We examine the problem of joint top-down active search of multiple objects under interaction, e.g., person riding a bicycle, cups held by the table, etc.. Such objects under interaction often can provide contextual cues to each other to facilitate more efficient search. By treating each detector as an agent, we present the first collaborative multi-agent deep reinforcement learning algorithm to learn the optimal policy for joint active object localization, which effectively exploits such beneficial contextual information. We learn inter-agent communication through cross connections with gates between the Q-networks, which is facilitated by a novel multi-agent deep Q-learning algorithm with joint exploitation sampling. We verify our proposed method on multiple object detection benchmarks. Not only does our model help to improve the performance of state-of-the-art active localization models, it also reveals interesting co-detection patterns that are intuitively interpretable.
Our proposal share the idea of utilizing back-propagation or designing differentiable communication channels but have different cross network structure with gates and a novel joint sampling Q-learning method. Specifically, our cross network structure used explicit gating mechanism to allow a specific agent to be responsible for certain actions. This is motivated by the problem of object search where one agent usually has primary contribution to the policy. Also different from the training of the unfolded RNNs as in @cite_5 , where long range back-propagation may be less effective, our joint sampling design facilitates immediate updates of the parameters and could be easily incorporated into the deep Q-learning algorithm by introducing an auxiliary concept of virtual agent implementation.
@cite_5
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When rewards are sparse and action spaces large, Q-learning with @math -greedy exploration can be inefficient. This poses problems for otherwise promising applications such as task-oriented dialogue systems, where the primary reward signal, indicating successful completion of a task, requires a complex sequence of appropriate actions. Under these circumstances, a randomly exploring agent might never stumble upon a successful outcome in reasonable time. We present two techniques that significantly improve the efficiency of exploration for deep Q-learning agents in dialogue systems. First, we introduce an exploration technique based on Thompson sampling, drawing Monte Carlo samples from a Bayes-by-backprop neural network, demonstrating marked improvement over common approaches such as @math -greedy and Boltzmann exploration. Second, we show that spiking the replay buffer with experiences from a small number of successful episodes, as are easy to harvest for dialogue tasks, can make Q-learning feasible when it might otherwise fail. We consider the problem of multiple agents sensing and acting in environments with the goal of maximising their shared utility. In these environments, agents must learn communication protocols in order to share information that is needed to solve the tasks. By embracing deep neural networks, we are able to demonstrate end-to-end learning of protocols in complex environments inspired by communication riddles and multi-agent computer vision problems with partial observability. We propose two approaches for learning in these domains: Reinforced Inter-Agent Learning (RIAL) and Differentiable Inter-Agent Learning (DIAL). The former uses deep Q-learning, while the latter exploits the fact that, during learning, agents can backpropagate error derivatives through (noisy) communication channels. Hence, this approach uses centralised learning but decentralised execution. Our experiments introduce new environments for studying the learning of communication protocols and present a set of engineering innovations that are essential for success in these domains. We consider the problem of multiple agents sensing and acting in environments with the goal of maximising their shared utility. In these environments, agents must learn communication protocols in order to share information that is needed to solve the tasks. By embracing deep neural networks, we are able to demonstrate end-to-end learning of protocols in complex environments inspired by communication riddles and multi-agent computer vision problems with partial observability. We propose two approaches for learning in these domains: Reinforced Inter-Agent Learning (RIAL) and Differentiable Inter-Agent Learning (DIAL). The former uses deep Q-learning, while the latter exploits the fact that, during learning, agents can backpropagate error derivatives through (noisy) communication channels. Hence, this approach uses centralised learning but decentralised execution. Our experiments introduce new environments for studying the learning of communication protocols and present a set of engineering innovations that are essential for success in these domains. This paper proposes a novel deep framework of multi-networks joint learning for large-scale cross-modal retrieval. For most existing cross-modal methods, the processes of training and testing don't care about the problem