The 23rd Game Programming Workshop ,a) 2,3,b) Deep Q-Network Atari2600 Minecraft AI Minecraft hg-dagger/q Imitation Learning and Reinforcement L
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1 1,a) 2,3,b) Deep Q-Network Atari2600 Minecraft AI Minecraft hg-dagger/q Imitation Learning and Reinforcement Learning using Hierarchical Structure Yutaro Fujimura 1,a) Tomoyuki Kaneko 2,3,b) Abstract: Deep Q-Network (DQN) has achieved above-human performance on the domain of classic Atari2600 games and therefore DQN is expected to apply to many video games. However it is difficult for DQN to learn on games with sparse feedback, such as Minecraft. To solve this problem, we investigated the performance of hg-dagger/q, a framework to combine imitation learning and reinforcement learning using hierarchical structure. We demonstrate the strength of hg-dagger/q on a Minecraft environment. 1. Mnih Deep Q-Network (DQN) Atari2600 [1] DQN Atari Graduate School of Arts and Sciences, The University of Tokyo 2 Interfaculty Initiative in Information Studies, the University of Tokyo 3 JST, PRESTO a) yut-mak874@g.ecc.u-tokyo.ac.jp b) kaneko@acm.org Johnson Minecraft *1 AI Malmo [2] Malmo Minecraft AI Minecraft DQN hg-dagger/q [3] *1 (Accessed: ) 2018 Information Processing Society of Japan
2 Minecraft 2. Minecraft Minecraft 3D Minecraft AI Malmo AI Minecraft Malmo Minecraft AI 2017 * * [4] Q S A R : S A R P : S A S [0, 1] (Markov Decision Process, MDP). s S, a A π : S A, P (s, a) s, r = R(s, a). Q(s, a) 3.2 Deep Q-Network (DQN) Deep Q-Network (DQN) [1] Q Q(s, a) θ Q(s, a; θ) DQN θ *2 academic-program/collaborative-ai-challenge/ (Accessed: ) *3 (Accessed: ) [ ( ) ] 2 L i (θ i ) = E s,a,r,s r + γ max Q(s, a ; θ i 1 ) Q(s, a; θ i ) a θ i i (1) DQN Atari2600 Montezuma s Revenge Montezuma s Revenge 1 DQN 3.3 [5] 3.1 MDP 2 g G g µ : S G a π g : S A Alg 1 Algorithm 1 1: repeat 2: s 3: : g µ(s) 4: loop 5: s 6: if g then 7: break 8: a : a π g (s) 9: a 10: until µ π g Alg 1 π g τ = (s 1, a 1,..., s T, a T, s T +1) τ σ = (s 1, g 1, τ 1, s 2, a 2, τ 2,...) τ h s h+1 τ h+1 σ τ h 2018 Information Processing Society of Japan
3 Algorithm 2 Hierarchically Guided DAgger/Q-learning (hg-dagger/q) Input: Function Pseudo(s; g) Function Terminal(s; g) ϵ g > 0, g G 1: Initialize: 2: D HI and D g, g G 3: Q g, g G 4: for t = 1,..., T do 5: s 6: σ 7: repeat 8: s HI s, g µ(s) and initialize τ 9: repeat 10: a ϵ g -greedy(q g, s) 11: a s 12: r Pseudo( s; g) 13: Q g : D g 14: τ (s, a, s, r) 15: s s 16: until Terminal(s; g) 17: σ (s HI, g, τ) 18: until 19: σ τ FULL τ HI 20: if Inspect FULL (τ FULL ) = Fail then 21: D Label HI (τ HI ) 22: for (s h, g h, τ) in σ do 23: gh D 24: if g h gh then 25: break 26: D gh D gh τ h 27: D HI D HI D 28: else 29: D gh D gh τ h for all (s h, g h, τ h ) σ 30: µ : µ Train(µ, D HI ) τ HI = (s 1, g 1, s 2, g 2,...) τ FULL DQN h-dqn [6] Hierarchical Deep RL Network (H-DRLN) [7] 3.4 Hybrid Imitation and Reinforcement Learning Le µ π g Hierarchically Guided DAgger/Q-learning (hg-dagger/q) [3] Alg 2 Alg 2 Pseudo(s; g) s g Terminal(s; g) [3] s Algorithm 3 Inspect FULL (τ FULL ) 1: if τ FULL then 2: return Pass 3: else 4: return Fail g Success(s; g) 1 if Success(s; g) 1 if Success(s; g) and Terminal(s; g) κ (2) κ > 0 (s 1, a 1, s 2, a 2,..., ) τfull = {(s 1, a 1), (s 2, a 2),...