oIRL: Robust Adversarial Inverse Reinforcement Learning with Temporally Extended Actions

Explicit engineering of reward functions for given environments has been a major hindrance to reinforcement learning methods. While Inverse Reinforcement Learning (IRL) is a solution to recover reward functions from demonstrations only, these learned rewards are generally heavily \textit{entangled} with the dynamics of the environment and therefore not portable or \emph{robust} to changing environments. Modern adversarial methods have yielded some success in reducing reward entanglement in the IRL setting. In this work, we leverage one such method, Adversarial Inverse Reinforcement Learning (AIRL), to propose an algorithm that learns hierarchical disentangled rewards with a policy over options. We show that this method has the ability to learn \emph{generalizable} policies and reward functions in complex transfer learning tasks, while yielding results in continuous control benchmarks that are comparable to those of the state-of-the-art methods.