Neural Information Processing Systems http://nips.cc/

Integrating model-free and model-based approaches in reinforcement learning has the potential to achieve the high performance of model-free algorithms with low sample complexity. However, this is difficult because an imperfect dynamics model can degrade the performance of the learning algorithm, and in sufficiently complex environments, the dynamics model will almost always be imperfect. As a result, a key challenge is to combine model-based approaches with model-free learning in such a way that errors in the model do not degrade performance. We propose stochastic ensemble value expansion (STEVE), a novel model-based technique that addresses this issue. By dynamically interpolating between model rollouts of various horizon lengths for each individual example, STEVE ensures that the model is only utilized when doing so does not introduce significant errors. Our approach outperforms model-free baselines on challenging continuous control benchmarks with an order-of-magnitude increase in sample efficiency, and in contrast to previous model-based approaches, performance does not degrade in complex environments.

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and on-policy training, making them difficult to apply in real-world scenarios. In this paper, we study how we can develop HRL algorithms that are general, in that they do not make onerous additional assumptions beyond standard RL algorithms, and efficient, in the sense that they can be used with modest numbers of interaction samples, making them suitable for real-world problems such as robotic control. For generality, we develop a scheme where lower-level controllers are supervised with goals that are learned and proposed automatically by the higher-level controllers. To address efficiency, we propose to use off-policy experience for both higherand lower-level training. This poses a considerable challenge, since changes to the lower-level behaviors change the action space for the higher-level policy, and we introduce an off-policy correction to remedy this challenge. This allows us to take advantage of recent advances in off-policy model-free RL to learn both higher-and lower-level policies using substantially fewer environment interactions than on-policy algorithms. We term the resulting HRL agent HIRO and find that it is generally applicable and highly sample-efficient.

Neural Information Processing Systems http://nips.cc/

Understanding, reasoning, and manipulating semantic concepts of images have been a fundamental research problem for decades. Previous work mainly focused on direct manipulation on natural image manifold through color strokes, keypoints, textures, and holes-to-fill. In this work, we present a novel hierarchical framework for semantic image manipulation. Key to our hierarchical framework is that we employ structured semantic layout as our intermediate representation for manipulation. Initialized with coarse-level bounding boxes, our structure generator first creates pixel-wise semantic layout capturing the object shape, object-object interactions, and object-scene relations. Then our image generator fills in the pixel-level textures guided by the semantic layout. Such framework allows a user to manipulate images at object-level by adding, removing, and moving one bounding box at a time. Experimental evaluations demonstrate the advantages of the hierarchical manipulation framework over existing image generation and context hole-filing models, both qualitatively and quantitatively. Benefits of the hierarchical framework are further demonstrated in applications such as semantic object manipulation, interactive image editing, and data-driven image manipulation.

We introduce a new RL problem where the agent is required to generalize to a previously-unseen environment characterized by a subtask graph which describes a set of subtasks and their dependencies. Unlike existing hierarchical multitask RL approaches that explicitly describe what the agent should do at a high level, our problem only describes properties of subtasks and relationships among them, which requires the agent to perform complex reasoning to find the optimal subtask to execute. To solve this problem, we propose a neural subtask graph solver (NSGS) which encodes the subtask graph using a recursive neural network embedding. To overcome the difficulty of training, we propose a novel non-parametric gradientbased policy, graph reward propagation, to pre-train our NSGS agent and further finetune it through actor-critic method. The experimental results on two 2D visual domains show that our agent can perform complex reasoning to find a near-optimal way of executing the subtask graph and generalize well to the unseen subtask graphs. In addition, we compare our agent with a Monte-Carlo tree search (MCTS) method showing that our method is much more efficient than MCTS, and the performance of NSGS can be further improved by combining it with MCTS.

Neural Information Processing Systems http://nips.cc/

Neural Information Processing Systems http://nips.cc/

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and on-policy training, making them difficult to apply in real-world scenarios. In this paper, we study how we can develop HRL algorithms that are general, in that they do not make onerous additional assumptions beyond standard RL algorithms, and efficient, in the sense that they can be used with modest numbers of interaction samples, making them suitable for real-world problems such as robotic control. For generality, we develop a scheme where lower-level controllers are supervised with goals that are learned and proposed automatically by the higher-level controllers. To address efficiency, we propose to use off-policy experience for both higherand lower-level training. This poses a considerable challenge, since changes to the lower-level behaviors change the action space for the higher-level policy, and we introduce an off-policy correction to remedy this challenge. This allows us to take advantage of recent advances in off-policy model-free RL to learn both higher-and lower-level policies using substantially fewer environment interactions than on-policy algorithms. We term the resulting HRL agent HIRO and find that it is generally applicable and highly sample-efficient.

Neural Information Processing Systems http://nips.cc/