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Project group “Learning Agents in Dynamic Environments III”

Homework “Reinforcement Learning”
Multiagent Reinforcement Learning

Michael Baumann, Timo Klerx 06-Nov-2012

Foreword
23-Nov-2012, 11:59 PM Hand in your solutions as PDF and the source code (whole eclipse project) as zip archive via eMail. 27-Nov-2012 Presentation and discussion of your results.

Scenario
Consider the scenario shown in Figure Figure 1: The two agents should learn to reach their respective goal area as fast as possible. Although there are explicit start areas, the learned policy should cover all possible states. Admissible actions for the agents are moving one cell in one of the four cardinal directions. If an agent tries to leave the world or crashes into a wall, it remains on its position. The same holds for collisions between agents: on each cell at most one agent is allowed and thus, both agents remain on their positions, if they would collide. This rule implies, that only one agent can pass the small opening at a time! An episode ends either if both agents are situated on their goals region or after imax iterations.

Exercises
1. Discuss the following strategies for giving reward and choose one for your model / your implementation: a) Each agent gets an individual reward, i.e. agent Aj gets reward rj when it reaches goal Aj . b) Both agents get an identical reward r if both agents are on their correct goals.

1

Goal A2

Goal A1

1

2

Start A1

Start A2

Figure 1: Mulitagent scenario. What are pro and cons of these strategies? How can they influence the speed and the quality of learning? Justify your choice. Provide values for the reward function: What reward is given for reaching the goal(s), what value is given for other situations, are there intermediate rewards for partially reached goals? [4 p] 2. What is a useful model for this scenario / the learning task? If it is different to the MDP from SARL, describe these differences briefly and justify your choice. [3 p] 3. What is a useful initialization for learning / evaluation? Discuss the following strategies and choose one for your implementation: a) Agents start only at “their” start areas. b) Agents are placed randomly on arbitrary positions. c) Agents are positioned randomly on arbitrary positions with the following constraint: Agent 1’s starting position has to be on the left side of the obstacle, Agent 2’s starting position has to be on the right side. Justify your choice. [2 p] 4. Which information of the environment have to be passed to the agent? The complete state (“all seeing eye”, each agent knows everything about all agent), a limited view (How small can the sight-range become so that the task remains solvable?) or some kind of abstract state (Is the task still solvable?)? [2 p] 5. How can random exploration be achieved in MARL? Discuss the following strategies and choose one for your implementation: a) Should each agent explore individually? What problem(s) can arise? b) Should the exploration be synchronized, i.e. both agents explore at the same time? How can this be achieved? Justify your choice. [4 p] 6. Implement one (to be precise: the method with your login) of the following approaches to solve the given scenario: [12 p]

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a) Joint Action Learners [CB98] jflick b) WoLF-PHC [BV02] fmeith c) Distributed Q-Learning [LR00] fabiansc d) FMQ [KK02] mmeier86 e) Team-Q [Lit01] cborn 7. ( ) Compare your results with an approach where each agent executes single-agent Q-Learning and ignores the other agent (Independent Learners). 8. How can MARL tasks be evaluated? What is a useful metric? Justify and implement your choice and plot the results. Use appropriate settings so that your evaluation is reasonable and statistically convincing. [8 p] Remarks: • Although we gave you a fixed number of alternatives in Exs. 1, 3, 5 you may choose a different alternative but please give some reasons and argument for your choice. • Be aware that this scenario may require more episodes of learning.

References
[BV02] Michael Bowling and Manuela Veloso. Multiagent learning using a variable learning rate. Artificial Intelligence, 136:215–250, 2002. [CB98] Caroline Claus and Craig Boutilier. The dynamics of reinforcement learning in cooperative multiagent systems. In Proceedings of the Fifteenth National Conference on Artificial Intelligence (AAAI-98), pages 746–752, 1998. [KK02] Spiros Kapetanakis and Daniel Kudenko. Reinforcement learning of coordination in cooperative multi-agent systems. In Proceedings of the Eighteenth National Conference on Artificial Intelligence (AAAI-02), pages 326–331, 2002. [Lit01] Michael L. Littman. Value-function reinforcement learning in markov games. Cognitive Systems Research, 2(1):55–66, 2001. [LR00] M. Lauer and M. Riedmiller. An algorithm for distributed reinforcement learning in cooperative multi-agent systems. In Proc. of the 17th Intl. Conf. on Machine Learning (ICML 2000), pages 535–542, 2000.

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