We present a framework and algorithm for peer-to-peer teaching in cooperative multiagent reinforcement learning. Our algorithm, Learning to Coordinate and Teach Reinforcement (LeCTR), trains advising policies by using students' learning progress as a teaching reward. Agents using LeCTR learn to assume the role of a teacher or student at the appropriate moments, exchanging action advice to accelerate the entire learning process. Our algorithm supports teaching heterogeneous teammates, advising under communication constraints, and learns both what and when to advise. LeCTR is demonstrated to outperform the final performance and rate of learning of prior teaching methods on multiple benchmark domains. To our knowledge, this is the first approach for learning to teach in a multiagent setting.

Super-resolution fluorescence microscopy, with a resolution beyond the diffraction limit of light, has become an indispensable tool to directly visualize biological structures in living cells at a nanometer-scale resolution. Despite advances in high-density super-resolution fluorescent techniques, existing methods still have bottlenecks, including extremely long execution time, artificial thinning and thickening of structures, and lack of ability to capture latent structures. Here we propose a novel deep learning guided Bayesian inference approach, DLBI, for the time-series analysis of high-density fluorescent images. Our method combines the strength of deep learning and statistical inference, where deep learning captures the underlying distribution of the fluorophores that are consistent with the observed time-series fluorescent images by exploring local features and correlation along time-axis, and statistical inference further refines the ultrastructure extracted by deep learning and endues physical meaning to the final image. Comprehensive experimental results on both real and simulated datasets demonstrate that our method provides more accurate and realistic local patch and large-field reconstruction than the state-of-the-art method, the 3B analysis, while our method is more than two orders of magnitude faster. The main program is available at https://github.com/lykaust15/DLBI

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In many real-world robotic applications, an autonomous agent must act within and explore a partially observed environment that is unobserved by its human teammate. We consider such a setting in which the agent can, while acting, transmit declarative information to the human that helps them understand aspects of this unseen environment. Importantly, we should expect the human to have preferences about what information they are given and when they are given it. In this work, we adopt an information-theoretic view of the human's preferences: the human scores a piece of information as a function of the induced reduction in weighted entropy of their belief about the environment state. We formulate this setting as a POMDP and give a practical algorithm for solving it approximately. Then, we give an algorithm that allows the agent to sample-efficiently learn the human's preferences online. Finally, we describe an extension in which the human's preferences are time-varying. We validate our approach experimentally in two planning domains: a 2D robot mining task and a more realistic 3D robot fetching task.

The great success of deep learning shows that its technology contains profound truth, and understanding its internal mechanism not only has important implications for the development of its technology and effective application in various fields, but also provides meaningful insights into the understanding of human brain mechanism. At present, most of the theoretical research on deep learning is based on mathematics. This dissertation proposes that the neural network of deep learning is a physical system, examines deep learning from three different perspectives: microscopic, macroscopic, and physical world views, answers multiple theoretical puzzles in deep learning by using physics principles. For example, from the perspective of quantum mechanics and statistical physics, this dissertation presents the calculation methods for convolution calculation, pooling, normalization, and Restricted Boltzmann Machine, as well as the selection of cost functions, explains why deep learning must be deep, what characteristics are learned in deep learning, why Convolutional Neural Networks do not have to be trained layer by layer, and the limitations of deep learning, etc., and proposes the theoretical direction and basis for the further development of deep learning now and in the future. The brilliance of physics flashes in deep learning, we try to establish the deep learning technology based on the scientific theory of physics.

We consider online learning for minimizing regret in unknown, episodic Markov decision processes (MDPs) with continuous states and actions. We develop variants of the UCRL and posterior sampling algorithms that employ nonparametric Gaussian process priors to generalize across the state and action spaces. When the transition and reward functions of the true MDP are either sampled from Gaussian process priors (fully Bayesian setting) or are members of the associated Reproducing Kernel Hilbert Spaces of functions induced by symmetric psd kernels (frequentist setting), we show that the algorithms enjoy sublinear regret bounds. The bounds are in terms of explicit structural parameters of the kernels, namely a novel generalization of the information gain metric from kernelized bandit, and highlight the influence of transition and reward function structure on the learning performance. Our results are applicable to multi-dimensional state and action spaces with composite kernel structures, and generalize results from the literature on kernelized bandits, and the adaptive control of parametric linear dynamical systems with quadratic costs.

We present transductive Boltzmann machines (TBMs), which firstly achieve transductive learning of the Gibbs distribution. While exact learning of the Gibbs distribution is impossible by the family of existing Boltzmann machines due to combinatorial explosion of the sample space, TBMs overcome the problem by adaptively constructing the minimum required sample space from data to avoid unnecessary generalization. We theoretically provide bias-variance decomposition of the KL divergence in TBMs to analyze its learnability, and empirically demonstrate that TBMs are superior to the fully visible Boltzmann machines and popularly used restricted Boltzmann machines in terms of efficiency and effectiveness.

Recently there has been a rising interest in training agents, embodied in virtual environments, to perform language-directed tasks by deep reinforcement learning. In this paper, we propose a simple but effective neural language grounding module for embodied agents that can be trained end to end from scratch taking raw pixels, unstructured linguistic commands, and sparse rewards as the inputs. We model the language grounding process as a language-guided transformation of visual features, where latent sentence embeddings are used as the transformation matrices. In several language-directed navigation tasks that feature challenging partial observation and require simple reasoning, our module significantly outperforms the state of the arts. We also release XWORLD 3D, an easy-to-customize 3D environment that can potentially be modified to evaluate a variety of embodied agents.

Bike sharing provides an environment-friendly way for traveling and is booming worldwide. Yet, due to the high similarity of user travel patterns, the bike imbalance problem constantly occurs, especially for dockless bike sharing systems, causing significant impact on service quality and company revenue. Thus, it has become a critical task for bike sharing systems to resolve such imbalance efficiently. In this paper, we propose a novel deep reinforcement learning framework for incentivizing users to rebalance such sys- tems. We model this problem as a Markov decision process and take both spatial and temporal features into consideration. We develop a novel deep reinforcement learning algorithm called Hierarchical Reinforcement Pricing (HRP), which builds upon the Deep Deterministic Policy Gradient algorithm. Different from existing methods that often ignore spatial information and rely heavily on accurate prediction, HRP can capture both spatial and temporal dependencies using a divide-and-conquer structure with an embedded localized module. We conduct extensive experiments to evaluate HRP, based on a dataset from Mobike, a major Chinese dockless bike sharing company. Results show that HRP performs close to the 24-timeslot look-ahead optimization, and outperforms state-of-the-art methods in both service level and bike distribution. It also transfers well when applied to unseen areas.

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed multi-robot collision avoidance systems exist, they often require extracting agent-level features to plan a local collision-free action, which can be computationally prohibitive and not robust. More importantly, in practice the performance of these methods are much lower than their centralized counterparts. We present a decentralized sensor-level collision avoidance policy for multi-robot systems, which directly maps raw sensor measurements to an agent's steering commands in terms of movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to find an optimal policy which is trained over a large number of robots on rich, complex environments simultaneously using a policy gradient based reinforcement learning algorithm. We validate the learned sensor-level collision avoidance policy in a variety of simulated scenarios with thorough performance evaluations and show that the final learned policy is able to find time efficient, collision-free paths for a large-scale robot system. We also demonstrate that the learned policy can be well generalized to new scenarios that do not appear in the entire training period, including navigating a heterogeneous group of robots and a large-scale scenario with 100 robots. Videos are available at https://sites.google.com/view/drlmaca