OpenAI官方发布：强化学习中的关键论文

【导读】OpenAI 在教学资源合集 Spinning Up中发布了强化学习中的关键论文，列举了强化学习不同领域的代表性文章来指导研究者的学习。此外Spinning Up 包含清晰的 RL 代码示例、习题、文档和教程可供参考。

1. Model-Free RL

2. Exploration

3. Transfer and Multitask RL

4. Hierarchy

5. Memory

6. Model-Based RL

7. Meta-RL

8. Scaling RL

9. RL in the Real World

10. Safety

11. Imitation Learning and Inverse Reinforcement Learning

12. Reproducibility, Analysis, and Critique

13. Bonus: Classic Papers in RL Theory or Review

1. Model-Free RL

a. Deep Q-Learning

[1] Playing Atari with Deep Reinforcement Learning, Mnih et al, 2013. Algorithm: DQN.

    https://www.cs.toronto.edu/~vmnih/docs/dqn.pdf

[2] Deep Recurrent Q-Learning for Partially Observable MDPs, Hausknecht and Stone, 2015. Algorithm: Deep Recurrent Q-Learning.

    https://arxiv.org/abs/1507.06527

[3] Dueling Network Architectures for Deep Reinforcement Learning, Wang et al, 2015. Algorithm: Dueling DQN.

    https://arxiv.org/abs/1511.06581

[4] Deep Reinforcement Learning with Double Q-learning, Hasselt et al 2015. Algorithm: Double DQN.

    https://arxiv.org/abs/1509.06461

[5] Prioritized Experience Replay, Schaul et al, 2015. Algorithm: Prioritized Experience Replay (PER).

    https://arxiv.org/abs/1511.05952

[6] Rainbow: Combining Improvements in Deep Reinforcement Learning, Hessel et al, 2017. Algorithm: Rainbow DQN.

    https://arxiv.org/abs/1710.02298

b. Policy Gradients

[7] Asynchronous Methods for Deep Reinforcement Learning, Mnih et al, 2016. Algorithm: A3C.

    https://arxiv.org/abs/1602.01783

[8] Trust Region Policy Optimization, Schulman et al, 2015. Algorithm: TRPO.

    https://arxiv.org/abs/1502.05477

[9] High-Dimensional Continuous Control Using Generalized Advantage Estimation, Schulman et al, 2015. Algorithm: GAE.

    https://arxiv.org/abs/1506.02438

[10] Proximal Policy Optimization Algorithms, Schulman et al, 2017. Algorithm: PPO-Clip, PPO-Penalty.

    https://arxiv.org/abs/1707.06347

[11] Emergence of Locomotion Behaviours in Rich Environments, Heess et al, 2017. Algorithm: PPO-Penalty.

    https://arxiv.org/abs/1707.02286

[12] Scalable trust-region method for deep reinforcement learning using Kronecker-factored approximation, Wu et al, 2017. Algorithm: ACKTR.

    https://arxiv.org/abs/1708.05144

[13] Sample Efficient Actor-Critic with Experience Replay, Wang et al, 2016. Algorithm: ACER.

    https://arxiv.org/abs/1611.01224

[14] Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor, Haarnoja et al, 2018. Algorithm: SAC.

    https://arxiv.org/abs/1801.01290

c. Deterministic Policy Gradients

[15] Deterministic Policy Gradient Algorithms, Silver et al, 2014. Algorithm: DPG.

    http://proceedings.mlr.press/v32/silver14.pdf

[16] Continuous Control With Deep Reinforcement Learning, Lillicrap et al, 2015. Algorithm: DDPG.

    https://arxiv.org/abs/1509.02971

[17] Addressing Function Approximation Error in Actor-Critic Methods, Fujimoto et al, 2018. Algorithm: TD3.

    https://arxiv.org/abs/1802.09477

d. Distributional RL

[18] A Distributional Perspective on Reinforcement Learning, Bellemare et al, 2017. Algorithm: C51.

    https://arxiv.org/abs/1707.06887

[19] Distributional Reinforcement Learning with Quantile Regression, Dabney et al, 2017. Algorithm: QR-DQN.

