Information theoretic reward shaping for curiosity driven learning in POMDPs
Nassim Mafi, Farnaz Abtahi, Ian Fasel · 2011
In the real world, intelligent agents must use multi-modal, limited range and limited accuracy sensors to gain knowledge of the environment in service of their goals. The problem of choosing both sensing and task-specific actions can be viewed as a partially observable Markov decision process (POMDP), for which reinforcement learning (RL) can be used to learn policies from experience. In this paper we propose a mechanism for speeding up RL in POMDPs by using an information-based shaping reward, which can be automatically derived from the belief distribution. This reward acts as a domain-general intrinsic curiosity that allows the agent to improve its behavior even when it is not skilled enough to achieve task-specific goals. Previous work has shown that this intrinsic reward can lead to intelligent behaviors in absence of a task. In this paper, we combine the curiosity reward with a task-specific reward in the parameter exploring policy gradient (PGPE) algorithm in a “Market”, and show through several experiments that the curiosity reward significantly speeds up learning and improves the quality of policies compared to those that use only the extrinsic, task-specific reward signal.