Combining Behaviors with the Successor Features Keyboard

Part of Advances in Neural Information Processing Systems 36 (NeurIPS 2023) Main Conference Track

Bibtex Paper Supplemental


Wilka Carvalho Carvalho, Andre Saraiva, Angelos Filos, Andrew Lampinen, Loic Matthey, Richard L Lewis, Honglak Lee, Satinder Singh, Danilo Jimenez Rezende, Daniel Zoran


The Option Keyboard (OK) was recently proposed as a method for transferring behavioral knowledge across tasks. OK transfers knowledge by adaptively combining subsets of known behaviors using Successor Features (SFs) and Generalized Policy Improvement (GPI).However, it relies on hand-designed state-features and task encodings which are cumbersome to design for every new environment.In this work, we propose the "Successor Features Keyboard" (SFK), which enables transfer with discovered state-features and task encodings.To enable discovery, we propose the "Categorical Successor Feature Approximator" (CSFA), a novel learning algorithm for estimating SFs while jointly discovering state-features and task encodings.With SFK and CSFA, we achieve the first demonstration of transfer with SFs in a challenging 3D environment where all the necessary representations are discovered.We first compare CSFA against other methods for approximating SFs and show that only CSFA discovers representations compatible with SF&GPI at this scale.We then compare SFK against transfer learning baselines and show that it transfers most quickly to long-horizon tasks.