We describe a simple scheme that allows an agent to learn about its environment in an unsupervised manner. Our scheme pits two versions of the same agent, Alice and Bob, against one another. Alice proposes a task for Bob to complete; and then Bob attempts to complete the task. In this work we will focus on two kinds of environments: (nearly) reversible environments and environments that can be reset. Alice will "propose" the task by doing a sequence of actions and then Bob must undo or repeat them, respectively. Via an appropriate reward structure, Alice and Bob automatically generate a curriculum of exploration, enabling unsupervised training of the agent. When Bob is deployed on an RL task within the environment, this unsupervised training reduces the number of supervised episodes needed to learn, and in some cases converges to a higher reward.
The closest work to ours is that of @cite_10 , who also have one part of the model that proposes tasks, while another part learns to complete them. As in this work, the policies and cost are parameterized as functions of both state and goal. However, our approach differs in the way tasks are proposed and communicated. In particular, in @cite_10 , the goal space has to be presented in a way that allows explicit partitioning and sampling, whereas in our work, the goals are sampled through Alice's actions. On the other hand, we pay for not having to have such a representation by requiring the environment to be either reversible or resettable.
@cite_10
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Imitation learning of sequential, goal-directed behavior by standard supervised techniques is often difficult. We frame learning such behaviors as a maximum margin structured prediction problem over a space of policies. In this approach, we learn mappings from features to cost so an optimal policy in an MDP with these cost mimics the expert's behavior. Further, we demonstrate a simple, provably efficient approach to structured maximum margin learning, based on the subgradient method, that leverages existing fast algorithms for inference. Although the technique is general, it is particularly relevant in problems where A* and dynamic programming approaches make learning policies tractable in problems beyond the limitations of a QP formulation. We demonstrate our approach applied to route planning for outdoor mobile robots, where the behavior a designer wishes a planner to execute is often clear, while specifying cost functions that engender this behavior is a much more difficult task. We consider a task of scheduling with a common deadline on a single machine. Every player reports to a scheduler the length of his job and the scheduler needs to finish as many jobs as possible by the deadline. For this simple problem, there is a truthful mechanism that achieves maximum welfare in dominant strategies. The new aspect of our work is that in our setting players are uncertain about their own job lengths, and hence are incapable of providing truthful reports (in the strict sense of the word). For a probabilistic model for uncertainty we show that even with relatively little uncertainty, no mechanism can guarantee a constant fraction of the maximum welfare. To remedy this situation, we introduce a new measure of economic efficiency, based on a notion of a fair share of a player, and design mechanisms that are Ω(1)-fair. In addition to its intrinsic appeal, our notion of fairness implies good approximation of maximum welfare in several cases of interest. In our mechanisms the machine is sometimes left idle even though there are jobs that want to use it. We show that this unfavorable aspect is unavoidable, unless one gives up other favorable aspects (e.g., give up Ω(1)-fairness). We also consider a qualitative approach to uncertainty as an alternative to the probabilistic quantitative model. In the qualitative approach we break away from solution concepts such as dominant strategies (they are no longer well defined), and instead suggest an axiomatic approach, which amounts to listing desirable properties for mechanisms. We provide a mechanism that satisfies these properties. We provide a method, based on the theory of Markov decision processes, for efficient planning in stochastic domains. Goals are encoded as reward functions, expressing the desirability of each world state; the planner must find a policy (mapping from states to actions) that maximizes future rewards. Standard goals of achievement, as well as goals of maintenance and prioritized combinations of goals, can be specified in this way. An optimal policy can be found using existing methods, but these methods require time at best polynomial in the number of states in the domain, where the number of states is exponential in the number of propositions (or state variables). By using information about the starting state, the reward function, and the transition probabilities of the domain, we restrict the planner''s attention to a set of world states that are likely to be encountered in satisfying the goal. Using this restricted set of states, the planner can generate more or less complete plans depending on the time it has available. Our approach employs several iterative refinement routines for solving different aspects of the decision making problem. We describe the meta-level control problem of deliberation scheduling , allocating computational resources to these routines. We provide different models corresponding to optimization problems that capture the different circumstances and computational strategies for decision making under time constraints. We consider precursor models in which all decision making is performed prior to execution and recurrent models in which