an unseen environment, the agent plans with the semantic model to make high-level decisions, proposes the next sub-target for the sub-policy to execute, and updates the semantic model based on new observations. We perform experiments in visual navigation tasks using House3D, a 3D environment that contains diverse human-designed indoor scenes with real-world objects. LEAPS outperforms strong baselines that do not explicitly plan using the semantic content.

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Yi Wu, Yuxin Wu, Aviv Tamar, Stuart Russell, Georgia Gkioxari, Yuandong Tian. 2018-09-28. Learning and Planning with a Semantic Model. https://arxiv.org/abs/1809.10842

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