of memory requirement. Hence, they are generally implemented on small-scale data. Moreover, they take feature learning and latent space embedding as two separate steps which cannot generate specific features to accord with the cross-modal task. To alleviate the problems, we first disintegrate the multiplication and inverse of some big matrices, usually involved in existing methods, into that of many sub-matrices. Each sub-matrix is targeted to dispose one pair of image-sentence, for which we further design a novel sampling strategy to select the most representative samples to construct the cross-modal ranking loss and within-modal discriminant loss functions. By this way, the proposed model consumes less memory each time such that it can scale to large-scale data. Furthermore, we apply the proposed discriminative ranking loss to effectively unify two heterogenous networks, deep residual network for images and long short-term memory for sentences, into an end-to-end deep learning architecture. Finally, we can simultaneously achieve specific features adapting to cross-modal task and learn a shared latent space for images and sentences. Extensive evaluations on two large-scale cross-modal datasets show that the proposed method brings substantial improvements over other state-of-the-art ranking methods. We examine the problem of joint top-down active search of multiple objects under interaction, e.g., person riding a bicycle, cups held by the table, etc. Such objects under interaction often can provide contextual cues to each other to facilitate more efficient search. By treating each detector as an agent, we present the first collaborative multi-agent deep reinforcement learning algorithm to learn the optimal policy for joint active object localization, which effectively exploits such beneficial contextual information. We learn inter-agent communication through cross connections with gates between the Q-networks, which is facilitated by a novel multi-agent deep Q-learning algorithm with joint exploitation sampling. We verify our proposed method on multiple object detection benchmarks. Not only does our model help to improve the performance of state-of-the-art active localization models, it also reveals interesting co-detection patterns that are intuitively interpretable. Standard deep reinforcement learning methods such as Deep Q-Networks (DQN) for multiple tasks (domains) face scalability problems due to large search spaces. This paper proposes a three-stage method for multi-domain dialogue policy learning-termed NDQN, and applies it to an information-seeking spoken dialogue system in the domains of restaurants and hotels. In this method, the first stage does multi-policy learning via a network of DQN agents; the second makes use of compact state representations by compressing raw inputs; and the third stage applies a pre-training phase for bootstraping the behaviour of agents in the network. Experimental results comparing DQN (baseline) versus NDQN (proposed) using simulations report that the proposed method exhibits better scalability and is promising for optimising the behaviour of multi-domain dialogue systems. An additional evaluation reports that the NDQN agents outperformed a K-Nearest Neighbour baseline in task success and dialogue length, yielding more efficient and successful dialogues. We propose deep distributed recurrent Q-networks (DDRQN), which enable teams of agents to learn to solve communication-based coordination tasks. In these tasks, the agents are not given any pre-designed communication protocol. Therefore, in order to successfully communicate, they must first automatically develop and agree upon their own communication protocol. We present empirical results on two multi-agent learning problems based on well-known riddles, demonstrating that DDRQN can successfully solve such tasks and discover elegant communication protocols to do so. To our knowledge, this is the first time deep reinforcement learning has succeeded in learning communication protocols. In addition, we present ablation experiments that confirm that each of the main components of the DDRQN architecture are critical to its success. In this paper, a low-complexity delay-aware cross-layer scheduling algorithm for two-hop relay communication systems is proposed. The complex interactions of the queues at the source node and the M relay nodes (RSs) are modeled as an infinite horizon average reward Markov decision process (MDP), whose state space involves the joint queue state information (QSI) of the queues at the source node and the M RSs as well as the joint channel state information (CSI) of all S-R and R-D links. To address the curse of dimensionality, an equivalent MDP formulation is first proposed, where the system state depends only on global QSI. Furthermore, using approximate MDP and stochastic learning, an auction-based distributed online learning algorithm is derived, where each node iteratively estimates a per-node value function based on real-time observations of the local CSI and local QSI as well as signaling between relays. The combined distributed learning converges almost surely to a global optimal solution for large arrivals. Finally, it is