Robot decision-making in partially observable, real-time, dynamic, and multi-agent environments remains a difficult and unsolved challenge. Model-free reinforcement learning (RL) is a promising approach to learning decision-making in such domains, however, end-to-end RL in complex environments is often intractable. To address this challenge in the RoboCup Standard Platform League (SPL) domain, we developed a novel architecture integrating RL within a classical robotics stack, while employing a multi-fidelity sim2real approach and decomposing behavior into learned sub-behaviors with heuristic selection. Our architecture led to victory in the 2024 RoboCup SPL Challenge Shield Division. In this work, we fully describe our system's architecture and empirically analyze key design decisions that contributed to its success. Our approach demonstrates how RL-based behaviors can be integrated into complete robot behavior architectures.

Rewards remain an uninterpretable way to specify tasks for Reinforcement Learning, as humans are often unable to predict the optimal behavior of any given reward function, leading to poor reward design and reward hacking. Language presents an appealing way to communicate intent to agents and bypass reward design, but prior efforts to do so have been limited by costly and unscalable labeling efforts. In this work, we propose a method for a completely unsupervised alternative to grounding language instructions in a zero-shot manner to obtain policies. We present a solution that takes the form of imagine, project, and imitate: The agent imagines the observation sequence corresponding to the language description of a task, projects the imagined sequence to our target domain, and grounds it to a policy. Video-language models allow us to imagine task descriptions that leverage knowledge of tasks learned from internet-scale video-text mappings. The challenge remains to ground these generations to a policy. In this work, we show that we can achieve a zero-shot language-to-behavior policy by first grounding the imagined sequences in real observations of an unsupervised RL agent and using a closed-form solution to imitation learning that allows the RL agent to mimic the grounded observations. Our method, RLZero, is the first to our knowledge to show zero-shot language to behavior generation abilities without any supervision on a variety of tasks on simulated domains. We further show that RLZero can also generate policies zero-shot from cross-embodied videos such as those scraped from YouTube.

Having explored an environment, intelligent agents should be able to transfer their knowledge to most downstream tasks within that environment. Referred to as "zero-shot learning," this ability remains elusive for general-purpose reinforcement learning algorithms. While recent works have attempted to produce zero-shot RL agents, they make assumptions about the nature of the tasks or the structure of the MDP. We present \emph{Proto Successor Measure}: the basis set for all possible solutions of Reinforcement Learning in a dynamical system. We provably show that any possible policy can be represented using an affine combination of these policy independent basis functions. Given a reward function at test time, we simply need to find the right set of linear weights to combine these basis corresponding to the optimal policy. We derive a practical algorithm to learn these basis functions using only interaction data from the environment and show that our approach can produce the optimal policy at test time for any given reward function without additional environmental interactions. Project page: https://agarwalsiddhant10.github.io/projects/psm.html.

Memes have evolved as a prevalent medium for diverse communication, ranging from humour to propaganda. With the rising popularity of image-focused content, there is a growing need to explore its potential harm from different aspects. Previous studies have analyzed memes in closed settings - detecting harm, applying semantic labels, and offering natural language explanations. To extend this research, we introduce MemeMQA, a multimodal question-answering framework aiming to solicit accurate responses to structured questions while providing coherent explanations. We curate MemeMQACorpus, a new dataset featuring 1,880 questions related to 1,122 memes with corresponding answer-explanation pairs. We further propose ARSENAL, a novel two-stage multimodal framework that leverages the reasoning capabilities of LLMs to address MemeMQA. We benchmark MemeMQA using competitive baselines and demonstrate its superiority - ~18% enhanced answer prediction accuracy and distinct text generation lead across various metrics measuring lexical and semantic alignment over the best baseline. We analyze ARSENAL's robustness through diversification of question-set, confounder-based evaluation regarding MemeMQA's generalizability, and modality-specific assessment, enhancing our understanding of meme interpretation in the multimodal communication landscape.

