Preferred Networks, as a research-oriented AI startup, participates every year in NeurIPS, the world's biggest machine learning conference. This post highlights our accomplishments and activities at NeurIPS 2019. We are very excited to be a part of it & looking forward to seeing top ML researchers from all over the world there! This year, four papers from Preferred Networks have been accepted for poster presentation. Three of them are based on ex-intern's work and we are very proud of their dedication and high-quality research.

This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new learning technique that is based on the robust control theory. By learning from the data, the algorithm proposed actions that guarantees the stability of the closed loop system within the uncertainties estimated from the data. Control policies are calculated by solving a set of linear matrix inequalities. The controller was evaluated using simulations on a blood glucose model for patients with type-1 diabetes. Simulation results show that the proposed methodology is capable of safely regulates the blood glucose within a healthy level under the influence of measurement and process noises. The controller has also significantly reduced the post-meal fluctuation of the blood glucose. A comparison between the proposed algorithm and the existing optimal reinforcement learning algorithm shows the improved robustness of the closed loop system using our method.

Multi-Agent Reinforcement Learning (MARL) encompasses a powerful class of methodologies that have been applied in a wide range of fields. An effective way to further empower these methodologies is to develop libraries and tools that could expand their interpretability and explainability. In this work, we introduce MARLeME: a MARL model extraction library, designed to improve explainability of MARL systems by approximating them with symbolic models. Symbolic models offer a high degree of interpretability, well-defined properties, and verifiable behaviour. Consequently, they can be used to inspect and better understand the underlying MARL system and corresponding MARL agents, as well as to replace all/some of the agents that are particularly safety and security critical.

In this paper, we propose a multi-timescale replay (MTR) buffer for improving continual learning in RL agents faced with environments that are changing continuously over time at timescales that are unknown to the agent. The basic MTR buffer comprises a cascade of sub-buffers that accumulate experiences at different timescales, enabling the agent to improve the tradeoff between adaptation to new data and retention of old knowledge. We also combine the MTR framework with invariant risk minimization [Arjovsky et al., 2019] with the idea of encouraging the agent to learn a policy that is robust across the various environments it encounters over time. The MTR methods are evaluated in three different continual learning settings on two continuous control tasks and, in many cases, show improvement over the baselines.

Model-based reinforcement learning (MBRL) has recently gained immense interest due to its potential for sample efficiency and ability to incorporate off-policy data. However, designing stable and efficient MBRL algorithms using rich function approximators have remained challenging. To help expose the practical challenges in MBRL and simplify algorithm design from the lens of abstraction, we develop a new framework that casts MBRL as a game between: (1) a policy player, which attempts to maximize rewards under the learned model; (2) a model player, which attempts to fit the real-world data collected by the policy player. For algorithm development, we construct a Stackelberg game between the two players, and show that it can be solved with approximate bi-level optimization. This gives rise to two natural families of algorithms for MBRL based on which player is chosen as the leader in the Stackelberg game. Together, they encapsulate, unify, and generalize many previous MBRL algorithms. Furthermore, our framework is consistent with and provides a clear basis for heuristics known to be important in practice from prior works. Finally, through experiments we validate that our proposed algorithms are highly sample efficient, match the asymptotic performance of model-free policy gradient, and scale gracefully to high-dimensional tasks like dexterous hand manipulation.

We propose a novel method for analyzing and visualizing the complexity of standard reinforcement learning (RL) benchmarks based on score distributions. A large number of policy networks are generated by randomly guessing their parameters, and then evaluated on the benchmark task; the study of their aggregated results provide insights into the benchmark complexity. Our method guarantees objectivity of evaluation by sidestepping learning altogether: the policy network parameters are generated using Random Weight Guessing (RWG), making our method agnostic to (i) the classic RL setup, (ii) any learning algorithm, and (iii) hyperparameter tuning. We show that this approach isolates the environment complexity, highlights specific types of challenges, and provides a proper foundation for the statistical analysis of the task's difficulty. We test our approach on a variety of classic control benchmarks from the OpenAI Gym, where we show that small untrained networks can provide a robust baseline for a variety of tasks. The networks generated often show good performance even without gradual learning, incidentally highlighting the triviality of a few popular benchmarks.

Revised and expanded for TensorFlow 2, GANs, and reinforcement learning. Python Machine Learning, Third Edition is a comprehensive guide to machine learning and deep learning with Python. It acts as both a step-by-step tutorial, and a reference you'll keep coming back to as you build your machine learning systems. Packed with clear explanations, visualizations, and working examples, the book covers all the essential machine learning techniques in depth. While some books teach you only to follow instructions, with this machine learning book, Raschka and Mirjalili teach the principles behind machine learning, allowing you to build models and applications for yourself.

Prior work on generating explanations has been focused on providing the rationale behind the robot's decision making. While these approaches provide the right explanations from the explainer's perspective, they fail to heed the cognitive requirement of understanding an explanation from the explainee's perspective. In this work, we set out to address this issue from a planning context by considering the order of information provided in an explanation, which is referred to as the progressiveness of explanations. Progressive explanations contribute to a better understanding by minimizing the cumulative cognitive effort required for understanding all the information in an explanation. As a result, such explanations are easier to understand. Given the sequential nature of communicating information, a general formulation based on goal-based Markov Decision Processes for generating progressive explanation is presented. The reward function of this MDP is learned via inverse reinforcement learning based on explanations that are provided by human subjects. Our method is evaluated in an escape-room domain. The results show that our progressive explanation generation method reduces the cognitive load over two baselines.

Reinforcement learning (RL) has been demonstrated to have great potential in many applications of scientific discovery and design. Recent work includes, for example, the design of new structures and compositions of molecules for therapeutic drugs. Much of the existing work related to the application of RL to scientific domains, however, assumes that the available state representation obeys the Markov property. For reasons associated with time, cost, sensor accuracy, and gaps in scientific knowledge, many scientific design and discovery problems do not satisfy the Markov property. Thus, something other than a Markov decision process (MDP) should be used to plan / find the optimal policy. In this paper, we present a physics-inspired semi-Markov RL environment, namely the phase change environment. In addition, we evaluate the performance of value-based RL algorithms for both MDPs and partially observable MDPs (POMDPs) on the proposed environment. Our results demonstrate deep recurrent Q-networks (DRQN) significantly outperform deep Q-networks (DQN), and that DRQNs benefit from training with hindsight experience replay. Implications for the use of semi-Markovian RL and POMDPs for scientific laboratories are also discussed.

Despite success in many real-world tasks (e.g., robotics), reinforcement learning (RL) agents still learn from tabula rasa when facing new and dynamic scenarios. By contrast, humans can offload this burden through textual descriptions. Although recent works have shown the benefits of instructive texts in goal-conditioned RL, few have studied whether descriptive texts help agents to generalize across dynamic environments. To promote research in this direction, we introduce a new platform, BabyAI++, to generate various dynamic environments along with corresponding descriptive texts. Moreover, we benchmark several baselines inherited from the instruction following setting and develop a novel approach towards visually-grounded language learning on our platform. Extensive experiments show strong evidence that using descriptive texts improves the generalization of RL agents across environments with varied dynamics.