showed by simulations that the proposed scheme achieves significant gain compared with various baselines such as the conventional CSIT-only control and the throughput optimal control (in stability sense). To use deep reinforcement learning in the wild, we might hope for an agent that can avoid catastrophic mistakes. Unfortunately, even in simple environments, the popular deep Q-network (DQN) algorithm is doomed by a Sisyphean curse. Owing to the use of function approximation, these agents eventually forget experiences as they become exceedingly unlikely under a new policy. Consequently, for as long as they continue to train, DQNs may periodically relive catastrophic mistakes. Many real-world environments where people might be injured exhibit a special structure. We know a priori that catastrophes are not only bad, but that agents need not ever get near to a catastrophe state. In this paper, we exploit this structure to learn a reward-shaping that accelerates learning and guards oscillating policies against repeated catastrophes. First, we demonstrate unacceptable performance of DQNs on two toy problems. We then introduce intrinsic fear, a new method that mitigates these problems by avoiding dangerous states. Our approach incorporates a second model trained via supervised learning to predict the probability of catastrophe within a short number of steps. This score then acts to penalize the Q-learning objective, shaping the reward function away from catastrophic states. Many real-world problems, such as network packet routing and urban traffic control, are naturally modeled as multi-agent reinforcement learning (RL) problems. However, existing multi-agent RL methods typically scale poorly in the problem size. Therefore, a key challenge is to translate the success of deep learning on single-agent RL to the multi-agent setting. A major stumbling block is that independent Q-learning, the most popular multi-agent RL method, introduces nonstationarity that makes it incompatible with the experience replay memory on which deep Q-learning relies. This paper proposes two methods that address this problem: 1) using a multi-agent variant of importance sampling to naturally decay obsolete data and 2) conditioning each agent's value function on a fingerprint that disambiguates the age of the data sampled from the replay memory. Results on a challenging decentralised variant of StarCraft unit micromanagement confirm that these methods enable the successful combination of experience replay with multi-agent RL. We present a method for performing hierarchical object detection in images guided by a deep reinforcement learning agent. The key idea is to focus on those parts of the image that contain richer information and zoom on them. We train an intelligent agent that, given an image window, is capable of deciding where to focus the attention among five different predefined region candidates (smaller windows). This procedure is iterated providing a hierarchical image analysis.We compare two different candidate proposal strategies to guide the object search: with and without overlap. Moreover, our work compares two different strategies to extract features from a convolutional neural network for each region proposal: a first one that computes new feature maps for each region proposal, and a second one that computes the feature maps for the whole image to later generate crops for each region proposal. Experiments indicate better results for the overlapping candidate proposal strategy and a loss of performance for the cropped image features due to the loss of spatial resolution. We argue that, while this loss seems unavoidable when working with large amounts of object candidates, the much more reduced amount of region proposals generated by our reinforcement learning agent allows considering to extract features for each location without sharing convolutional computation among regions. In several natural language tasks, labeled sequences are available in separate domains (say, languages), but the goal is to label sequences with mixed domain (such as code-switched text). Or, we may have available models for labeling whole passages (say, with sentiments), which we would like to exploit toward better position-specific label inference (say, target-dependent sentiment annotation). A key characteristic shared across such tasks is that different positions in a primary instance can benefit from different experts' trained from auxiliary data, but labeled primary instances are scarce, and labeling the best expert for each position entails unacceptable cognitive burden. We propose GITNet, a unified position-sensitive multi-task recurrent neural network (RNN) architecture for such applications. Auxiliary and primary tasks need not share training instances. Auxiliary RNNs are trained over auxiliary instances. A primary instance is also submitted to each auxiliary RNN, but their state sequences are gated and merged into a novel composite state sequence tailored to the primary inference task. Our approach is in sharp contrast to recent multi-task networks like the cross-stitch and sluice network, which do not control state transfer at such fine granularity. We demonstrate the