Meta-World Conditional Neural Processes

Abstract

We propose Meta-World Conditional Neural Processes (MW-CNP), a conditional world model generator that leverages sample efficiency and scalability of Conditional Neural Processes to enable an agent to sample from its own "hallucination". We intend to reduce the agent's interaction with the target environment at test time as much as possible. To reduce the number of samples required at test time, we first obtain a latent representation of the transition dynamics from a single rollout from the test environment with hidden parameters. Then, we obtain rollouts for few-shot learning by interacting with the "hallucination" generated by the meta-world model. Using the world model representation from MW-CNP, the meta-RL agent can adapt to an unseen target environment with significantly fewer samples collected from the target environment compared to the baselines. We emphasize that the agent does not have access to the task parameters throughout training and testing, and MW-CNP is trained on offline interaction data logged during meta-training.