Semiparametric Information State Embedding for Policy Search under Imperfect Information
Sujay Bhatt, Weichao Mao, Alec Koppel, Tamer Başar · 2021 60th IEEE Conference on Decision and Control (CDC) · 2021
We consider the problem of policy search in sequential decision making problems with imperfect information as encapsulated by a partially observed Markov Decision Process (POMDP) over possibly continuous state-spaces. In general, the optimal policy is history-dependent and the objective is non-convex in the policy parameters, making even stationary point policies challenging to ascertain. To address this problem class, we develop a constructive way to succinctly represent the history as an approximate information state, using Semiparametric Information State Embedding (SISE). SISE alternates between conditional kernel density estimation and fitting the parameters of an Echo State Network (ESN), a one-layer recurrent neural model. Based upon constructing SISE, we develop an actor-critic scheme for policy search over the approximate information states. Our main technical contributions are to (i) establish the convergence and generalization performance of SISE, and (ii) derive the convergence to stationary points of our policy search scheme. Experimentally, our fusion of SISE and actor-critic yields favorable performance in practice on the canonical POMDPs of Tiger, LightDark, and a partially observed variant of CartPole.