Automated Curriculum Learning by Rewarding Temporally Rare Events
  Reward shaping allows reinforcement learning (RL) agents to accelerate
learning by receiving additional reward signals. However, these signals can be
difficult to design manually, especially for complex RL tasks. We propose a
simple and general approach that determines the reward of pre-defined events by
their rarity alone. Here events become less rewarding as they are experienced
more often, which encourages the agent to continually explore new types of
events as it learns. The adaptiveness of this reward function results in a form
of automated curriculum learning that does not have to be specified by the
experimenter. We demonstrate that this \emph{Rarity of Events} (RoE) approach
enables the agent to succeed in challenging VizDoom scenarios without access to
the extrinsic reward from the environment. Furthermore, the results demonstrate
that RoE learns a more versatile policy that adapts well to critical changes in
the environment. Rewarding events based on their rarity could help in many
unsolved RL environments that are characterized by sparse extrinsic rewards but
a plethora of known event types.
