Generating simulations to train intelligent agents in game-playing and robotics from natural language input, user input, or task documentation remains an open-ended challenge. Existing approaches focus on parts of this challenge, such as generating reward functions or task hyperparameters. Unlike previous work, we introduce FACTORSIM that generates full simulations in code from language input that can be used to train agents. Exploiting the structural modularity specific to coded simulations, we propose to use a factored partially observable Markov decision process representation that allows us to reduce context dependence during each step of the generation. For evaluation, we introduce a generative simulation benchmark that assesses the generated simulation code's accuracy and effectiveness in facilitating zero-shot transfers in reinforcement learning settings. We show that FACTORSIM outperforms existing methods in generating simulations regarding prompt alignment (i.e., accuracy), zero-shot transfer abilities, and human evaluation. We also demonstrate its effectiveness in generating robotic tasks.

We consider offline reinforcement learning (RL) in $H$-horizon Markov decision processes (MDPs) under the linear $q^\pi$-realizability assumption, where the action-value function of every policy is linear with respect to a given $d$-dimensional feature function. The hope in this setting is that learning a good policy will be possible without requiring a sample size that scales with the number of states in the MDP. Foster et al. [2021] have shown this to be impossible even under $\text{\textit{concentrability}}$, a data coverage assumption where a coefficient $C_\text{conc}$ bounds the extent to which the state-action distribution of any policy can veer off the data distribution. However, the data in this previous work was in the form of a sequence of individual transitions. This leaves open the question of whether the negative result mentioned could be overcome if the data was composed of sequences of full trajectories.

In the context of reinforcement learning from human feedback (RLHF), the reward function is generally derived from maximum likelihood estimation of a random utility model based on pairwise comparisons made by humans. The problem of learning a reward function is one of preference aggregation that, we argue, largely falls within the scope of social choice theory. From this perspective, we can evaluate different aggregation methods via established axioms, examining whether these methods meet or fail well-known standards. We demonstrate that both the Bradley-Terry-Luce Model and its broad generalizations fail to meet basic axioms. In response, we develop novel rules for learning reward functions with strong axiomatic guarantees. A key innovation from the standpoint of social choice is that our problem has a structure, which greatly restricts the space of feasible rules and leads to a new paradigm that we call .

We study the problem of online sequential decision-making given auxiliary demonstrations from who made their decisions based on unobserved contextual information. These demonstrations can be viewed as solving related but slightly different tasks than what the learner faces. This setting arises in many application domains, such as self-driving cars, healthcare, and finance, where expert demonstrations are made using contextual information, which is not recorded in the data available to the learning agent. We model the problem as a zero-shot meta-reinforcement learning setting with an unknown task distribution and a Bayesian regret minimization objective, where the unobserved tasks are encoded as parameters with an unknown prior. We propose the Experts-as-Priors algorithm (ExPerior), an empirical Bayes approach that utilizes expert data to establish an informative prior distribution over the learner's decision-making problem. This prior enables the application of any Bayesian approach for online decision-making, such as posterior sampling. We demonstrate that our strategy surpasses existing behaviour cloning and online algorithms, as well as online-offline baselines for multi-armed bandits, Markov decision processes (MDPs), and partially observable MDPs, showcasing the broad reach and utility of ExPerior in using expert demonstrations across different decision-making setups.

Partial observability of the underlying states generally presents significant challenges for reinforcement learning (RL). In practice, certain, e.g., the access to states from simulators, has been exploited in training and achieved prominent empirical successes. To better understand the benefits of privileged information, we revisit and examine several simple and practically used paradigms in this setting, with both computation and sample efficiency analyses. Specifically, we first formalize the empirical paradigm of (also known as learning), demonstrating its pitfall in finding near-optimal policies. We then identify a condition of the partially observable environment, the deterministic filter condition, under which expert distillation achieves sample and computational complexities that are polynomial. Furthermore, we investigate another successful empirical paradigm of, and focus on the more challenging setting of observable partially observable Markov decision processes. We develop a belief-weighted optimistic asymmetric actor-critic algorithm with polynomial sample and quasi-polynomial computational complexities, where one key component is a new provable oracle for learning belief states that preserve under a misspecified model, which may be of independent interest. Finally, we also investigate the provable efficiency of partially observable multi-agent RL (MARL) with privileged information.

