Potential-Based Intrinsic Motivation: Preserving Optimality With Complex, Non-Markovian Shaping Rewards

Recently there has been a proliferation of intrinsic motivation (IM) reward-shaping methods to learn in complex and sparse-reward environments. These methods can often inadvertently change the set of optimal policies in an environment, leading to suboptimal behavior. Previous work on mitigating the risks of reward shaping, particularly through potential-based reward shaping (PBRS), has not been applicable to many IM methods, as they are often complex, trainable functions themselves, and therefore dependent on a wider set of variables than the traditional reward functions that PBRS was developed for. We present an extension to PBRS that we prove preserves the set of optimal policies under a more general set of functions than has been previously proven. We also present {\em Potential-Based Intrinsic Motivation} (PBIM) and {\em Generalized Reward Matching} (GRM), methods for converting IM rewards into a potential-based form that are useable without altering the set of optimal policies. Testing in the MiniGrid DoorKey and Cliff Walking environments, we demonstrate that PBIM and GRM successfully prevent the agent from converging to a suboptimal policy and can speed up training. Additionally, we prove that GRM is sufficiently general as to encompass all potential-based reward shaping functions. This paper expands on previous work introducing the PBIM method, and provides an extension to the more general method of GRM, as well as additional proofs, experimental results, and discussion.