This book-length article combines several peer reviewed papers and new material to analyze the issues of ethical artificial intelligence (AI). The behavior of future AI systems can be described by mathematical equations, which are adapted to analyze possible unintended AI behaviors and ways that AI designs can avoid them. This article makes the case for utility-maximizing agents and for avoiding infinite sets in agent definitions. It shows how to avoid agent self-delusion using model-based utility functions and how to avoid agents that corrupt their reward generators (sometimes called "perverse instantiation") using utility functions that evaluate outcomes at one point in time from the perspective of humans at a different point in time. It argues that agents can avoid unintended instrumental actions (sometimes called "basic AI drives" or "instrumental goals") by accurately learning human values. This article defines a self-modeling agent framework and shows how it can avoid problems of resource limits, being predicted by other agents, and inconsistency between the agent's utility function and its definition (one version of this problem is sometimes called "motivated value selection"). This article also discusses how future AI will differ from current AI, the politics of AI, and the ultimate use of AI to help understand the nature of the universe and our place in it.

This paper proposes an online transfer framework to capture the interaction among agents and shows that current transfer learning in reinforcement learning is a special case of online transfer. Furthermore, this paper re-characterizes existing agents-teaching-agents methods as online transfer and analyze one such teaching method in three ways. First, the convergence of Q-learning and Sarsa with tabular representation with a finite budget is proven. Second, the convergence of Q-learning and Sarsa with linear function approximation is established. Third, the we show the asymptotic performance cannot be hurt through teaching. Additionally, all theoretical results are empirically validated.

Massive state spaces are ubiquitous throughout planning and reinforcement learning (RL) domains: agents involved in furniture assembly, cooking automation and backgammon must grapple with problem formalisms that are much too expansive to solve by conventional tabular approaches. However, modern tabular planning and RL techniques bypass this difficulty by using propositional functions to transfer knowledge across states — both within and across problem instances — to solve for near optimal behaviors in very large state spaces. Here we present a means by which useful propositional functions can be inferred from observations of transition dynamics. Our approach is based upon distilling salient relational values between pairs of objects. We then use these learned propositional functions to free the RL algorithm deterministic object-oriented RMAX (DOORMAX) of its dependence on expert-provided propositional functions. We also empirically demonstrate high correspondence between these learned propositional functions and expert-provided propositional functions. Our novel DOORMAX algorithm performs at a level near that of classic DOORMAX.

Deep Reinforcement Learning has yielded proficient controllers for complex tasks. However, these controllers have limited memory and rely on being able to perceive the complete game screen at each decision point. To address these shortcomings, this article investigates the effects of adding recurrency to a Deep Q-Network (DQN) by replacing the first post-convolutional fully-connected layer with a recurrent LSTM. The resulting Deep Recurrent Q-Network (DRQN), although capable of seeing only a single frame at each timestep, successfully integrates information through time and replicates DQN's performance on standard Atari games and partially observed equivalents featuring flickering game screens. Additionally, when trained with partial observations and evaluated with incrementally more complete observations, DRQN's performance scales as a function of observability. Conversely, when trained with full observations and evaluated with partial observations, DRQN's performance degrades less than DQN's. Thus, given the same length of history, recurrency is a viable alternative to stacking a history of frames in the DQN's input layer and while recurrency confers no systematic advantage when learning to play the game, the recurrent net can better adapt at evaluation time if the quality of observations changes.

We consider stochastic planning problems that involve multiple objectives such as minimizing task completion time and energy consumption. These problems can be modeled as multi-objective Markov decision processes (MOMDPs), an extension of the widely-used MDP model to handle problems involving multiple value functions. We focus on a subclass of MOMDPs in which the objectives have a {\em relaxed lexicographic structure}, allowing an agent to seek improvement in a lower-priority objective when the impact on a higher-priority objective is within some small given tolerance. We examine the relationship between this class of problems and {\em constrained MDPs}, showing that the latter offer an alternative solution method with strong guarantees. We show empirically that a recently introduced algorithm for MOMDPs may not offer the same strong guarantees, but it does perform well in practice.

The application of existing methods for constructing optimal dynamic treatment regimes is limited to cases where investigators are interested in optimizing a utility function over a fixed period of time (finite horizon). In this manuscript, we develop an inferential procedure based on temporal difference residuals for optimal dynamic treatment regimes in infinite-horizon settings, where there is no a priori fixed end of follow-up point. The proposed method can be used to determine the optimal regime in chronic diseases where patients are monitored and treated throughout their life. We derive large sample results necessary for conducting inference. We also simulate a cohort of patients with diabetes to mimic the third wave of the National Health and Nutrition Examination Survey, and we examine the performance of the proposed method in controlling the level of hemoglobin A1c. Supplementary materials for this article are available online.

We propose a distributed deep learning model to successfully learn control policies directly from high-dimensional sensory input using reinforcement learning. The model is based on the deep Q-network, a convolutional neural network trained with a variant of Q-learning. Its input is raw pixels and its output is a value function estimating future rewards from taking an action given a system state. To distribute the deep Q-network training, we adapt the DistBelief software framework to the context of efficiently training reinforcement learning agents. As a result, the method is completely asynchronous and scales well with the number of machines. We demonstrate that the deep Q-network agent, receiving only the pixels and the game score as inputs, was able to achieve reasonable success on a simple game with minimal parameter tuning.

Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this challenge, the pixels-to-torques problem, where an RL agent learns a closed-loop control policy ("torques") from pixel information only. We introduce a data-efficient, model-based reinforcement learning algorithm that learns such a closed-loop policy directly from pixel information. The key ingredient is a deep dynamical model for learning a low-dimensional feature embedding of images jointly with a predictive model in this low-dimensional feature space. Joint learning is crucial for long-term predictions, which lie at the core of the adaptive nonlinear model predictive control strategy that we use for closed-loop control. Compared to state-of-the-art RL methods for continuous states and actions, our approach learns quickly, scales to high-dimensional state spaces, is lightweight and an important step toward fully autonomous end-to-end learning from pixels to torques.

Partial monitoring is a generic framework for sequential decision-making with incomplete feedback. It encompasses a wide class of problems such as dueling bandits, learning with expect advice, dynamic pricing, dark pools, and label efficient prediction. We study the utility-based dueling bandit problem as an instance of partial monitoring problem and prove that it fits the time-regret partial monitoring hierarchy as an easy - i.e. Theta (sqrt{T})- instance. We survey some partial monitoring algorithms and see how they could be used to solve dueling bandits efficiently. Keywords: Online learning, Dueling Bandits, Partial Monitoring, Partial Feedback, Multiarmed Bandits

Transferring knowledge across a sequence of related tasks is an important challenge in reinforcement learning (RL). Despite much encouraging empirical evidence, there has been little theoretical analysis. In this paper, we study a class of lifelong RL problems: the agent solves a sequence of tasks modeled as finite Markov decision processes (MDPs), each of which is from a finite set of MDPs with the same state/action sets and different transition/reward functions. Motivated by the need for cross-task exploration in lifelong learning, we formulate a novel online coupon-collector problem and give an optimal algorithm. This allows us to develop a new lifelong RL algorithm, whose overall sample complexity in a sequence of tasks is much smaller than single-task learning, even if the sequence of tasks is generated by an adversary. Benefits of the algorithm are demonstrated in simulated problems, including a recently introduced human-robot interaction problem.