There is often a trade-off between building deep learning systems that are expressive enough to capture the nuances of the reality, and having the right inductive biases for efficient learning. We introduce Residual Pathway Priors (RPPs) as a method for converting hard architectural constraints into soft priors, guiding models towards structured solutions, while retaining the ability to capture additional complexity. Using RPPs, we construct neural network priors with inductive biases for equivariances, but without limiting flexibility. We show that RPPs are resilient to approximate or misspecified symmetries, and are as effective as fully constrained models even when symmetries are exact. We showcase the broad applicability of RPPs with dynamical systems, tabular data, and reinforcement learning. In Mujoco locomotion tasks, where contact forces and directional rewards violate strict equivariance assumptions, the RPP outperforms baseline model-free RL agents, and also improves the learned transition models for model-based RL.

Complex sequential tasks in continuous-control settings often require agents to successfully traverse a set of "narrow passages" in their state space. Solving such tasks with a sparse reward in a sample-efficient manner poses a challenge to modern reinforcement learning (RL) due to the associated long-horizon nature of the problem and the lack of sufficient positive signal during learning. Various tools have been applied to address this challenge. When available, large sets of demonstrations can guide agent exploration. Hindsight relabelling on the other hand does not require additional sources of information. However, existing strategies explore based on task-agnostic goal distributions, which can render the solution of long-horizon tasks impractical. In this work, we extend hindsight relabelling mechanisms to guide exploration along task-specific distributions implied by a small set of successful demonstrations. We evaluate the approach on four complex, single and dual arm, robotics manipulation tasks against strong suitable baselines. The method requires far fewer demonstrations to solve all tasks and achieves a significantly higher overall performance as task complexity increases. Finally, we investigate the robustness of the proposed solution with respect to the quality of input representations and the number of demonstrations.

To meet the growing interest in Deep Reinforcement Learning (DRL), we sought to construct a DRL-driven Atari Pong agent and accompanying visualization tool. Existing approaches do not support the flexibility required to create an interactive exhibit with easily-configurable physics and a human-controlled player. Therefore, we constructed a new Pong game environment, discovered and addressed a number of unique data deficiencies that arise when applying DRL to a new environment, architected and tuned a policy gradient based DRL model, developed a real-time network visualization, and combined these elements into an interactive display to help build intuition and awareness of the mechanics of DRL inference.

Recent advances in reinforcement learning have demonstrated its ability to solve hard agent-environment interaction tasks on a super-human level. However, the application of reinforcement learning methods to practical and real-world tasks is currently limited due to most RL state-of-art algorithms' sample inefficiency, i.e., the need for a vast number of training episodes. For example, OpenAI Five algorithm that has beaten human players in Dota 2 has trained for thousands of years of game time. Several approaches exist that tackle the issue of sample inefficiency, that either offers a more efficient usage of already gathered experience or aim to gain a more relevant and diverse experience via a better exploration of an environment. However, to our knowledge, no such approach exists for model-based algorithms, that showed their high sample efficiency in solving hard control tasks with high-dimensional state space. This work connects exploration techniques and model-based reinforcement learning. We have designed a novel exploration method that takes into account features of the model-based approach. We also demonstrate through experiments that our method significantly improves the performance of the model-based algorithm Dreamer.

Reproduced under a CC BY 4.0 license. Here are the most tweeted papers that were uploaded onto arXiv during November 2021. Results are powered by Arxiv Sanity Preserver. Abstract: The study of generalisation in deep Reinforcement Learning (RL) aims to produce RL algorithms whose policies generalise well to novel unseen situations at deployment time, avoiding overfitting to their training environments. Tackling this is vital if we are to deploy reinforcement learning algorithms in real world scenarios, where the environment will be diverse, dynamic and unpredictable.

We investigate how effective an attacker can be when it only learns from its victim's actions, without access to the victim's reward. In this work, we are motivated by the scenario where the attacker wants to behave strategically when the victim's motivations are unknown. We argue that one heuristic approach an attacker can use is to maximize the entropy of the victim's policy. The policy is generally not obfuscated, which implies it may be extracted simply by passively observing the victim. We provide such a strategy in the form of a reward-free exploration algorithm that maximizes the attacker's entropy during the exploration phase, and then maximizes the victim's empirical entropy during the planning phase. In our experiments, the victim agents are subverted through policy entropy maximization, implying an attacker might not need access to the victim's reward to succeed. Hence, reward-free attacks, which are based only on observing behavior, show the feasibility of an attacker to act strategically without knowledge of the victim's motives even if the victim's reward information is protected.