superiority of GIRNet using three applications: sentiment classification of code-switched passages, part-of-speech tagging of code-switched text, and target position-sensitive annotation of sentiment in monolingual passages. In all cases, we establish new state-of-the-art performance beyond recent competitive baselines. We study networks of communicating learning agents that cooperate to solve a common nonstochastic bandit problem. Agents use an underlying communication network to get messages about actions selected by other agents, and drop messages that took more than d hops to arrive, whered is a delay parameter. We introduce EXP3-COOP, a cooperative version of the EXP3 algorithm and prove that with K actions and N agents the average per-agent regret after T rounds is at most of order q d + 1 + K d (T lnK), where d is the independence number of the d-th power of the communication graphG. We then show that for any connected graph, ford = p K the regret bound isK 1=4 p T , strictly better than the minimax regret p KT for noncooperating agents. More informed choices ofd lead to bounds which are arbitrarily close to the full information minimax regret p T lnK when G is dense. When G has sparse components, we show that a variant of EXP3-COOP, allowing agents to choose their parameters according to their centrality inG, strictly improves the regret. Finally, as a by-product of our analysis, we provide the first characterization of the minimax regret for bandit learning with delay. In this paper, we study the problem of reaching a consensus among all the agents in the networked control systems (NCS) in the presence of misbehaving agents. A reputation-based resilient distributed control algorithm is first proposed for the leader-follower consensus network. The proposed algorithm embeds a resilience mechanism that includes four phases (detection, mitigation, identification, and update), into the control process in a distributed manner. At each phase, every agent only uses local and one-hop neighbors' information to identify and isolate the misbehaving agents, and even compensate their effect on the system. We then extend the proposed algorithm to the leaderless consensus network by introducing and adding two recovery schemes (rollback and excitation recovery) into the current framework to guarantee the accurate convergence of the well-behaving agents in NCS. The effectiveness of the proposed method is demonstrated through case studies in multirobot formation control and wireless sensor networks. The multipath-rich wireless environment associated with typical wireless usage scenarios is characterized by a fading channel response that is time-varying, location-sensitive, and uniquely shared by a given transmitter-receiver pair. The complexity associated with a richly scattering environment implies that the short-term fading process is inherently hard to predict and best modeled stochastically, with rapid decorrelation properties in space, time, and frequency. In this paper, we demonstrate how the channel state between a wireless transmitter and receiver can be used as the basis for building practical secret key generation protocols between two entities. We begin by presenting a scheme based on level crossings of the fading process, which is well-suited for the Rayleigh and Rician fading models associated with a richly scattering environment. Our level crossing algorithm is simple, and incorporates a self-authenticating mechanism to prevent adversarial manipulation of message exchanges during the protocol. Since the level crossing algorithm is best suited for fading processes that exhibit symmetry in their underlying distribution, we present a second and more powerful approach that is suited for more general channel state distributions. This second approach is motivated by observations from quantizing jointly Gaussian processes, but exploits empirical measurements to set quantization boundaries and a heuristic log likelihood ratio estimate to achieve an improved secret key generation rate. We validate both proposed protocols through experimentations using a customized 802.11a platform, and show for the typical WiFi channel that reliable secret key establishment can be accomplished at rates on the order of 10 b s. We study the application of convolutional codes to two-way relay networks (TWRNs) with physical-layer network coding (PNC). When a relay node decodes coded signals transmitted by two source nodes simultaneously, we show that the Viterbi algorithm (VA) can be used by approximating the maximum likelihood (ML) decoding for XORed messages as two-user decoding. In this setup, for given memory length constraint, the two source nodes can choose the same convolutional code that has the largest free distance in order to maximize the performance. Motivated from the fact that the relay node only needs to decode XORed messages, a low complexity decoding scheme is proposed using a reduced-state trellis. We show that the reduced-state decoding can achieve the same diversity gain as the full-state decoding for fading channels. As characterizing videos simultaneously from spatial and temporal cues has been shown crucial for the video analysis, the combination of