Transduction is a powerful paradigm that leverages the structure of unlabeled data to boost predictive accuracy. We present TransCLIP, a novel and computationally efficient transductive approach designed for Vision-Language Models (VLMs). TransCLIP is applicable as a plug-and-play module on top of popular inductive zero-and few-shot models, consistently improving their performances. Our new objective function can be viewed as a regularized maximum-likelihood estimation, constrained by a KL divergence penalty that integrates the text-encoder knowledge and guides the transductive learning process. We further derive an iterative Block Majorize-Minimize (BMM) procedure for optimizing our objective, with guaranteed convergence and decoupled sample-assignment updates, yielding computationally efficient transduction for large-scale datasets. We report comprehensive evaluations, comparisons, and ablation studies that demonstrate: (i) Transduction can greatly enhance the generalization capabilities of inductive pretrained zero-and few-shot VLMs; (ii) TransCLIP substantially outperforms standard transductive few-shot learning methods relying solely on vision features, notably due to the KL-based language constraint.

The standard approach for Partially Observable Markov Decision Processes (POMDPs) is to convert them to a fully observed belief-state MDP. However, the belief state depends on the system model and is therefore not viable in reinforcement learning (RL) settings. A widely used alternative is to use an agent state, which is a model-free, recursively updateable function of the observation history. Examples include frame stacking and recurrent neural networks. Since the agent state is model-free, it is used to adapt standard RL algorithms to POMDPs. However, standard RL algorithms like Q-learning learn a stationary policy.

Planning in real-world settings often entails addressing partial observability while aligning with users' requirements. We present a novel framework for expressing users' constraints and preferences about agent behavior in a partially observable setting using parameterized belief-state query (BSQ) policies in the setting of goal-oriented partially observable Markov decision processes (gPOMDPs). We present the first formal analysis of such constraints and prove that while the expected cost function of a parameterized BSQ policy w.r.t its parameters is not convex, it is piecewise constant and yields an implicit discrete parameter search space that is finite for finite horizons. This theoretical result leads to novel algorithms that optimize gPOMDP agent behavior with guaranteed user alignment. Analysis proves that our algorithms converge to the optimal user-aligned behavior in the limit. Empirical results show that parameterized BSQ policies provide a computationally feasible approach for user-aligned planning in partially observable settings.

Real-world decision-making tasks are usually partially observable Markov decision processes (POMDPs), where the state is not fully observable. Recent progress has demonstrated that recurrent reinforcement learning (RL), which consists of a context encoder based on recurrent neural networks (RNNs) for unobservable state prediction and a multilayer perceptron (MLP) policy for decision making, can mitigate partial observability and serve as a robust baseline for POMDP tasks. However, prior recurrent RL algorithms have faced issues with training instability. In this paper, we find that this instability stems from the autoregressive nature of RNNs, which causes even small changes in RNN parameters to produce large output variations over long trajectories.

Intensive algorithmic efforts have been made to enable the rapid improvements of certificated robustness for complex ML models recently. However, current robustness certification methods are only able to certify under a limited perturbation radius. Given that existing pure data-driven statistical approaches have reached a bottleneck, in this paper, we propose to integrate statistical ML models with knowledge (expressed as logical rules) as a reasoning component using Markov logic networks (MLN), so as to further improve the overall certified robustness. This opens new research questions about certifying the robustness of such a paradigm, especially the reasoning component (e.g., MLN). As the first step towards understanding these questions, we first prove that the computational complexity of certifying the robustness of MLN is #P-hard. Guided by this hardness result, we then derive the first certified robustness bound for MLN by carefully analyzing different model regimes. Finally, we conduct extensive experiments on five datasets including both high-dimensional images and natural language texts, and we show that the certified robustness with knowledge-based logical reasoning indeed significantly outperforms that of the state-of-the-arts.