  The idea of reusing or transferring information from previously learned tasks
(source tasks) for the learning of new tasks (target tasks) has the potential
to significantly improve the sample efficiency of a reinforcement learning
agent. In this work, we describe a novel approach for reusing previously
acquired knowledge by using it to guide the exploration of an agent while it
learns new tasks. In order to do so, we employ a variant of the growing
self-organizing map algorithm, which is trained using a measure of similarity
that is defined directly in the space of the vectorized representations of the
value functions. In addition to enabling transfer across tasks, the resulting
map is simultaneously used to enable the efficient storage of previously
acquired task knowledge in an adaptive and scalable manner. We empirically
validate our approach in a simulated navigation environment, and also
demonstrate its utility through simple experiments using a mobile
micro-robotics platform. In addition, we demonstrate the scalability of this
approach, and analytically examine its relation to the proposed network growth
mechanism. Further, we briefly discuss some of the possible improvements and
extensions to this approach, as well as its relevance to real world scenarios
in the context of continual learning.