convolutional neural networks and recurrent neural networks, i.e., recurrent convolution networks (RCNs), should be a native framework for learning the spatio-temporal video features. In this paper, we develop a novel sequential vector of locally aggregated descriptor (VLAD) layer, named SeqVLAD, to combine a trainable VLAD encoding process and the RCNs architecture into a whole framework. In particular, sequential convolutional feature maps extracted from successive video frames are fed into the RCNs to learn soft spatio-temporal assignment parameters, so as to aggregate not only detailed spatial information in separate video frames but also fine motion information in successive video frames. Moreover, we improve the gated recurrent unit (GRU) of RCNs by sharing the input-to-hidden parameters and propose an improved GRU-RCN architecture named shared GRU-RCN (SGRU-RCN). Thus, our SGRU-RCN has a fewer parameters and a less possibility of overfitting. In experiments, we evaluate SeqVLAD with the tasks of video captioning and video action recognition. Experimental results on Microsoft Research Video Description Corpus, Montreal Video Annotation Dataset, UCF101, and HMDB51 demonstrate the effectiveness and good performance of our method. The visual cues from multiple support regions of different sizes and resolutions are complementary in classifying a candidate box in object detection. How to effectively integrate local and contextual visual cues from these regions has become a fundamental problem in object detection. Most existing works simply concatenated features or scores obtained from support regions. In this paper, we proposal a novel gated bi-directional CNN (GBD-Net) to pass messages between features from different support regions during both feature learning and feature extraction. Such message passing can be implemented through convolution in two directions and can be conducted in various layers. Therefore, local and contextual visual patterns can validate the existence of each other by learning their nonlinear relationships and their close iterations are modeled in a much more complex way. It is also shown that message passing is not always helpful depending on individual samples. Gated functions are further introduced to control message transmission and their on-and-off is controlled by extra visual evidence from the input sample. GBD-Net is implemented under the Fast RCNN detection framework. Its effectiveness is shown through experiments on three object detection datasets, ImageNet, Pascal VOC2007 and Microsoft COCO. Recently, neuron activations extracted from a pre-trained convolutional neural network (CNN) show promising performance in various visual tasks. However, due to the domain and task bias, using the features generated from the model pre-trained for image classification as image representations for instance retrieval is problematic. In this paper, we propose quartet-net learning to improve the discriminative power of CNN features for instance retrieval. The general idea is to map the features into a space where the image similarity can be better evaluated. Our network differs from the traditional Siamese-net in two ways. First, we adopt a double-margin contrastive loss with a dynamic margin tuning strategy to train the network which leads to more robust performance. Second, we introduce in the mimic learning regularization to improve the generalization ability of the network by preventing it from overfitting to the training data. Catering for the network learning, we collect a large-scale dataset, namely GeoPair, which consists of 68k matching image pairs and 63k non-matching pairs. Experiments on several standard instance retrieval datasets demonstrate the effectiveness of our method. This paper describes an intuitive generalization to the Generative Adversarial Networks (GANs) to generate samples while capturing diverse modes of the true data distribution. Firstly, we propose a very simple and intuitive multi-agent GAN architecture that incorporates multiple generators capable of generating samples from high probability modes. Secondly, in order to enforce different generators to generate samples from diverse modes, we propose two extensions to the standard GAN objective function. (1) We augment the generator specific GAN objective function with a diversity enforcing term that encourage different generators to generate diverse samples using a user-defined similarity based function. (2) We modify the discriminator objective function where along with finding the real and fake samples, the discriminator has to predict the generator which generated the given fake sample. Intuitively, in order to succeed in this task, the discriminator must learn to push different generators towards different identifiable modes. Our framework is generalizable in the sense that it can be easily combined with other existing variants of GANs to produce diverse samples. Experimentally we show that our framework is able to produce high quality diverse samples for the challenging tasks such as image face generation and image-to-image translation. We also show that it is capable of learning a better feature representation in an unsupervised setting.