Models that can execute natural language instructions for situated robotic tasks such as assembly and navigation have several useful applications in homes, offices, and remote scenarios. We study the semantics of spatially-referred configuration and arrangement instructions, based on the challenging Bisk-2016 blank-labeled block dataset. This task involves finding a source block and moving it to the target position (mentioned via a reference block and offset), where the blocks have no names or colors and are just referred to via spatial location features. We present novel models for the subtasks of source block classification and target position regression, based on joint-loss language and spatial-world representation learning, as well as CNN-based and dual attention models to compute the alignment between the world blocks and the instruction phrases. For target position prediction, we compare two inference approaches: annealed sampling via policy gradient versus expectation inference via supervised regression. Our models achieve the new state-of-the-art on this task, with an improvement of 47 on source block accuracy and 22 on target position distance.
Related to sampling-based loss and policy gradient optimization, adopt policy gradient based reinforcement learning for executing instructions on system troubleshooting and game tutorials. There is also recent policy gradient approaches for the tasks of machine translation and image captioning using metric-based rewards @cite_8 @cite_19 . Since the losses of these models are non-differentiable, a policy gradient approach (introduced in ) is used for optimization. Most recently, extended the pattern-labeled version of the dataset to a new sequential motion planning task based on raw visual simulation input (for intermediate movement steps) fed into a reinforcement learning model. On the other hand, we focus on a different setup, i.e., the original source+target direct-prediction task and dataset; and we address its more challenging blank-labeled-blocks version, hence only relying on spatial location-based semantics.
@cite_19 @cite_8
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We propose a met alearning approach for learning gradient-based reinforcement learning (RL) algorithms. The idea is to evolve a differentiable loss function, such that an agent, which optimizes its policy to minimize this loss, will achieve high rewards. The loss is parametrized via temporal convolutions over the agent's experience. Because this loss is highly flexible in its ability to take into account the agent's history, it enables fast task learning. Empirical results show that our evolved policy gradient algorithm (EPG) achieves faster learning on several randomized environments compared to an off-the-shelf policy gradient method. We also demonstrate that EPG's learned loss can generalize to out-of-distribution test time tasks, and exhibits qualitatively different behavior from other popular met alearning algorithms. We propose a met alearning approach for learning gradient-based reinforcement learning (RL) algorithms. The idea is to evolve a differentiable loss function, such that an agent, which optimizes its policy to minimize this loss, will achieve high rewards. The loss is parametrized via temporal convolutions over the agent's experience. Because this loss is highly flexible in its ability to take into account the agent's history, it enables fast task learning. Empirical results show that our evolved policy gradient algorithm (EPG) achieves faster learning on several randomized environments compared to an off-the-shelf policy gradient method. We also demonstrate that EPG's learned loss can generalize to out-of-distribution test time tasks, and exhibits qualitatively different behavior from other popular met alearning algorithms. Policy gradient methods have been successfully applied to a variety of reinforcement learning tasks. However, while learning in a simulator, these methods do not utilise the opportunity to improve learning by adjusting certain environment variables: unobservable state features that are randomly determined by the environment in a physical setting, but that are controllable in a simulator. This can lead to slow learning, or convergence to highly suboptimal policies. In this paper, we present contextual policy optimisation (CPO). The central idea is to use Bayesian optimisation to actively select the distribution of the environment variable that maximises the improvement generated by each iteration of the policy gradient method. To make this Bayesian optimisation practical, we contribute two easy-to-compute low-dimensional fingerprints of the current policy. We apply CPO to a number of continuous control tasks of varying difficulty and show that CPO can efficiently learn policies that are robust to significant rare events, which are unlikely to be observable under random sampling but are key to learning good policies. Off-policy model-free deep reinforcement learning methods using previously collected data can improve sample efficiency over on-policy policy gradient techniques. On the other hand, on-policy algorithms are often more stable and easier to use. This paper examines, both theoretically and empirically, approaches to merging on- and off-policy updates for deep reinforcement learning. Theoretical results show that off-policy updates with a value function estimator can be interpolated with on-policy policy gradient updates whilst still satisfying performance bounds. Our analysis uses control variate methods to produce a family of policy gradient algorithms, with several recently proposed algorithms being special cases of this family. We then provide an empirical comparison of these techniques with the remaining algorithmic details fixed, and show how different mixing of off-policy gradient estimates with on-policy samples contribute to improvements in empirical performance. The final algorithm provides a generalization and unification of existing deep policy gradient techniques, has theoretical guarantees on the bias introduced by off-policy updates, and improves on the state-of-the-art model-free deep RL methods on a number of OpenAI Gym continuous control benchmarks.