EAT-C: Environment-Adversarial sub-Task Curriculum for Efficient Reinforcement Learning

Reinforcement learning (RL) is inefficient on long-horizon tasks due to sparse rewards and its policy can be fragile to slightly perturbed environments. We address these challenges via a curriculum of tasks with coupled environments, generated by two policies trained jointly with RL: (1) a co-operative planning policy recursively decomposing a hard task into a coarse-to-fine sub-task tree; and (2) an adversarial policy modifying the environment in each sub-task. They are complementary to acquire more informative feedback for RL: (1) provides dense reward of easier subtasks while (2) modifies sub-tasks' environments to be more challenging and diverse. Conversely, they are trained by RL's dense feedback on subtasks so their generated curriculum keeps adaptive to RL's progress. The sub-task tree enables an easy-to-hard curriculum for every policy: its topdown construction gradually increases sub-tasks the planner needs to generate, while the adversarial training between the environment and RL follows a bottom-up traversal that starts from a dense sequence of easier sub-tasks allowing more frequent environment changes. We compare EAT-C with RL/planning targeting similar problems and methods with environment generators or adversarial agents. Extensive experiments on diverse tasks demonstrate the advantages of our method on improving RL's efficiency and generalization.