In this thesis, we investigate two different aspects of stability: the stability of neural network dynamics models and the stability of reinforcement learning algorithms. In the first chapter, we propose a new method for learning Lyapunov-stable dynamics models that are stable by construction, even when randomly initialized. We demonstrate the effectiveness of this method on damped multi-link pendulums and show how it can be used to generate high-fidelity video textures.

In the second and third chapters, we focus on the stability of Reinforcement Learning (RL). In the second chapter, we demonstrate that regularization, a common approach to addressing instability, behaves counterintuitively in RL settings. Not only is it sometimes ineffective, but it can also cause instability. We demonstrate this phenomenon in both linear and neural network settings. Further, stadard resampling methods are vulnerable to the same.

In the third chapter, we propose a mechanism to stabilize off-policy RL through resampling. Called Projected Off-Policy TD (POP-TD), it resamples TD updates to come from a convex subset of "safe" distributions instead of (as in other resampling methods) resampling to the on-policy distribution. We show how this approach can mitigate the distribution shift problem in offline RL on a task designed to maximize such shift.

Overall, this thesis advances novel methods for dynamics model stability and training stability in reinforcement learning, questions existing assumptions in the field, and points to promising directions for stability in model and reinforcement learning.

97 pages

Thesis Committee:
J. Zico Kolter (Chair)
David Held
Deepak Pathak
Sergey Levin (University of California, Berkeley)

Srinivasan Seshan, Head, Computer Science Department
Martial Hebert, Dean, School of Computer Science

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