Bootstrapped Policy Learning for Task-oriented Dialogue through Goal Shaping

Reinforcement learning shows promise in optimizing dialogue policies, but addressing the challenge of reward sparsity remains crucial. While curriculum learning offers a practical solution by strategically training policies from simple to complex, it hinges on the assumption of a gradual increase in goal difficulty to ensure a smooth knowledge transition across varied complexities. In complex dialogue environments without intermediate goals, achieving seamless knowledge transitions becomes tricky. This paper proposes a novel Bootstrapped Policy Learning (BPL) framework, which adaptively tailors progressively challenging subgoal curriculum for each complex goal through goal shaping, ensuring a smooth knowledge transition. Goal shaping involves goal decomposition and evolution, decomposing complex goals into subgoals with solvable maximum difficulty and progressively increasing difficulty as the policy improves. Moreover, to enhance BPL's adaptability across various environments, we explore various combinations of goal decomposition and evolution within BPL, and identify two universal curriculum patterns that remain effective across different dialogue environments, independent of specific environmental constraints. By integrating the summarized curriculum patterns, our BPL has exhibited efficacy and versatility across four publicly available datasets with different difficulty levels.