decision making is performed in parallel with execution, accounting for the states observed during execution and anticipating future states. We describe experimental results for both the precursor and recurrent problems that demonstrate planning times that grow slowly as a function of domain size. Consider two parties Alice and Bob, who hold private inputs x and y, and wish to compute a function f(x, y) privately in the information theoretic sense; that is, each party should learn nothing beyond f(x, y). However, the communication channel available to them is noisy. This means that the channel can introduce errors in the transmission between the two parties. Moreover, the channel is adversarial in the sense that it knows the protocol that Alice and Bob are running, and maliciously introduces errors to disrupt the communication, subject to some bound on the total number of errors. A fundamental question in this setting is to design a protocol that remains private in the presence of large number of errors. If Alice and Bob are only interested in computing f(x, y) correctly, and not privately, then quite robust protocols are known that can tolerate a constant fraction of errors. However, none of these solutions is applicable in the setting of privacy, as they inherently leak information about the parties' inputs. This leads to the question whether we can simultaneously achieve privacy and error-resilience against a constant fraction of errors. We show that privacy and error-resilience are contradictory goals. In particular, we show that for every constant c > 0, there exists a function f which is privately computable in the error-less setting, but for which no private and correct protocol is resilient against a c-fraction of errors. The same impossibility holds also for sub-constant noise rate, e.g., when c is exponentially small (as a function of the input size). To ensure quality results from crowdsourced tasks, requesters often aggregate worker responses and use one of a plethora of strategies to infer the correct answer from the set of noisy responses. However, all current models assume prior knowledge of all possible outcomes of the task. While not an unreasonable assumption for tasks that can be posited as multiple-choice questions (e.g. n-ary classification), we observe that many tasks do not naturally fit this paradigm, but instead demand a free-response formulation where the outcome space is of infinite size (e.g. audio transcription). We model such tasks with a novel probabilistic graphical model, and design and implement LazySusan, a decision-theoretic controller that dynamically requests responses as necessary in order to infer answers to these tasks. We also design an EM algorithm to jointly learn the parameters of our model while inferring the correct answers to multiple tasks at a time. Live experiments on Amazon Mechanical Turk demonstrate the superiority of LazySusan at solving SAT Math questions, eliminating 83.2 of the error and achieving greater net utility compared to the state-ofthe-art strategy, majority-voting. We also show in live experiments that our EM algorithm outperforms majority-voting on a visualization task that we design. We investigate a paradigm in multi-task reinforcement learning (MT-RL) in which an agent is placed in an environment and needs to learn to perform a series of tasks, within this space. Since the environment does not change, there is potentially a lot of common ground amongst tasks and learning to solve them individually seems extremely wasteful. In this paper, we explicitly model and learn this shared structure as it arises in the state-action value space. We will show how one can jointly learn optimal value-functions by modifying the popular Value-Iteration and Policy-Iteration procedures to accommodate this shared representation assumption and leverage the power of multi-task supervised learning. Finally, we demonstrate that the proposed model and training procedures, are able to infer good value functions, even under low samples regimes. In addition to data efficiency, we will show in our analysis, that learning abstractions of the state space jointly across tasks leads to more robust, transferable representations with the potential for better generalization. this shared representation assumption and leverage the power of multi-task supervised learning. Finally, we demonstrate that the proposed model and training procedures, are able to infer good value functions, even under low samples regimes. In addition to data efficiency, we will show in our analysis, that learning abstractions of the state space jointly across tasks leads to more robust, transferable representations with the potential for better generalization. Policy learning for partially observed control tasks requires policies that have the ability to store information from past observations. In this paper, we present a method for learning policies with memory for high-dimensional, continuous systems. Our approach does not assume a known state representation and does not attempt to explicitly model the belief over the unobserved state. Instead, we directly learn a policy that can read and write from an internal continuous-valued memory. This type of policy can be interpreted as a type of recurrent neural network (RNN). However, our approach avoids many of the common problems that plague RNNs, such as the vanishing and exploding gradient issues, by instead representing the memory as state variables. The policy is then optimized by using a guided policy search algorithm that alternates between optimizing trajectories through state space (including both physical and memory states), and training a policy with supervised learning to match these trajectories. We