Multiple model-based reinforcement learning
Abstract
We propose a modular reinforcement learning architecture for nonlinear, nonstationary control tasks, which we call multiple model-based reinforcement learning (MMRL). The basic idea is to decompose a complex task into multiple domains in space and time based on the predictability of the environmental dynamics. The system is composed of multiple modules, each of which consists of a state prediction model and a reinforcement learning controller. The "responsibility signal," which is given by the softmax function of the prediction errors, is used to weight the outputs of multiple modules, as well as to gate the learning of the prediction models and the reinforcement learning controllers. We formulate MMRL for both discrete-time, finite-state case and continuous-time, continuous-state case. The performance of MMRL was demonstrated for discrete case in a nonstationary hunting task in a grid world and for continuous case in a nonlinear, nonstationary control task of swinging up a pendulum with variable physical parameters.
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Two ends of a spectrum of reinforcement learning methods are model-based and model-free control, and these have been associated with goal-directed and habitual control, respectively.
“Two ends of a spectrum of RL methods are model-based and model-free control (where the term model refers to a mental as opposed to a computational model); it is these that have been associated with goal-directed and habitual control, respectively (Daw et al., 2005; Doya et al., 2002).”
From Goals and Habits in the Brain (2013) · cites this paper as Doya et al., 2002
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- Authors
- Doya, K., Samejima, K., Katagiri, K.-I., & Kawato, M.
- Affiliations
- Japan Science and Technology Agency (JP)
- Advanced Telecommunications Research Institute International (JP)
- Nara Institute of Science and Technology (JP)
- Corresponding author
- Doya, Kenji
- Samejima, Kazuyuki
- Katagiri, Ken-ichi
- Kawato, Mitsuo
- Venue
- Neural Computation
- Publisher
- MIT Press - Journals
- Published
- 2002-06-01
- Volume
- 14
- Issue
- 6
- Pages
- 1347-1369
- ISSN
- 0899-7667 (ISSN-L)
- 1530-888X
- OpenAlex
- W2168342951
- Cited by
- 476
- References
- 31
- Citations by year
- 2026: 11 · 2025: 17 · 2024: 17 · 2023: 21 · 2022: 14 · 2021: 40 · 2020: 29 · 2019: 22 · 2018: 20 · 2017: 16 · 2016: 20 · 2015: 30 · 2014: 18 · 2013: 21 · 2012: 15
- FWCI
- 12.03
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Neural Computation (publishedVersion)
- PubMed (publishedVersion)
- Funders
- Massachusetts Institute of Technology
- Topics
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Physical Sciences › Computer Science › Computational Theory and Mathematics › Adaptive Dynamic Programming Control
- Physical Sciences › Computer Science › Artificial Intelligence › Neural Networks and Applications
- Keywords
- nonlinear control, task decomposition
- MeSH terms
- Humans, Learning, Mental Processes, Models, Psychological, Reinforcement, Psychology
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