Efficient Reinforcement Learning in Probabilistic Reward Machines

Abstract

In this paper, we study reinforcement learning in Markov Decision Processes with Probabilistic Reward Machines (PRMs), a form of non-Markovian reward commonly found in robotics tasks. We design an algorithm for PRMs that achieves a regret bound of O(HOAT + H^2O^2A^3/2 + HT), where H is the time horizon, O is the number of observations, A is the number of actions, and T is the number of time-steps. This result improves over the best-known bound, O(HOAT) of pmlr-v206-bourel23a for MDPs with Deterministic Reward Machines (DRMs), a special case of PRMs. When T H^3O^3A^2 and OA H, our regret bound leads to a regret of O(HOAT), which matches the established lower bound of (HOAT) for MDPs with DRMs up to a logarithmic factor. To the best of our knowledge, this is the first efficient algorithm for PRMs. Additionally, we present a new simulation lemma for non-Markovian rewards, which enables reward-free exploration for any non-Markovian reward given access to an approximate planner. Complementing our theoretical findings, we show through extensive experiment evaluations that our algorithm indeed outperforms prior methods in various PRM environments.

Tasks

Reproductions