Robust and Efficient Transfer Learning with Hidden Parameter Markov Decision Processes

Part of Advances in Neural Information Processing Systems 30 (NIPS 2017)

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Taylor W. Killian, Samuel Daulton, George Konidaris, Finale Doshi-Velez


We introduce a new formulation of the Hidden Parameter Markov Decision Process (HiP-MDP), a framework for modeling families of related tasks using low-dimensional latent embeddings. Our new framework correctly models the joint uncertainty in the latent parameters and the state space. We also replace the original Gaussian Process-based model with a Bayesian Neural Network, enabling more scalable inference. Thus, we expand the scope of the HiP-MDP to applications with higher dimensions and more complex dynamics.