Opioids are the preferred medications for the treatment of pain in the intensive care unit. While undertreatment leads to unrelieved pain and poor clinical outcomes, excessive use of opioids puts patients at risk of experiencing multiple adverse effects. In this work, we present a sequential decision making framework for opioid dosing based on deep reinforcement learning. It provides real-time clinically interpretable dosing recommendations, personalized according to each patient's evolving pain and physiological condition. We focus on morphine, one of the most commonly prescribed opioids. To train and evaluate the model, we used retrospective data from the publicly available MIMIC-3 database. Our results demonstrate that reinforcement learning may be used to aid decision making in the intensive care setting by providing personalized pain management interventions.

In an episodic Markov Decision Process (MDP) problem, an online algorithm chooses from a set of actions in a sequence of $H$ trials, where $H$ is the episode length, in order to maximize the total payoff of the chosen actions. Q-learning, as the most popular model-free reinforcement learning (RL) algorithm, directly parameterizes and updates value functions without explicitly modeling the environment. Recently, [Jin et al. 2018] studies the sample complexity of Q-learning with finite states and actions. Their algorithm achieves nearly optimal regret, which shows that Q-learning can be made sample efficient. However, MDPs with large discrete states and actions [Silver et al. 2016] or continuous spaces [Mnih et al. 2013] cannot learn efficiently in this way. Hence, it is critical to develop new algorithms to solve this dilemma with provable guarantee on the sample complexity. With this motivation, we propose a novel algorithm that works for MDPs with a more general setting, which has infinitely many states and actions and assumes that the payoff function and transition kernel are Lipschitz continuous. We also provide corresponding theory justification for our algorithm. It achieves the regret $\tilde{\mathcal{O}}(K^{\frac{d+1}{d+2}}\sqrt{H^3}),$ where $K$ denotes the number of episodes and $d$ denotes the dimension of the joint space. To the best of our knowledge, this is the first analysis in the model-free setting whose established regret matches the lower bound up to a logarithmic factor.

Model-free learning for multi-agent stochastic games is an active area of research. Existing reinforcement learning algorithms, however, are often restricted to zero-sum games, and are applicable only in small state-action spaces or other simplified settings. Here, we develop a new data efficient Deep-Q-learning methodology for model-free learning of Nash equilibria for general-sum stochastic games. The algorithm uses a local linear-quadratic expansion of the stochastic game, which leads to analytically solvable optimal actions. The expansion is parametrized by deep neural networks to give it sufficient flexibility to learn the environment without the need to experience all state-action pairs. We study symmetry properties of the algorithm stemming from label-invariant stochastic games and as a proof of concept, apply our algorithm to learning optimal trading strategies in competitive electronic markets.

We apply Deep Q-network (DQN) with the consideration of safety during the task for deciding whether to conduct the maneuver. Furthermore, we design two similar Deep Q learning frameworks with quadratic approximator for deciding how to select a comfortable gap and just follow the preceding vehicle. Finally, a polynomial lane change trajectory is generated and Pure Pursuit Control is implemented for path tracking. We demonstrate the effectiveness of this framework in simulation, from both the decision-making and control layers. The proposed architecture also has the potential to be extended to other autonomous driving scenarios.

Model-Based Reinforcement Learning (MBRL) is one category of Reinforcement Learning (RL) methods which can improve sampling efficiency by modeling and approximating system dynamics. It has been widely adopted in the research of robotics, autonomous driving, etc. Despite its popularity, there still lacks some sophisticated and reusable opensource frameworks to facilitate MBRL research and experiments. To fill this gap, we develop a flexible and modularized framework, Baconian, which allows researchers to easily implement a MBRL testbed by customizing or building upon our provided modules and algorithms. Our framework can free the users from re-implementing popular MBRL algorithms from scratch thus greatly saves the users' efforts.

This work tackles the problem of robust zero-shot planning in non-stationary stochastic environments. We study Markov Decision Processes (MDPs) evolving over time and consider Model-Based Reinforcement Learning algorithms in this setting. We make two hypotheses: 1) the environment evolves continuously and its evolution rate is bounded, 2) a current model is known at each decision epoch but not its evolution. Our contribution can be presented in four points. First, we define this specific class of MDPs that we call Non-Stationary MDPs (NSMDPs). We introduce the notion of regular evolution by making an hypothesis of Lipschitz-Continuity on the transition and reward functions w.r.t. time. Secondly, we consider a planning agent using the current model of the environment, but unaware of its future evolution. This leads us to consider a worst-case method where the environment is seen as an adversarial agent. Third, following this approach, we propose the Risk-Averse Tree-Search (RATS) algorithm. This is a zero-shot Model-Based method similar to Minimax search. Finally, we illustrate the benefits brought by RATS empirically and compare its performance with reference Model-Based algorithms.

