The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or continual fashion. Current solutions to the continual learning problem require experience to be segmented and labeled as discrete tasks, however, in continuous experience it is generally unclear what a sufficient segmentation of tasks would be. Here we propose a method to continually learn these internal world models through the interleaving of internally generated episodes of past experiences (i.e., pseudo-rehearsal). We show this method can sequentially learn unsupervised temporal prediction, without task labels, in a disparate set of Atari games. Empirically, this interleaving of the internally generated rollouts with the external environment's observations leads to a consistent reduction in temporal prediction loss compared to non-interleaved learning and is preserved over repeated random exposures to various tasks. Similarly, using a network distillation approach, we show that modern policy gradient based reinforcement learning algorithms can use this internal model to continually learn to optimize reward based on the world model's representation of the environment.
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