“…In downstream, with the help of the learned representation, the agent aims to find a near-optimal policy of a new task that shares the same representation as the source tasks. While representation learning has achieved great success in supervised learning (Du et al, 2020;Tripuraneni et al, 2021;Maurer et al, 2016;Kong et al, 2020) and multi-armed bandits (MAB) problems (Yang et al, 2021;Qin et al, 2022;Cella et al, 2022), most works in multitask RL mainly focus on empirical algorithms (Sodhani et al, 2021;Arulkumaran et al, 2022;Teh et al, 2017) with limited theoretical works (Arora et al, 2020;Hu et al, 2021;Brunskill and Li, 2013;Müller and Pacchiano, 2022;Calandriello et al, 2015;Lu et al, 2021;D'Eramo et al, 2020). Generally speaking, there are two main challenges for multitask representation learning in RL.…”