Reward-Estimated Hypergradient for Bilevel Reinforcement Learning with Black-Box Follower

원문 초록

Hypergradient (HG) methods for bilevel reinforcement learning (RL) typically assume a white-box follower whose reward is known. In practice, however, the leader rarely knows the follower's reward function and can only observe its trajectories. We address this black-box setting and propose Reward-Estimated Hypergradients (RE-HG), which recovers the follower's reward from these trajectories via inverse RL (IRL). Yet IRL identifies the reward only up to potential-based shaping, a transformation that leaves the follower's behavior unchanged but biases the HG. We prove that, for linear rewards, this bias cancels when IRL estimates are aggregated across sufficiently diverse dynamics, which the leader's own updates naturally supply. To handle finite samples, RE-HG truncates small eigenvalues of the aggregated feature covariance, restoring the identifiable subspace and stabilizing the estimation. Experiments show that RE-HG estimates gradients aligned with a white-box Oracle and achieves comparable performance; empirically, the truncation also suppresses HG explosions, letting RE-HG avoid local optima that trap the Oracle in sharp reward landscapes.