Meta-Reinforcement Learning via Exploratory Task Clustering

Abstract

Meta-reinforcement learning (meta-RL) aims to quickly solve new RL tasks by leveraging knowledge from prior tasks. Previous studies often assume a single-mode homogeneous task distribution, ignoring possible structured heterogeneity among tasks. Such an oversight can hamper effective exploration and adaptation, especially with limited samples. In this work, we harness the structured heterogeneity among tasks via clustering to improve meta-RL, which facilitates knowledge sharing at the cluster level. To facilitate exploration, we also develop a dedicated cluster-level exploratory policy to discover task clusters via divide-and-conquer. The knowledge from the discovered clusters helps to narrow the search space of task-specific policy learning, leading to more sample-efficient policy adaptation. We evaluate the proposed method on environments with parametric clusters (e.g., rewards and state dynamics in the MuJoCo suite) and non-parametric clusters (e.g., control skills in the Meta-World suite). The results demonstrate strong advantages of our solution against a set of representative meta-RL methods.