Quality-Diversity (QD) algorithms, and MAP-Elites (ME) in particular, have proven very useful for a broad range of applications including enabling real robots to recover quickly from joint damage, solving strongly deceptive maze tasks or evolving robot morphologies to discover new gaits. However, present implementations of MAP-Elites and other QD algorithms seem to be limited to low-dimensional controllers with far fewer parameters than modern deep neural network models. In this paper, we propose to leverage the efficiency of Evolution Strategies (ES) to scale MAP-Elites to high-dimensional controllers parameterized by large neural networks. We design and evaluate a new hybrid algorithm called MAP-Elites with Evolution Strategies (ME-ES) for post-damage recovery in a difficult high-dimensional control task where traditional ME fails. Additionally,we show that ME-ES performs efficient exploration, on par with state-of-the-art exploration algorithms in high-dimensional control tasks with strongly deceptive rewards.

We show that adversarial reinforcement learning (ARL) can be used to produce market marking agents that are robust to adversarial and adaptively chosen market conditions. To apply ARL, we turn the well-studied single-agent model of Avellaneda and Stoikov [2008] into a discrete-time zero-sum game between a market maker and adversary, a proxy for other market participants who would like to profit at the market maker's expense. We empirically compare two conventional single-agent RL agents with ARL, and show that our ARL approach leads to: 1) the emergence of naturally risk-averse behaviour without constraints or domain-specific penalties; 2) significant improvements in performance across a set of standard metrics, evaluated with or without an adversary in the test environment, and; 3) improved robustness to model uncertainty. We empirically demonstrate that our ARL method consistently converges, and we prove for several special cases that the profiles that we converge to are Nash equilibria in a corresponding simplified single-stage game.

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the sample efficiency of a more complex one. To this end, we propose a hierarchical decoupling of policies into two parts: an independently learned low-level policy and a transferable high-level policy. To remedy poor transfer performance due to mismatch in morphologies, we contribute two key ideas. First, we show that incentivizing a complex agent's low-level to imitate a simpler agent's low-level significantly improves zero-shot high-level transfer. Second, we show that KL-regularized training of the high level stabilizes learning and prevents mode-collapse. Finally, on a suite of publicly released navigation and manipulation environments, we demonstrate the applicability of hierarchical transfer on long-range tasks across morphologies. Our code and videos can be found at https://sites.google.com/berkeley.edu/morphology-transfer.

The application of unsupervised learning approaches, and in particular of clustering techniques, represents a powerful exploration means for the analysis of network measurements. Discovering underlying data characteristics, grouping similar measurements together, and identifying eventual patterns of interest are some of the applications which can be tackled through clustering. Being unsupervised, clustering does not always provide precise and clear insight into the produced output, especially when the input data structure and distribution are complex and difficult to grasp. In this paper we introduce EXPLAIN-IT, a methodology which deals with unlabeled data, creates meaningful clusters, and suggests an explanation to the clustering results for the end-user. EXPLAIN-IT relies on a novel explainable Artificial Intelligence (AI) approach, which allows to understand the reasons leading to a particular decision of a supervised learning-based model, additionally extending its application to the unsupervised learning domain. We apply EXPLAIN-IT to the problem of YouTube video quality classification under encrypted traffic scenarios, showing promising results.

Artificial intelligence shows promise for solving many practical societal problems in areas such as healthcare and transportation. However, the current mechanisms for AI model diffusion such as Github code repositories, academic project webpages, and commercial AI marketplaces have some limitations; for example, a lack of monetization methods, model traceability, and model auditabilty. In this work, we sketch guidelines for a new AI diffusion method based on a decentralized online marketplace. We consider the technical, economic, and regulatory aspects of such a marketplace including a discussion of solutions for problems in these areas. Finally, we include a comparative analysis of several current AI marketplaces that are already available or in development. We find that most of these marketplaces are centralized commercial marketplaces with relatively few models.

As Artificial Intelligence (AI) technology gets more intertwined with every system, people are using AI to make decisions on their everyday activities. In simple contexts, such as Netflix recommendations, or in more complex context like in judicial scenarios, AI is part of people's decisions. People make decisions and usually, they need to explain their decision to others or in some matter. It is particularly critical in contexts where human expertise is central to decision-making. In order to explain their decisions with AI support, people need to understand how AI is part of that decision. When considering the aspect of fairness, the role that AI has on a decision-making process becomes even more sensitive since it affects the fairness and the responsibility of those people making the ultimate decision. We have been exploring an evidence-based explanation design approach to 'tell the story of a decision'. In this position paper, we discuss our approach for AI systems using fairness sensitive cases in the literature.

