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.

We study voting games on binary issues, where voters hold an objective over the outcome of the collective decision and are allowed, before the vote takes place, to negotiate their ballots with the other participants. We analyse the voters' rational behaviour in the resulting two-phase game when ballots are aggregated via non-manipulable rules and, more specifically, quota rules. We show under what conditions undesirable equilibria can be removed and desirable ones sustained as a consequence of the pre-vote phase.

The Pommerman Team Environment is a recently proposed benchmark which involves a multi-agent domain with challenges such as partial observability, decentralized execution (without communication), and very sparse and delayed rewards. The inaugural Pommerman Team Competition held at NeurIPS 2018 hosted 25 participants who submitted a team of 2 agents. Our submission nn_team_skynet955_skynet955 won 2nd place of the "learning agents'' category. Our team is composed of 2 neural networks trained with state of the art deep reinforcement learning algorithms and makes use of concepts like reward shaping, curriculum learning, and an automatic reasoning module for action pruning. Here, we describe these elements and additionally we present a collection of open-sourced agents that can be used for training and testing in the Pommerman environment. Code available at: https://github.com/BorealisAI/pommerman-baseline

This paper addresses the problem of identifying sparse linear time-invariant (LTI) systems from a single sample trajectory generated by the system dynamics. We introduce a Lasso-like estimator for the parameters of the system, taking into account their sparse nature. Assuming that the system is stable, or that it is equipped with an initial stabilizing controller, we provide sharp finite-time guarantees on the accurate recovery of both the sparsity structure and the parameter values of the system. In particular, we show that the proposed estimator can correctly identify the sparsity pattern of the system matrices with high probability, provided that the length of the sample trajectory exceeds a threshold. Furthermore, we show that this threshold scales polynomially in the number of nonzero elements in the system matrices, but logarithmically in the system dimensions --- this improves on existing sample complexity bounds for the sparse system identification problem. We further extend these results to obtain sharp bounds on the $\ell_{\infty}$-norm of the estimation error and show how different properties of the system---such as its stability level and \textit{mutual incoherency}---affect this bound. Finally, an extensive case study on power systems is presented to illustrate the performance of the proposed estimation method.

This paper proposes the use of an optimization algorithm, namely PSO to decide the initial centroids in K-means, to eventually get better accuracy. The vectorized notation of the optimal centroids can be thought of as entities in an optimization space, where the accuracy of K-means over a random subset of the data could act as a fitness measure. The resultant optimal vector can be used as the initial centroids for K-means.

Consider a collaborative task that requires communication. Two agents are placed in an environment and must create a language from scratch in order to coordinate. Recent work has been interested in what kinds of languages emerge when deep reinforcement learning agents are put in such a situation, and in particular in the factors that cause language to be compositional-i.e. meaning is expressed by combining words which themselves have meaning. Evolutionary linguists have also studied the emergence of compositional language for decades, and they find that in addition to structural priors like those already studied in deep learning, the dynamics of transmitting language from generation to generation contribute significantly to the emergence of compositionality. In this paper, we introduce these cultural evolutionary dynamics into language emergence by periodically replacing agents in a population to create a knowledge gap, implicitly inducing cultural transmission of language. We show that this implicit cultural transmission encourages the resulting languages to exhibit better compositional generalization and suggest how elements of cultural dynamics can be further integrated into populations of deep agents.

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior cloning leads to state-of-the-art results, including in unseen environments, executing complex lateral and longitudinal maneuvers without these reactions being explicitly programmed. However, we confirm well-known limitations (due to dataset bias and overfitting), new generalization issues (due to dynamic objects and the lack of a causal model), and training instability requiring further research before behavior cloning can graduate to real-world driving. The code of the studied behavior cloning approaches can be found at https://github.com/felipecode/coiltraine .

In many cases an intelligent agent may want to learn how to mimic a single observed demonstrated trajectory. In this work we consider how to perform such procedural learning from observation, which could help to enable agents to better use the enormous set of video data on observation sequences. Our approach exploits the properties of this setting to incrementally build an open loop action plan that can yield the desired subsequence, and can be used in both Markov and partially observable Markov domains. In addition, procedures commonly involve repeated extended temporal action subsequences. Our method optimistically explores actions to leverage potential repeated structure in the procedure. In comparing to some state-of-the-art approaches we find that our explicit procedural learning from observation method is about 100 times faster than policy-gradient based approaches that learn a stochastic policy and is faster than model based approaches as well. We also find that performing optimistic action selection yields substantial speed ups when latent dynamical structure is present.

This paper presents a taxonomy of explainability in Human-Agent Systems. We consider fundamental questions about the Why, Who, What, When and How of explainability. First, we define explainability, and its relationship to the related terms of interpretability, transparency, explicitness, and faithfulness. These definitions allow us to answer why explainability is needed in the system, whom it is geared to and what explanations can be generated to meet this need. We then consider when the user should be presented with this information. Last, we consider how objective and subjective measures can be used to evaluate the entire system. This last question is the most encompassing as it will need to evaluate all other issues regarding explainability.

Traffic congestion is a growing problem that continues to plague urban areas with negative outcomes to both the traveling public and society as a whole. These negative outcomes will only grow over time as more people flock to urban areas. In 2014, traffic congestion costs Americans over $160 billion in lost productivity and wasted over 3.1 billion gallons of fuel [Economist 2014]. Traffic congestion was also attributed to over 56 billion pounds of harmful CO2 emissions in 2011 [Schrank et al. 2015]. In the European Union, the cost of traffic congestion was equivalent to 1% of the entire GDP [Schrank et al. 2012]. Mitigating congestion would have significant economic, environmental and societal benefits. Signalized intersections are one of the most prevalent bottleneck types in urban environments, and thus traffic signal control plays a vital role in urban traffic management.