} µ Label HI (τ HI ) = {(s 1, g 1), (s 2, g 2),...} π g Terminal(s; g) Label HI h-dqn [6] Montezuma s Revenge Alg? Q DQN 3.5 Deep Reccurent Q-Network (DRQN) DQN 4 Minecraft 4 DQN LSTM Deep Reccurent Q-Network (DRQN) [8] 4. Montezuma s Revenge Minecarft Information Processing Society of Japan
4 の緑のマスの位置にある鉄のドアで仕切られており 鉄の ドアは破壊するのに非常に時間がかかるため *4 エージェ ントが時間内にゴールにたどり着くためには エージェン トが配置される最初の部屋の仕掛けを解き 鉄のドアを開 けて通る必要がある 4.3 最初の部屋の仕掛け エージェントが最初に配置される側の部屋には 図 2 の 水色のマスの位置に石の感圧板 茶色のマスに原木ブロッ クが配置されている まず エージェントが石の感圧板の 図 1 エージェントが観察できる入力例 上に乗ると 隣に設置されたディスペンサーからダイヤの Fig. 1 斧が射出され 獲得することができる 次に 原木ブロッ クを破壊すると 隣に設置されたオブザーバーからレッド ストーン回路を通じて 鉄のドアが開くという仕掛けに なっている 4.4 報酬設計 ダイヤの斧を獲得したとき 原木ブロックを破壊して獲 得したとき及びゴール地点の金ブロックに触れたときに エージェントは +1 点を獲得する また エージェントが 行動を選択する度に 0.01 点を獲得し ゴールにたどり着 図 2 けずに 100 秒が経過した場合は 1 点を獲得する 実験に用いたマップの模式図 Fig エージェントがとれる行動 Minecraft のゲームでは様々な行動コマンドが存在する が 本研究の実験においては以下の 7 種類に制限した 何もしない (前, 後) に歩く 180 度 / 秒の速度で (左, 右) にカメラを回転させる 攻撃を開始する 攻撃を終了する 5. 実験 図 実験概要 実験に用いたマップを俯瞰した様子 3.4 節で述べた hg-dagger/q における Q 学習を DQN Fig. 3 で行うエージェントを hg-dagger/dqn とし DRQN で行 ピンク色のマスに矢印の向きで配置される エージェント うエージェントを hg-dagger/drqn とする 4 章で作成 は図 1 のような画像を 0.05 秒に 1 度の間隔で観察しなが した Minecraft の環境で DQN, DRQN, hg-dagger/dqn, ら ゴール地点に到達することが目的である ゴール地点 hg-dagger/drqn のエージェントで学習を行った 実装 である金ブロックに触れた時点で ゲームはクリアとなり には Python3.5 を Minecraft での実験を行うために Malmo そのエピソードは終了する Minecraft 上での実際のマッ ( ) を OpenAI Gym [9] の形式で取り扱えるラッパー プを天井ブロックを除いて上から撮影したものが図 3 で である MarLO ある 習のフレームワークとして Keras (2.2.2) を用い バックエ *5 (0.0.1-dev16) を使用した また 深層学 ンドは tensorflow (1.9.0) を用いた 4.2 部屋の設計 図 2 の灰色のマスで表現された それぞれの部屋の壁 床及び天井は岩盤ブロックで構築されていて エージェン *4 *5 トは破壊することができない また 2 つの部屋の間は図 Information Processing Society of Japan ピッケル以外の道具及び素手では約 25 秒 (Accessed: 16)
5 1 DQN Table 1 3 Table DRQN Table LSTM 512 tanh Minecraft Minecraft UI 4 DQN 1 [1] DRQN 2 [8] Adam [10] µ [3] RMSProp 5.3 DQN DRQN [1] [1] 4 Malmo Dropout Dropout Dropout Dropout Dropout Dropout Dropout Dropout hg-dagger/dqn, hg-dagger/drqn Table 4 replay memory size target network update frequency 2000 final exploration frame replay start size hg-dagger/dqn hg-dagger/drqn DQN DRQN DQN,DRQN DQN DRQN 4 DRQN 4 DQN DQN DRQN 5.5 hg-dagger/dqn, hg-dagger/drqn hg-dagger/dqn, hg-dagger/drqn [3] 2018 Information Processing Society of Japan