The endeavor to understand the brain involves multiple collaborating research fields. Classically, synaptic plasticity rules derived by theoretical neuroscientists are evaluated in isolation on pattern classification tasks. This contrasts with the biological brain which purpose is to control a body in closed-loop. This paper contributes to bringing the fields of computational neuroscience and robotics closer together by integrating open-source software components from these two fields. The resulting framework allows to evaluate the validity of biologically-plausibe plasticity models in closed-loop robotics environments. We demonstrate this framework to evaluate Synaptic Plasticity with Online REinforcement learning (SPORE), a reward-learning rule based on synaptic sampling, on two visuomotor tasks: reaching and lane following. We show that SPORE is capable of learning to perform policies within the course of simulated hours for both tasks. Provisional parameter explorations indicate that the learning rate and the temperature driving the stochastic processes that govern synaptic learning dynamics need to be regulated for performance improvements to be retained. We conclude by discussing the recent deep reinforcement learning techniques which would be beneficial to increase the functionality of SPORE on visuomotor tasks.

Current deep reinforcement learning approaches incorporate minimal prior knowledge about the environment, limiting computational and sample efficiency. We incorporate a few object-based priors that humans are known to use: "Infants divide perceptual arrays into units that move as connected wholes, that move separately from one another, that tend to maintain their size and shape over motion, and that tend to act upon each other only on contact" [Spelke]. We propose a probabilistic object-based model of environments and use human object priors to develop an efficient self-supervised algorithm for maximum likelihood estimation of the model parameters from observations and for inferring objects directly from the perceptual stream. We then use object features and incorporate object-contact priors to improve the sample efficiency our object-based RL agent.We evaluate our approach on a subset of the Atari benchmarks, and learn up to four orders of magnitude faster than the standard deep Q-learning network, rendering rapid desktop experiments in this domain feasible. To our knowledge, our system is the first to learn any Atari task in fewer environment interactions than humans.

Despite recent success of deep network-based Reinforcement Learning (RL), it remains elusive to achieve human-level efficiency in learning novel tasks. While previous efforts attempt to address this challenge using meta-learning strategies, they typically suffer from sampling inefficiency with on-policy RL algorithms or meta-overfitting with off-policy learning. In this work, we propose a novel meta-RL strategy to address those limitations. In particular, we decompose the meta-RL problem into three sub-tasks, task-exploration, task-inference and task-fulfillment, instantiated with two deep network agents and a task encoder. During meta-training, our method learns a task-conditioned actor network for task-fulfillment, an explorer network with a self-supervised reward shaping that encourages task-informative experiences in task-exploration, and a context-aware graph-based task encoder for task inference. We validate our approach with extensive experiments on several public benchmarks and the results show that our algorithm effectively performs exploration for task inference, improves sample efficiency during both training and testing, and mitigates the meta-overfitting problem.

We introduce the STEM (Science, Technology, Engineering, and Medicine) Dataset for Scientific Entity Extraction, Classification, and Resolution, version 1.0 (STEM-ECR v1.0). The STEM-ECR v1.0 dataset has been developed to provide a benchmark for the evaluation of scientific entity extraction, classification, and resolution tasks in a domain-independent fashion. It comprises abstracts in 10 STEM disciplines that were found to be the most prolific ones on a major publishing platform. We describe the creation of such a multidisciplinary corpus and highlight the obtained findings in terms of the following features: 1) a generic conceptual formalism for scientific entities in a multidisciplinary scientific context; 2) the feasibility of the domain-independent human annotation of scientific entities under such a generic formalism; 3) a performance benchmark obtainable for automatic extraction of multidisciplinary scientific entities using BERT-based neural models; 4) a delineated 3-step entity resolution procedure for human annotation of the scientific entities via encyclopedic entity linking and lexicographic word sense disambiguation; and 5) human evaluations of Babelfy returned encyclopedic links and lexicographic senses for our entities. Our findings cumulatively indicate that human annotation and automatic learning of multidisciplinary scientific concepts as well as their semantic disambiguation in a wide-ranging setting as STEM is reasonable.