evaluate our method on tasks involving continuous control in manipulation and navigation settings, and show that our method can learn complex policies that successfully complete a range of tasks that require memory. The execution of long-horizon tasks under uncertainty is a fundamental challenge in robotics. Recent approaches have made headway on these tasks with an integration of task and motion planning. In this paper, we present Interfaced Belief Space Planning (IBSP): a modular approach to task and motion planning in belief space. We use a task-independent interface layer to combine an off-the-shelf classical planner with motion planning and inference. We determinize the problem under the maximum likelihood observation assumption to obtain a deterministic representation where successful plans generate goal-directed observations. We leverage properties of maximum likelihood observation determinizations to obtain a simple representation of (optimistic) belief space dynamics that is well-suited to planning. Our interface is implemented with standard belief state queries, requiring only the ability to sample, compute unnormalized likelihoods, and compute maximum likelihood states. Our contribution is a novel algorithm for task and motion planning in belief space that has minimal dependence on the details of the inference engine used. IBSP can work with a broad class of black box state estimators, with zero changes to the algorithm. We validate our approach in simulated tasks for the PR2 that account for continuous state, different types of initial state distributions, and negative observations. In many two-sided markets, each side has incomplete information about the other but has an opportunity to learn (some) relevant information before final matches are made. For instance, clients seeking workers to perform tasks often conduct interviews that require the workers to perform some tasks and thereby provide information to both sides. The performance of a worker in such an interview assessment - and hence the information revealed - depends both on the inherent characteristics of the worker and the task and also on the actions taken by the worker (e.g. the effort expended); thus there is both adverse selection (on both sides) and moral hazard (on one side). When interactions are ongoing, incentives for workers to expend effort in the current assessment can be provided by the payment rule used and also by the matching rule that assesses and determines the tasks to which the worker is assigned in the future; thus workers have career concerns. We derive mechanisms - payment, assessment and matching rules - that lead to final matchings that are stable in the long run and achieve close to the optimal performance (profit or social welfare maximizing) in equilibrium (unique) thus mitigating both adverse selection and moral hazard (in many settings). This paper presents a computational model of how conversational participants collaborate in order to make a referring action successful. The model is based on the view of language as goal-directed behavior. We propose that the content of a referring expression can be accounted for by the planning paradigm. Not only does this approach allow the processes of building referring expressions and identifying their referents to be captured by plan construction and plan inference, it also allows us to account for how participants clarify a referring expression by using meta-actions that reason about and manipulate the plan derivation that corresponds to the referring expression. To account for how clarification goals arise and how inferred clarification plans affect the agent, we propose that the agents are in a certain state of mind, and that this state includes an intention to achieve the goal of referring and a plan that the agents are currently considering. It is this mental state that sanctions the adoption of goals and the acceptance of inferred plans, and so acts as a link between understanding and generation. Abstract In this paper, we present a unifying analysis for redundancy systems with cancel-on-start ( c . o . s . ) and cancel-on-complete ( c . o . c . ) with exponentially distributed service requirements. With c . o . s . ( c . o . c . ) all redundant copies are removed as soon as one of the copies starts (completes) service. As a consequence, c . o . s . does not waste any computing resources, as opposed to c . o . c . We show that the c . o . s . model is equivalent to a queueing system with multi-type jobs and servers, which was analyzed in , (2012), and show that c . o . c . (under the assumption of i.i.d. copies) can be analyzed by a generalization of , (2012) where state-dependent departure rates are permitted. This allows us to show that the stationary distribution for both the c . o . c . and c . o . s . models has a product form. We give a detailed first-time analysis for c . o . s and derive a closed form expression for important metrics like mean number of jobs in the system, and probability of waiting. We also note that the c . o . s . model is equivalent to Join-Shortest-Work queue with power of d (JSW( d )). In the latter, an incoming job is dispatched to the server with smallest workload among d randomly chosen ones. Thus, all our results apply mutatis-mutandis to JSW( d ). Comparing the performance of c . o . s . with that of c . o . c . with i.i.d. copies gives the unexpected conclusion (since c . o . s . does not waste any resources) that c . o . s . is worse in terms of mean number of jobs. As part of ancillary results, we illustrate that this is primarily due to the assumption of i.i.d. copies in case of c . o . c . (together with exponentially distributed requirements) and that such