Planning to Explore via Self-Supervised World Models

Jul 12, 2020



To solve complex tasks, intelligent agents first need to explore their environments. However, providing manual feedback to agents during exploration can be challenging. This work focuses on task-agnostic exploration, where an agent explores a visual environment without yet knowing the tasks it will later be asked to solve. While current methods often learn reactive exploration behaviors to maximize retrospective novelty, we learn a world model trained from images to plan for expected surprise. Novelty is estimated as ensemble disagreement in the latent space of the world model. Exploring and learning the world model without rewards, our approach, latent disagreement (LD), efficiently adapts to a range of control tasks with high-dimensional image inputs.



About ICML 2020

The International Conference on Machine Learning (ICML) is the premier gathering of professionals dedicated to the advancement of the branch of artificial intelligence known as machine learning. ICML is globally renowned for presenting and publishing cutting-edge research on all aspects of machine learning used in closely related areas like artificial intelligence, statistics and data science, as well as important application areas such as machine vision, computational biology, speech recognition, and robotics. ICML is one of the fastest growing artificial intelligence conferences in the world. Participants at ICML span a wide range of backgrounds, from academic and industrial researchers, to entrepreneurs and engineers, to graduate students and postdocs.

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