Learning and Transferring Relational Instance-Based Policies

Rocio Garcia-Duran, Fernando Fernandez, Daniel Borrajo

A Relational Instance-Based Policy can be defined as an action policy described following a relational instance-based learning approach. The policy is represented with a set of state-goal-action tuples in some form of predicate logic and a distance metric: whenever the planner is in a state trying to reach a goal, the next action to execute is computed as the action associated to the closest state-goal pair in that set. In this work, the representation language is relational, following the ideas of Relational Reinforcement Learning. The policy to transfer (the set of state-goal-action tuples) is generated with a planning system solving optimally simple source problems. The target problems are defined in the same planning domain, have different initial and goal states to the source problems, and could be much more complex. We show that the transferred policy can solve similar problems to the ones used to learn it, but also more complex problems. In fact, the policy learned outperforms the planning system used to generate the initial state-action pairs in two ways: it is faster and scales up better.

Subjects: 12.1 Reinforcement Learning; 1.11 Planning

Submitted: Apr 30, 2008

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