assumptions might lead to conclusions that are qualitatively different from that observed in practice. We explore the problem of assigning heterogeneous tasks to workers with different, unknown skill sets in crowdsourcing markets such as Amazon Mechanical Turk. We first formalize the online task assignment problem, in which a requester has a fixed set of tasks and a budget that specifies how many times he would like each task completed. Workers arrive one at a time (with the same worker potentially arriving multiple times), and must be assigned to a task upon arrival. The goal is to allocate workers to tasks in a way that maximizes the total benefit that the requester obtains from the completed work. Inspired by recent research on the online adwords problem, we present a two-phase exploration-exploitation assignment algorithm and prove that it is competitive with respect to the optimal offline algorithm which has access to the unknown skill levels of each worker. We empirically evaluate this algorithm using data collected on Mechanical Turk and show that it performs better than random assignment or greedy algorithms. To our knowledge, this is the first work to extend the online primal-dual technique used in the online adwords problem to a scenario with unknown parameters, and the first to offer an empirical validation of an online primal-dual algorithm. Intrinsically motivated goal exploration processes enable agents to autonomously sample goals to explore efficiently complex environments with high-dimensional continuous actions. They have been applied successfully to real world robots to discover repertoires of policies producing a wide diversity of effects. Often these algorithms relied on engineered goal spaces but it was recently shown that one can use deep representation learning algorithms to learn an adequate goal space in simple environments. However, in the case of more complex environments containing multiple objects or distractors, an efficient exploration requires that the structure of the goal space reflects the one of the environment. In this paper we show that using a disentangled goal space leads to better exploration performances than an entangled goal space. We further show that when the representation is disentangled, one can leverage it by sampling goals that maximize learning progress in a modular manner. Finally, we show that the measure of learning progress, used to drive curiosity-driven exploration, can be used simultaneously to discover abstract independently controllable features of the environment. We describe a simple scheme that allows an agent to learn about its environment in an unsupervised manner. Our scheme pits two versions of the same agent, Alice and Bob, against one another. Alice proposes a task for Bob to complete; and then Bob attempts to complete the task. In this work we will focus on two kinds of environments: (nearly) reversible environments and environments that can be reset. Alice will "propose" the task by doing a sequence of actions and then Bob must undo or repeat them, respectively. Via an appropriate reward structure, Alice and Bob automatically generate a curriculum of exploration, enabling unsupervised training of the agent. When Bob is deployed on an RL task within the environment, this unsupervised training reduces the number of supervised episodes needed to learn, and in some cases converges to a higher reward. Humans navigate crowded spaces such as a university campus by following common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new target tracking or trajectory forecasting methods that can take full advantage of these rules, we need to have access to better data in the first place. To that end, we contribute a new large-scale dataset that collects videos of various types of targets (not just pedestrians, but also bikers, skateboarders, cars, buses, golf carts) that navigate in a real world outdoor environment such as a university campus. Moreover, we introduce a new characterization that describes the “social sensitivity” at which two targets interact. We use this characterization to define “navigation styles” and improve both forecasting models and state-of-the-art multi-target tracking–whereby the learnt forecasting models help the data association step. This paper proposes a novel approach for constructing effective personalized policies when the observed data lacks counter-factual information, is biased and possesses many features. The approach is applicable in a wide variety of settings from healthcare to advertising to education to finance. These settings have in common that the decision maker can observe, for each previous instance, an array of features of the instance, the action taken in that instance, and the reward realized -- but not the rewards of actions that were not taken: the counterfactual information. Learning in such settings is made even more difficult because the observed data is typically biased by the existing policy (that generated the data) and because the array of features that might affect the reward in a particular instance -- and hence should be taken into account in deciding on an action in each particular instance -- is often vast. The approach presented here estimates propensity scores for the observed data, infers counterfactuals, identifies a (relatively small) number of features that are (most) relevant for each possible action and instance, and prescribes a policy to be followed. Comparison of the proposed algorithm against the state-of-art algorithm on actual datasets demonstrates that the proposed algorithm achieves a significant improvement in performance. A longstanding goal in planning research is the ability to generalize plans developed for some set