ADARL: Adaptive Low-Rank Structures for Robust Policy Learning under Uncertainty

Robust reinforcement learning (Robust RL) seeks to handle epistemic uncertainty in environment dynamics, but existing approaches often rely on nested min--max optimization, which is computationally expensive and yields overly conservative policies. We propose Adaptive Rank Representation (AdaRL), a bi-level optimization framework that improves robustness by aligning policy complexity with the intrinsic dimension of the task. At the lower level, AdaRL performs policy optimization under fixed-rank constraints with dynamics sampled from a Wasserstein ball around a centroid model. At the upper level, it adaptively adjusts the rank to balance the bias--variance trade-off, projecting policy parameters onto a low-rank manifold. This design avoids solving adversarial worst-case dynamics while ensuring robustness without over-parameterization. Empirical results on MuJoCo continuous control benchmarks demonstrate that AdaRL not only consistently outperforms fixed-rank baselines (e.g., SAC) and state-of-the-art robust RL methods (e.g., RNAC, Parseval), but also converges toward the intrinsic rank of the underlying tasks. These results highlight that adaptive low-rank policy representations provide an efficient and principled alternative for robust RL under model uncertainty.