Light-weight probing of unsupervised representations for Reinforcement Learning

원문 초록

Unsupervised visual representation learning offers the opportunity to leverage large corpora of unlabeled trajectories to form useful visual representations, which can benefit the training of reinforcement learning (RL) algorithms. However, evaluating the fitness of such representations requires training RL algorithms which is computationally intensive and has high variance outcomes. Inspired by the vision community, we study whether linear probing can be a proxy evaluation task for the quality of unsupervised RL representation. Specifically, we probe for the observed reward in a given state and the action of an expert in a given state, both of which are generally applicable to many RL domains. Through rigorous experimentation, we show that the probing tasks are strongly rank correlated with the downstream RL performance on the Atari100k Benchmark, while having lower variance and up to 600x lower computational cost. This provides a more efficient method for exploring the space of pretraining algorithms and identifying promising pretraining recipes without the need to run RL evaluations for every setting. Leveraging this framework, we further improve existing self-supervised learning (SSL) recipes for RL, highlighting the importance of the forward model, the size of the visual backbone, and the precise formulation of the unsupervised objective.