of environments to a new but similar environment, with minimal or no replanning. Such generalization can both reduce planning time and allow us to tackle larger domains than the ones tractable for direct planning. In this paper, we present an approach to the generalization problem based on a new framework of relational Markov Decision Processes (RMDPs). An RMDP can model a set of similar environments by representing objects as instances of different classes. In order to generalize plans to multiple environments, we define an approximate value function specified in terms of classes of objects and, in a multiagent setting, by classes of agents. This class-based approximate value function is optimized relative to a sampled subset of environments, and computed using an efficient linear programming method. We prove that a polynomial number of sampled environments suffices to achieve performance close to the performance achievable when optimizing over the entire space. Our experimental results show that our method generalizes plans successfully to new, significantly larger, environments, with minimal loss of performance relative to environment-specific planning. We demonstrate our approach on a real strategic computer war game. Temporally extended actions (e.g., macro actions) have proven very useful for speeding up learning, ensuring robustness and building prior knowledge into AI systems. The options framework (Precup, 2000; Sutton, Precup & Singh, 1999) provides a natural way of incorporating such actions into reinforcement learning systems, but leaves open the issue of howgood options might be identified. In this paper, we empirically explore a simple approach to creating options. The underlying assumption is that the agent will be asked to perform different goalachievement tasks in an environment that is otherwise the same over time. Our approach is based on the intuition that states that are frequently visited on system trajectories, could prove to be useful subgoals (e.g., McGovern & Barto, 2001; Iba, 1989).We propose a greedy algorithm for identifying subgoals based on state visitation counts. We present empirical studies of this approach in two gridworld navigation tasks. One of the environments we explored contains bottleneck states, and the algorithm indeed finds these states, as expected. The second environment is an empty gridworld with no obstacles. Although the environment does not contain any obvious subgoals, our approach still finds useful options, which essentially allow the agent to explore the environment more quickly. We propose a method for learning dialogue management policies from a fixed data set. The method addresses the challenges posed by Information State Update (ISU)-based dialogue systems, which represent the state of a dialogue as a large set of features, resulting in a very large state space and a huge policy space. To address the problem that any fixed data set will only provide information about small portions of these state and policy spaces, we propose a hybrid model that combines reinforcement learning with supervised learning. The reinforcement learning is used to optimize a measure of dialogue reward, while the supervised learning is used to restrict the learned policy to the portions of these spaces for which we have data. We also use linear function approximation to address the need to generalize from a fixed amount of data to large state spaces. To demonstrate the effectiveness of this method on this challenging task, we trained this model on the COMMUNICATOR corpus, to which we have added annotations for user actions and Information States. When tested with a user simulation trained on a different part of the same data set, our hybrid model outperforms a pure supervised learning model and a pure reinforcement learning model. It also outperforms the hand-crafted systems on the COMMUNICATOR data, according to automatic evaluation measures, improving over the average COMMUNICATOR system policy by 10 . The proposed method will improve techniques for bootstrapping and automatic optimization of dialogue management policies from limited initial data sets. To enable safe and efficient human–robot collaboration in shared workspaces, it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very challenging, we argue that single-arm reaching motions for known tasks in collaborative settings (which are especially relevant for manufacturing) are indeed predictable. Two hypotheses underlie our approach for predicting such motions: First, that the trajectory the human performs is optimal with respect to an unknown cost function, and second, that human adaptation to their partner's motion can be captured well through iterative replanning with the above cost function. The key to our approach is thus to learn a cost function that “explains” the motion of the human. To do this, we gather example trajectories from pairs of participants performing a collaborative assembly task using motion capture. We then use inverse optimal control to learn a cost function from these trajectories. Finally, we predict reaching motions from the human's current configuration to a task-space goal region by iteratively replanning a trajectory using the learned cost function. Our planning algorithm is based on the trajectory optimizer: stochastic trajectory optimizer for motion planning [1] ; it plans for a 23-degree-of-freedom human kinematic model and accounts for the presence of a moving collaborator and obstacles in the environment. Our results suggest that in most cases, our method outperforms baseline methods when predicting motions. We also show that our method outperforms baselines for predicting human motion when a human and a robot share the workspace.