Reinforcement Learning under Latent Dynamics: Toward Statistical and Algorithmic Modularity

Real-world applications of reinforcement learning often involve environments where agents operate on complex, high-dimensional observations, but the underlying (''latent'') dynamics are comparatively simple. However, outside of restrictive settings such as small latent spaces, the fundamental statistical requirements and algorithmic principles for reinforcement learning under latent dynamics are poorly understood. This paper addresses the question of reinforcement learning under $\textit{general}$ latent dynamics from a statistical and algorithmic perspective. On the statistical side, our main negative result shows that most well-studied settings for reinforcement learning with function approximation become intractable when composed with rich observations; we complement this with a positive result, identifying latent pushforward coverability as a general condition that enables statistical tractability. Algorithmically, we develop provably efficient observable-to-latent reductions -- that is, reductions that transform an arbitrary algorithm for the latent MDP into an algorithm that can operate on rich observations -- in two settings: one where the agent has access to hindsight observations of the latent dynamics [LADZ23], and one where the agent can estimate self-predictive latent models [SAGHCB20]. Together, our results serve as a first step toward a unified statistical and algorithmic theory for reinforcement learning under latent dynamics.

Paper

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Peer review

Reviewer qRgr6/10 · confidence 3/52024-07-12

Summary

This work investigates representation learning for decision-making in episodic MDPs. They consider a problem setting in which the goal is to through interactive decision-making learn a good policy. The task involves learning a good "decoder", i.e., function that maps the observations to "state" representations. They define a notion of "statistical modularity" in this problem which means that there exists an algorithm that can learn the optimal policy (with $\epsilon$ error) with high probability with a number of episodes that is polynomial in the base MDP and the capacity of the decoder function class. They then prove an impossibility result regarding statistical modularity in this problem in general and prove statistical modularity in MDPs under some condition. They also define a notion of "algorithmic modularity" by introducing an algorithm in a hindsight observability setting in which one can use any decoder of interest and any standard episodic MDP algorithm for decision-making; they prove a regret bound in terms of the quality of the quality of the base MDP algorithm and the quality of the decoder.

Strengths

- I thought the problem the authors worked on was interesting and meaningful. Overall the ideas of introducing the concepts of statistical and algorithmic modularity was interesting. - The authors provide many theoretical results and the result, especially regarding the algorithmic modularity result in 4.1 seems interesting, intuitive, and rather elegant.

Weaknesses

- I found the notation and terminology used in this paper to be very dense. (I put specific questions / notes about this in the next section). I think I would prefer that the authors to have fewer theoretical results, but more thorough discussion of the results. (E.g., the self-predictive estimation idea seems interesting, but is literally 1 paragraph in the paper.)

Questions

- Could you clarify if you are using the term "latent states" in the sense of partially observed MDPs. Or if you really mean the state is "latent" in the sense that the best representation of the state is unknown? If this is the case, it seems like this is more a representation learning problem rather than a "latent state" problem. Could you add further discussion of how your formulation relates to POMDPs? - It would be helpful to provide an intuitive definition of decoder earlier in the paper, as it is used in the intro without much context.

Rating

6

Confidence

3

Soundness

4

Presentation

2

Contribution

4

Limitations

- There is no empirical evaluation of the algorithm.

Reviewer qRgr2024-08-08

Thank you for your comments. Your proposed writing revisions sound good and I think they would improve the presentation!

Reviewer 669T7/10 · confidence 1/52024-07-15

Summary

This paper provides a theoretical analysis of statistical and algorithmic modularity for RL with latent dynamics. Specifically, it offers conditions and theoretical analysis under which RL with latents is tractable. For statistical modularity, both lower and upper bounds are presented. For algorithmic modularity, observation-to-latent reductions are analyzed under two conditions: hindsight observability and self-predictive estimation. Overall, the theory and proofs are technically solid, addressing a critical problem in RL, especially in scenarios where only high-dimensional pixels are observed. Although I am not an expert in RL theory (my focus is more on algorithms and applications), I would give an acceptance rating for this initial review and will be engaged in the discussion.

Strengths

- [**Motivation and Significance**]: The problem of learning from observation for RL is important, and this paper provides fundamental theory on this topic. The statistical and algorithmic guarantees are critical contributions to the field. The theoretical findings, particularly on algorithmic modularity, have the potential to encourage more empirical work on efficiently identifying self-predictive latent states that facilitate RL policy learning. - [**Technical Soundness**]: Although I am not an expert in RL theory, I reviewed the main paper thoroughly and found the theoretical foundations and proofs to be solid. - [**Presentation**]: The presentation is clear and accessible, even for readers outside the theory domain.

Weaknesses

Since I am not an expert on RL theory, I have listed most of my questions in this section. The major question from an empirical point of view is how to leverage some of these theoretical results to enhance RL learning from latent dynamics. Q1: The authors mentioned that block MDP or factored MDP would be a special case of this general framework. Suppose we narrow down the problem to block MDP or factored MDP, can the statistical or algorithmic modularity be easier to achieve? Q2: Similar to the previous question, what kind of structure (e.g., symmetry, disentanglement) or distribution assumptions in the latent space could mostly benefit the current theoretical framework?

Questions

I listed my questions in the above section.

Rating

7

Confidence

1

Soundness

3

Presentation

3

Contribution

3

Limitations

Limitations and discussions are given in the paper. As this is a theoretical work, I do not think it will pose any negative societal impact.

Reviewer U7JX7/10 · confidence 3/52024-07-18

Summary

This paper considers theoretical aspects of reinforcement learning in a certain class of MDPs whose observations are governed by a separate, potentially smaller, MDP. They formalize this class of MDPs and denote them latent MDPs. The authors then consider when such MDPs are statistically learnable, beginning with a negative result: they show that in general, even with known latent dynamics, statistical modularity is impossible. They then highlight that statistical modularity in this setting is in some sense distinct from previous works which assume regularity in the value function, and mention that this is because this structure might be useless without a good learnt representation. The authors then go through a laundry list of MDP formalisms in previous work, and provide for most a result on whether or not they are statistically modular. They finally consider algorithmic results, and introduce a 'meta-algorithm' which balances representation and RL learning (where the underlying RL algorithm is arbitrary). Under some additional assumptions, they prove that the additional representation learning adds sublinear risk.

Strengths

- I believe that this is an important step in bridging RL theory and the issues of RL in practice. - Balancing representation learning and standard RL learning is an important issue many RL practitioners need to balance. This work paves the way for theoretically-guided answers to those questions. - I found it rather interesting how the authors demonstrated that much of the structure used in previous work is not amenable to this setting, and that in those cases statistical modularity is not possible.

Weaknesses

- Assuming that latent states can be uniquely decoded from the observations is a rather strong observation. - There are no experiments in the paper. Of course the contribution of this work is theoretical, but theoretical work can still benefit greatly from some simple experiments which illustrate results in their paper. In particular, doing this allows some readers to better understand the result, and importantly, shows that the results obtained (which are often under unrealistic assumptions) do not break down in practice.

Questions

- Do you believe there are any toy experiments which can be done to illustrate any of your results?

Rating

7

Confidence

3

Soundness

4

Presentation

3

Contribution

3

Limitations

They discuss avenues for future work, and are clear on the limitations of their work.

Reviewer 669T2024-08-13

Thank you for the detailed response. My concerns have been well addressed and I would keep my rating.

Program Chairsdecision2024-09-25

Decision

Accept (oral)

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