6 external rewards meta agent accuracy DQN DRQN 25 0K 400K 800K 1200K 1600K 2000K steps DQN, DRQN hg-dagger/dqn hg-dagger/drqn 0K 400K 800K 1200K 1600K 2000K LO-level reinforcement learning samples 5 5 hg-dagger/dqn hg-dagger/drqn % 1 30% 2 20% Minecraft DQN DRQN hg-dagger/q Minecraft DQN DRQN 1 Experience Replay Prioritized Experience Replay [11] JSPS 16H02927 JST [1] Mnih, V., Kavukcuoglu, K., Silver, D., Rusu, A. A., Veness, J., Bellemare, M. G., Graves, A., Riedmiller, M., Fidjeland, A. K., Ostrovski, G., Petersen, S., Beattie, C., Sadik, A., Antonoglou, I., King, H., Kumaran, D., Wierstra, D., Legg, S. and Hassabis, D.: Humanlevel control through deep reinforcement learning, Nature, Vol. 518, No. 7540, pp (online), available from (2015). [2] Johnson, M., Hofmann, K., Hutton, T. and Bignell, D.: The malmo platform for artificial intelligence experimentation, IJCAI International Joint Conference on Artificial Intelligence, Vol Janua, pp (2016). [3] Le, H., Jiang, N., Agarwal, A., Dudik, M., Yue, Y. and Daumé, III, H.: Hierarchical Imitation and Reinforcement Learning, Proceedings of the 35th International Conference on Machine Learning (Dy, J. and Krause, A., eds.), Proceedings of Machine Learning Research, Vol. 80, Stockholmsmssan, Stockholm Sweden, PMLR, pp (online), available from (2018). [4] Sutton, R. S., Precup, D. and Singh, S.: Intra-option learning about temporally abstract actions, Proceedings of the Fifteenth International Conference on Machine Learning (ICML 1998), pp (1998). [5] Sutton, R. S., Precup, D. and Singh, S.: Between MDPs and semi-mdps: A Framework for Temporal Abstraction in Reinforcement Learning, Artif. Intell., Vol. 112, No. 1-2, pp (online), DOI: /S Information Processing Society of Japan
7 K 400K 800K 1200K 1600K 2000K LO-level reinforcement learning samples subgoal success rate K 400K 800K 1200K 1600K 2000K LO-level reinforcement learning samples subgoal success rate1.0 6 hg-dagger/dqn 7 hg-dagger/drqn LO-level samples 1600K 1400K 1200K 1000K 800K 600K 400K 200K 0K episode (HI-level labeling samples) LO-level samples 1600K 1400K 1200K 1000K 800K 600K 400K 200K 0K episode (HI-level labeling samples) 8 hg-dagger/dqn 9 hg-dagger/drqn 3702(99) (1999). [6] Kulkarni, T. D., Narasimhan, K. R., Saeedi, A. and Tenenbaum, J. B.: Hierarchical Deep Reinforcement Learning: Integrating Temporal Abstraction and Intrinsic Motivation, No. Nips (online), DOI: /A: (2016). [7] Tessler, C., Givony, S., Zahavy, T., Mankowitz, D. J. and Mannor, S.: A Deep Hierarchical Approach to Lifelong Learning in Minecraft., AAAI, Vol. 3, p. 6 (2017). [8] Hausknecht, M. and Stone, P.: Deep Recurrent Q- Learning for Partially Observable MDPs, (online), DOI: (2015). [9] Brockman, G., Cheung, V., Pettersson, L., Schneider, J., Schulman, J., Tang, J. and Zaremba, W.: OpenAI Gym, pp. 1 4 (online), available from (2016). [10] Kingma, D. P. and Ba, J.: Adam: A Method for Stochastic Optimization, pp (online), available from (2014). [11] Schaul, T., Quan, J., Antonoglou, I. and Silver, D.: Prioritized Experience Replay, CoRR, Vol. abs/ (online), available from (2015) Information Processing Society of Japan
8 steps steps episode (HI-level labeling samples) episode (HI-level labeling samples) 10 hg-dagger/dqn 11 hg-dagger/drqn 2018 Information Processing Society of Japan
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