    https://arxiv.org/abs/1710.10044

[20] Implicit Quantile Networks for Distributional Reinforcement Learning, Dabney et al, 2018. Algorithm: IQN.

    https://arxiv.org/abs/1806.06923

[21] Dopamine: A Research Framework for Deep Reinforcement Learning, Anonymous, 2018. Contribution: Introduces Dopamine, a code repository containing implementations of DQN, C51, IQN, and Rainbow. Code link.

    https://openreview.net/forum?id=ByG_3s09KX

e. Policy Gradients with Action-Dependent Baselines

[22] Q-Prop: Sample-Efficient Policy Gradient with An Off-Policy Critic, Gu et al, 2016. Algorithm: Q-Prop.

[23] Action-depedent Control Variates for Policy Optimization via Stein’s Identity, Liu et al, 2017. Algorithm: Stein Control Variates.

[24] The Mirage of Action-Dependent Baselines in Reinforcement Learning, Tucker et al, 2018. Contribution: interestingly, critiques and reevaluates claims from earlier papers (including Q-Prop and stein control variates) and finds important methodological errors in them.

f. Path-Consistency Learning

[25] Bridging the Gap Between Value and Policy Based Reinforcement Learning, Nachum et al, 2017. Algorithm: PCL.

[26] Trust-PCL: An Off-Policy Trust Region Method for Continuous Control, Nachum et al, 2017. Algorithm: Trust-PCL.

g. Other Directions for Combining Policy-Learning and Q-Learning

[27] Combining Policy Gradient and Q-learning, O’Donoghue et al, 2016. Algorithm: PGQL.

[28] The Reactor: A Fast and Sample-Efficient Actor-Critic Agent for Reinforcement Learning, Gruslys et al, 2017. Algorithm: Reactor.

[29] Interpolated Policy Gradient: Merging On-Policy and Off-Policy Gradient Estimation for Deep Reinforcement Learning, Gu et al, 2017. Algorithm: IPG.

[30] Equivalence Between Policy Gradients and Soft Q-Learning, Schulman et al, 2017. Contribution: Reveals a theoretical link between these two families of RL algorithms.

h. Evolutionary Algorithms

[31] Evolution Strategies as a Scalable Alternative to Reinforcement Learning, Salimans et al, 2017. Algorithm: ES.

2. Exploration

a. Intrinsic Motivation

[32] VIME: Variational Information Maximizing Exploration, Houthooft et al, 2016. Algorithm: VIME.

[33] Unifying Count-Based Exploration and Intrinsic Motivation, Bellemare et al, 2016. Algorithm: CTS-based Pseudocounts.

[34] Count-Based Exploration with Neural Density Models, Ostrovski et al, 2017. Algorithm: PixelCNN-based Pseudocounts.

[35] #Exploration: A Study of Count-Based Exploration for Deep Reinforcement Learning, Tang et al, 2016. Algorithm: Hash-based Counts.

[36] EX2: Exploration with Exemplar Models for Deep Reinforcement Learning, Fu et al, 2017. Algorithm: EX2.

[37] Curiosity-driven Exploration by Self-supervised Prediction, Pathak et al, 2017. Algorithm: Intrinsic Curiosity Module (ICM).

[38] Large-Scale Study of Curiosity-Driven Learning, Burda et al, 2018. Contribution: Systematic analysis of how surprisal-based intrinsic motivation performs in a wide variety of environments.

[39] Exploration by Random Network Distillation, Burda et al, 2018. Algorithm: RND.

b. Unsupervised RL

[40] Variational Intrinsic Control, Gregor et al, 2016. Algorithm: VIC.

[41] Diversity is All You Need: Learning Skills without a Reward Function, Eysenbach et al, 2018. Algorithm: DIAYN.

[42] Variational Option Discovery Algorithms, Achiam et al, 2018. Algorithm: VALOR.

3. Transfer and Multitask RL

[43] Progressive Neural Networks, Rusu et al, 2016. Algorithm: Progressive Networks.

[44] Universal Value Function Approximators, Schaul et al, 2015. Algorithm: UVFA.