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of tasks, we introduce a dynamic, interactive RL testbed based on robot air hockey. By augmenting air hockey with a large family of tasks ranging from easy tasks like reaching, to challenging ones like pushing a block by hitting it with a puck, as well as goal-based and human-interactive tasks, our testbed allows a varied assessment of RL capabilities. The robot air hockey testbed also supports sim-to-real transfer with three domains: two simulators of increasing fidelity and a real robot system. Using a dataset of demonstration data gathered through two teleoperation systems: a virtualized control environment, and human shadowing, we assess the testbed with behavior cloning, offline RL, and RL from scratch.

Goal-Conditioned Reinforcement Learning (RL) problems often have access to sparse rewards where the agent receives a reward signal only when it has achieved the goal, making policy optimization a difficult problem. Several works augment this sparse reward with a learned dense reward function, but this can lead to sub-optimal policies if the reward is misaligned. Moreover, recent works have demonstrated that effective shaping rewards for a particular problem can depend on the underlying learning algorithm. This paper introduces a novel way to encourage exploration called $f$-Policy Gradients, or $f$-PG. $f$-PG minimizes the f-divergence between the agent's state visitation distribution and the goal, which we show can lead to an optimal policy. We derive gradients for various f-divergences to optimize this objective. Our learning paradigm provides dense learning signals for exploration in sparse reward settings. We further introduce an entropy-regularized policy optimization objective, that we call $state$-MaxEnt RL (or $s$-MaxEnt RL) as a special case of our objective. We show that several metric-based shaping rewards like L2 can be used with $s$-MaxEnt RL, providing a common ground to study such metric-based shaping rewards with efficient exploration. We find that $f$-PG has better performance compared to standard policy gradient methods on a challenging gridworld as well as the Point Maze and FetchReach environments. More information on our website https://agarwalsiddhant10.github.io/projects/fpg.html.

Memes are powerful means for effective communication on social media. Their effortless amalgamation of viral visuals and compelling messages can have far-reaching implications with proper marketing. Previous research on memes has primarily focused on characterizing their affective spectrum and detecting whether the meme's message insinuates any intended harm, such as hate, offense, racism, etc. However, memes often use abstraction, which can be elusive. Here, we introduce a novel task - EXCLAIM, generating explanations for visual semantic role labeling in memes. To this end, we curate ExHVV, a novel dataset that offers natural language explanations of connotative roles for three types of entities - heroes, villains, and victims, encompassing 4,680 entities present in 3K memes. We also benchmark ExHVV with several strong unimodal and multimodal baselines. Moreover, we posit LUMEN, a novel multimodal, multi-task learning framework that endeavors to address EXCLAIM optimally by jointly learning to predict the correct semantic roles and correspondingly to generate suitable natural language explanations. LUMEN distinctly outperforms the best baseline across 18 standard natural language generation evaluation metrics. Our systematic evaluation and analyses demonstrate that characteristic multimodal cues required for adjudicating semantic roles are also helpful for generating suitable explanations.

Symbolic knowledge (e.g., entities, relations, and facts in a knowledge graph) has become an increasingly popular component of neural-symbolic models applied to machine learning tasks, such as question answering and recommender systems. Besides improving downstream performance, these symbolic structures (and their associated attention weights) are often used to help explain the model's predictions and provide "insights" to practitioners. In this paper, we question the faithfulness of such symbolic explanations. We demonstrate that, through a learned strategy (or even simple heuristics), one can produce deceptively perturbed symbolic structures which maintain the downstream performance of the original structure while significantly deviating from the original semantics. In particular, we train a reinforcement learning policy to manipulate relation types or edge connections in a knowledge graph, such that the resulting downstream performance is maximally preserved. Across multiple models and tasks, our approach drastically alters knowledge graphs with little to no drop in performance. These results raise doubts about the faithfulness of explanations provided by learned symbolic structures and the reliability of current neural-symbolic models in leveraging symbolic knowledge.