Modular Adaptive Policy Selection for Multi- Task Imitation Learning through Task Division

Deep imitation learning requires many expert demonstrations, which can be hard to obtain, especially when many tasks are involved. However, different tasks often share similarities, so learning them jointly can greatly benefit them and alleviate the need for many demonstrations. But, joint multi-task learning often suffers from negative transfer, sharing information that should be task-specific. In this work, we introduce a method to perform multi-task imitation while allowing for task-specific features. This is done by using proto-policies as modules to divide the tasks into simple sub-behaviours that can be shared. The proto-policies operate in parallel and are adaptively chosen by a selector mechanism that is jointly trained with the modules. Experiments on different sets of tasks show that our method improves upon the accuracy of single agents, task-conditioned and multi-headed multi-task agents, as well as state-of-the-art meta learning agents. We also demonstrate its ability to autonomously divide the tasks into both shared and task-specific sub-behaviours.

Authors

• Dafni Antotsiou
• Carlo Ciliberto
• Tae-Kyun Kim 0001

Keywords

• Automation
• Multitasking
• Task analysis
• Imitation Learning
• Single Agent
• Multi-task Learning
• Negative Transfer
• Meta Learning
• Expert Demonstrations
• Gravity
• Gradient Descent
• Control Problem
• Transfer Learning
• Simulation Environment
• Similar Tasks
• Human Experts
• Current Task
• Reward Function
• Markov Decision Process
• Types Of Layers
• Part Of The Task
• Learning Control
• Number Of Experts
• Positive Transfer
• Different Types Of Layers
• Reinforcement Learning Agent
• Common Representation
• Single Baseline
• Network Routing