[45] Reinforcement Learning with Unsupervised Auxiliary Tasks, Jaderberg et al, 2016. Algorithm: UNREAL.

[46] The Intentional Unintentional Agent: Learning to Solve Many Continuous Control Tasks Simultaneously, Cabi et al, 2017. Algorithm: IU Agent.

[47] PathNet: Evolution Channels Gradient Descent in Super Neural Networks, Fernando et al, 2017. Algorithm: PathNet.

[48] Mutual Alignment Transfer Learning, Wulfmeier et al, 2017. Algorithm: MATL.

[49] Learning an Embedding Space for Transferable Robot Skills, Hausman et al, 2018.

[50] Hindsight Experience Replay, Andrychowicz et al, 2017. Algorithm: Hindsight Experience Replay (HER).

4. Hierarchy

[51] Strategic Attentive Writer for Learning Macro-Actions, Vezhnevets et al, 2016. Algorithm: STRAW.

[52] FeUdal Networks for Hierarchical Reinforcement Learning, Vezhnevets et al, 2017. Algorithm: Feudal Networks

[53] Data-Efficient Hierarchical Reinforcement Learning, Nachum et al, 2018. Algorithm: HIRO.

5. Memory

[54] Model-Free Episodic Control, Blundell et al, 2016. Algorithm: MFEC.

[55] Neural Episodic Control, Pritzel et al, 2017. Algorithm: NEC.

[56] Neural Map: Structured Memory for Deep Reinforcement Learning, Parisotto and Salakhutdinov, 2017. Algorithm: Neural Map.

[57] Unsupervised Predictive Memory in a Goal-Directed Agent, Wayne et al, 2018. Algorithm: MERLIN.

[58] Relational Recurrent Neural Networks, Santoro et al, 2018. Algorithm: RMC.

6. Model-Based RL

a. Model is Learned

[59] Imagination-Augmented Agents for Deep Reinforcement Learning, Weber et al, 2017. Algorithm: I2A.

[60] Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning, Nagabandi et al, 2017. Algorithm: MBMF.

[61] Model-Based Value Expansion for Efficient Model-Free Reinforcement Learning, Feinberg et al, 2018. Algorithm: MVE.

[62] Sample-Efficient Reinforcement Learning with Stochastic Ensemble Value Expansion, Buckman et al, 2018. Algorithm: STEVE.

[63] Model-Ensemble Trust-Region Policy Optimization, Kurutach et al, 2018. Algorithm: ME-TRPO.

[64] Model-Based Reinforcement Learning via Meta-Policy Optimization, Clavera et al, 2018. Algorithm: MB-MPO.

[65] Recurrent World Models Facilitate Policy Evolution, Ha and Schmidhuber, 2018.

b. Model is Given

[66] Mastering Chess and Shogi by Self-Play with a General Reinforcement Learning Algorithm, Silver et al, 2017. Algorithm: AlphaZero.

[67] Thinking Fast and Slow with Deep Learning and Tree Search, Anthony et al, 2017. Algorithm: ExIt.

7. Meta-RL

[68] RL^2: Fast Reinforcement Learning via Slow Reinforcement Learning, Duan et al, 2016. Algorithm: RL^2.

[69] Learning to Reinforcement Learn, Wang et al, 2016.

[70] Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks, Finn et al, 2017. Algorithm: MAML.

[71] A Simple Neural Attentive Meta-Learner, Mishra et al, 2018. Algorithm: SNAIL.

8. Scaling RL

[72] Accelerated Methods for Deep Reinforcement Learning, Stooke and Abbeel, 2018. Contribution: Systematic analysis of parallelization in deep RL across algorithms.

[73] IMPALA: Scalable Distributed Deep-RL with Importance Weighted Actor-Learner Architectures, Espeholt et al, 2018. Algorithm: IMPALA.

[74] Distributed Prioritized Experience Replay, Horgan et al, 2018. Algorithm: Ape-X.

[75] Recurrent Experience Replay in Distributed Reinforcement Learning, Anonymous, 2018. Algorithm: R2D2.

[76] RLlib: Abstractions for Distributed Reinforcement Learning, Liang et al, 2017. Contribution: A scalable library of RL algorithm implementations. Documentation link.