Power system emergency control is generally regarded as the last safety net for grid security and resiliency. Existing emergency control schemes are usually designed off-line based on either the conceived "worst" case scenario or a few typical operation scenarios. These schemes are facing significant adaptiveness and robustness issues as increasing uncertainties and variations occur in modern electrical grids. To address these challenges, for the first time, this paper developed novel adaptive emergency control schemes using deep reinforcement learning (DRL), by leveraging the high-dimensional feature extraction and non-linear generalization capabilities of DRL for complex power systems. Furthermore, an open-source platform named RLGC has been designed for the first time to assist the development and benchmarking of DRL algorithms for power system control. Details of the platform and DRL-based emergency control schemes for generator dynamic braking and under-voltage load shedding are presented. Extensive case studies performed in both two-area four-machine system and IEEE 39-Bus system have demonstrated the excellent performance and robustness of the proposed schemes.

Though deep reinforcement learning has led to breakthroughs in many difficult domains, these successes have required an ever-increasing number of samples. As state-of-the-art reinforcement learning (RL) systems require an exponentially increasing number of samples, their development is restricted to a continually shrinking segment of the AI community. Likewise, many of these systems cannot be applied to real-world problems, where environment samples are expensive. Resolution of these limitations requires new, sample-efficient methods. To facilitate research in this direction, we introduce the MineRL Competition on Sample Efficient Reinforcement Learning using Human Priors. The primary goal of the competition is to foster the development of algorithms which can efficiently leverage human demonstrations to drastically reduce the number of samples needed to solve complex, hierarchical, and sparse environments. To that end, we introduce: (1) the Minecraft ObtainDiamond task, a sequential decision making environment requiring long-term planning, hierarchical control, and efficient exploration methods; and (2) the MineRL-v0 dataset, a large-scale collection of over 60 million state-action pairs of human demonstrations that can be resimulated into embodied trajectories with arbitrary modifications to game state and visuals. Participants will compete to develop systems which solve the ObtainDiamond task with a limited number of samples from the environment simulator, Malmo. The competition is structured into two rounds in which competitors are provided several paired versions of the dataset and environment with different game textures. At the end of each round, competitors will submit containerized versions of their learning algorithms and they will then be trained/evaluated from scratch on a hold-out dataset-environment pair for a total of 4-days on a prespecified hardware platform.

Decomposition methods have been proposed to approximate solutions to large sequential decision making problems. In contexts where an agent interacts with multiple entities, utility decomposition can be used to separate the global objective into local tasks considering each individual entity independently. An arbitrator is then responsible for combining the individual utilities and selecting an action in real time to solve the global problem. Although these techniques can perform well empirically, they rely on strong assumptions of independence between the local tasks and sacrifice the optimality of the global solution. This paper proposes an approach that improves upon such approximate solutions by learning a correction term represented by a neural network. We demonstrate this approach on a fisheries management problem where multiple boats must coordinate to maximize their catch over time as well as on a pedestrian avoidance problem for autonomous driving. In each problem, decomposition methods can scale to multiple boats or pedestrians by using strategies involving one entity. We verify empirically that the proposed correction method significantly improves the decomposition method and outperforms a policy trained on the full scale problem without utility decomposition.

Sparse reward is one of the biggest challenges in reinforcement learning (RL). In this paper, we propose a novel method called Generative Exploration and Exploitation (GENE) to overcome sparse reward. GENE dynamically changes the start state of agent to the generated novel state to encourage the agent to explore the environment or to the generated rewarding state to boost the agent to exploit the received reward signal. GENE relies on no prior knowledge about the environment and can be combined with any RL algorithm, no matter on-policy or off-policy, single-agent or multi-agent. Empirically, we demonstrate that GENE significantly outperforms existing methods in four challenging tasks with only binary rewards indicating whether or not the task is completed, including Maze, Goal Ant, Pushing, and Cooperative Navigation. The ablation studies verify that GENE can adaptively tradeoff between exploration and exploitation as the learning progresses by automatically adjusting the proportion between generated novel states and rewarding states, which is the key for GENE to solving these challenging tasks effectively and efficiently.