The medical automatic diagnosis system aims to imitate human doctors in the real diagnostic process. This task is formulated as a sequential decision-making problem with symptom inquiring and disease diagnosis. In recent years, many researchers have used reinforcement learning methods to handle this task. However, most recent works neglected to distinguish the symptom inquiring and disease diagnosing actions and mixed them into one action space. This results in the unsatisfactory performance of reinforcement learning methods on this task. Moreover, there is a lack of a public evaluation dataset that contains various diseases and corresponding information. To address these issues, we first propose a novel method for medical automatic diagnosis with symptom inquiring and disease diagnosing formulated as a reinforcement learning task and a classification task, respectively. We also propose a robust and adaptive method to align the two tasks using distribution entropies as media. Then, we create a new dataset extracted from the MedlinePlus knowledge base. The dataset contains more diseases and more complete symptom information. The simulated patients for experiments are more realistic. Experimental evaluation results show that our method outperforms three recent state-of-the-art methods on different datasets by achieving higher medical diagnosis accuracies with few inquiring turns.

We introduce quantile filtered imitation learning (QFIL), a novel policy improvement operator designed for offline reinforcement learning. QFIL performs policy improvement by running imitation learning on a filtered version of the offline dataset. The filtering process removes $ s,a $ pairs whose estimated Q values fall below a given quantile of the pushforward distribution over values induced by sampling actions from the behavior policy. The definitions of both the pushforward Q distribution and resulting value function quantile are key contributions of our method. We prove that QFIL gives us a safe policy improvement step with function approximation and that the choice of quantile provides a natural hyperparameter to trade off bias and variance of the improvement step. Empirically, we perform a synthetic experiment illustrating how QFIL effectively makes a bias-variance tradeoff and we see that QFIL performs well on the D4RL benchmark.

Value function approximation is a crucial module for policy evaluation in reinforcement learning when the state space is large or continuous. The present paper takes a generative perspective on policy evaluation via temporal-difference (TD) learning, where a Gaussian process (GP) prior is presumed on the sought value function, and instantaneous rewards are probabilistically generated based on value function evaluations at two consecutive states. Capitalizing on a random feature-based approximant of the GP prior, an online scalable (OS) approach, termed {OS-GPTD}, is developed to estimate the value function for a given policy by observing a sequence of state-reward pairs. To benchmark the performance of OS-GPTD even in an adversarial setting, where the modeling assumptions are violated, complementary worst-case analyses are performed by upper-bounding the cumulative Bellman error as well as the long-term reward prediction error, relative to their counterparts from a fixed value function estimator with the entire state-reward trajectory in hindsight. Moreover, to alleviate the limited expressiveness associated with a single fixed kernel, a weighted ensemble (E) of GP priors is employed to yield an alternative scheme, termed OS-EGPTD, that can jointly infer the value function, and select interactively the EGP kernel on-the-fly. Finally, performances of the novel OS-(E)GPTD schemes are evaluated on two benchmark problems.

Multi-stage stochastic optimization (MSSO) considers the problem of optimizing a sequence of decisions over a finite number of stages in the presence of stochastic observations, minimizing an expected cost while ensuring stage-wise action constraints are satisfied (Birge and Louveaux, 2011; Shapiro et al., 2014). Such a problem formulation captures a diversity of real-world process optimization problems, such as asset allocation (Dantzig and Infanger, 1993), inventory control (Shapiro et al., 2014; Nambiar et al., 2021), energy planning (Pereira and Pinto, 1991), and bio-chemical process control (Bao et al., 2019), to name a few. Despite the importance and ubiquity of the problem, it has proved challenging to develop algorithms that can cope with high-dimensional action spaces and long-horizon problems (Shapiro and Nemirovski, 2005; Shapiro, 2006). There have been a number of attempts to design scalable algorithms for MSSO, which generally attempt to exploit scenarios-wise or stage-wise decompositions. An example of a scenario-wise approach is Rockafellar and Wets (1991), which proposed a progressive hedging algorithm that decomposes the sample averaged approximation of the problem into individual scenarios and applies an augmented Lagrangian method to achieve consistency in a final solution.