9. RL in the Real World

[77] Benchmarking Reinforcement Learning Algorithms on Real-World Robots, Mahmood et al, 2018.

[78] Learning Dexterous In-Hand Manipulation, OpenAI, 2018.

[79] QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation, Kalashnikov et al, 2018. Algorithm: QT-Opt.

[80] Horizon: Facebook’s Open Source Applied Reinforcement Learning Platform, Gauci et al, 2018.

10. Safety

[81] Concrete Problems in AI Safety, Amodei et al, 2016. Contribution: establishes a taxonomy of safety problems, serving as an important jumping-off point for future research. We need to solve these!

[82] Deep Reinforcement Learning From Human Preferences, Christiano et al, 2017. Algorithm: LFP.

[83] Constrained Policy Optimization, Achiam et al, 2017. Algorithm: CPO.

[84] Safe Exploration in Continuous Action Spaces, Dalal et al, 2018. Algorithm: DDPG+Safety Layer.

[85] Trial without Error: Towards Safe Reinforcement Learning via Human Intervention, Saunders et al, 2017. Algorithm: HIRL.

[86] Leave No Trace: Learning to Reset for Safe and Autonomous Reinforcement Learning, Eysenbach et al, 2017. Algorithm: Leave No Trace.

11. Imitation Learning and Inverse Reinforcement Learning

[87] Modeling Purposeful Adaptive Behavior with the Principle of Maximum Causal Entropy, Ziebart 2010. Contributions: Crisp formulation of maximum entropy IRL.

[88] Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization, Finn et al, 2016. Algorithm: GCL.

[89] Generative Adversarial Imitation Learning, Ho and Ermon, 2016. Algorithm: GAIL.

[90] DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills, Peng et al, 2018. Algorithm: DeepMimic.

[91] Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow, Peng et al, 2018. Algorithm: VAIL.

[92] One-Shot High-Fidelity Imitation: Training Large-Scale Deep Nets with RL, Le Paine et al, 2018. Algorithm: MetaMimic.

12. Reproducibility, Analysis, and Critique

[93] Benchmarking Deep Reinforcement Learning for Continuous Control, Duan et al, 2016. Contribution: rllab.

[94] Reproducibility of Benchmarked Deep Reinforcement Learning Tasks for Continuous Control, Islam et al, 2017.

[95] Deep Reinforcement Learning that Matters, Henderson et al, 2017.

[96] Where Did My Optimum Go?: An Empirical Analysis of Gradient Descent Optimization in Policy Gradient Methods, Henderson et al, 2018.

[97] Are Deep Policy Gradient Algorithms Truly Policy Gradient Algorithms?, Ilyas et al, 2018.

[98] Simple Random Search Provides a Competitive Approach to Reinforcement Learning, Mania et al, 2018.

13. Bonus: Classic Papers in RL Theory or Review

[99] Policy Gradient Methods for Reinforcement Learning with Function Approximation, Sutton et al, 2000. Contributions: Established policy gradient theorem and showed convergence of policy gradient algorithm for arbitrary policy classes.

[100] An Analysis of Temporal-Difference Learning with Function Approximation, Tsitsiklis and Van Roy, 1997. Contributions: Variety of convergence results and counter-examples for value-learning methods in RL.

[101] Reinforcement Learning of Motor Skills with Policy Gradients, Peters and Schaal, 2008. Contributions: Thorough review of policy gradient methods at the time, many of which are still serviceable descriptions of deep RL methods.

[102] Approximately Optimal Approximate Reinforcement Learning, Kakade and Langford, 2002. Contributions: Early roots for monotonic improvement theory, later leading to theoretical justification for TRPO and other algorithms.

[103] A Natural Policy Gradient, Kakade, 2002. Contributions: Brought natural gradients into RL, later leading to TRPO, ACKTR, and several other methods in deep RL.

[104] Algorithms for Reinforcement Learning, Szepesvari, 2009. Contributions: Unbeatable reference on RL before deep RL, containing foundations and theoretical background.

参考链接：

https://spinningup.openai.com/en/latest/spinningup/keypapers.html

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