Due to the high communication overhead when training machine learning models in a distributed environment, modern algorithms invariably rely on lossy communication compression. However, when untreated, the errors caused by compression propagate, and can lead to severely unstable behavior, including exponential divergence. Almost a decade ago, Seide et al. [2014] proposed an error feedback (EF) mechanism, which we refer to as EF14, as an immensely effective heuristic for mitigating this issue. However, despite steady algorithmic and theoretical advances in the EF field in the last decade, our understanding is far from complete. In this work we address one of the most pressing issues.

Human hands possess remarkable dexterity and have long served as a source of inspiration for robotic manipulation. In this work, we propose a human HandInformed visual representation learning framework to solve difficult Dexterous manipulation tasks (H-InDex) with reinforcement learning. Our framework consists of three stages: (i) pre-training representations with 3D human hand pose estimation, (ii) offline adapting representations with self-supervised keypoint detection, and (iii) reinforcement learning with exponential moving average BatchNorm. The last two stages only modify 0.36%parameters of the pre-trained representation in total, ensuring the knowledge from pre-training is maintained to the full extent. We empirically study 12 challenging dexterous manipulation tasks and find that HInDex largely surpasses strong baseline methods and the recent visual foundation models for motor control. Code is available at yanjieze.com/H-InDex.

Value decomposition methods have gained popularity in the field of cooperative multi-agent reinforcement learning. However, almost all existing methods follow the principle of Individual Global Max (IGM) or its variants, which limits their problem-solving capabilities. To address this, we propose a dual self-awareness value decomposition framework, inspired by the notion of dual self-awareness in psychology, that entirely rejects the IGM premise. Each agent consists of an ego policy for action selection and an alter ego value function to solve the credit assignment problem. The value function factorization can ignore the IGM assumption by utilizing an explicit search procedure. On the basis of the above, we also suggest a novel anti-ego exploration mechanism to avoid the algorithm becoming stuck in a local optimum. As the first fully IGM-free value decomposition method, our proposed framework achieves desirable performance in various cooperative tasks.

The source code of Minigrid and Miniworld can be found at https://github.com/ To run the experiments, we have implemented the following functionalities: 1. implemented the human trajectory saving for MiniGrid-FourRooms-v0 (copied the ManualControlclass from Minigrid and added 38 lines of code, which are mostly calling data saving functions); 2. implemented the human trajectory saving for MiniWorld-FourRooms-v0 (copied the ManualControlclass from Miniworld and added 45 lines of code, which are mostly calling data saving functions); 3. implemented data saving and plotting for MiniGrid-FourRooms-v0 (33 lines of code, mostly for Matplotlib); 4. implemented data saving and plotting for MiniWorld-FourRooms-v0 (33 lines of code, mostly for Matplotlib). In total, the implementation of this new functionality required 149 lines of code. The source code is hosted on GitHub. We bear all the responsibility in case of violation of rights.