Classifier chains have recently been proposed as an appealing method for tackling the multi-label classification task. In addition to several empirical studies showing its state-of-the-art performance, especially when being used in its ensemble variant, there are also some first results on theoretical properties of classifier chains. Continuing along this line, we analyze the influence of a potential pitfall of the learning process, namely the discrepancy between the feature spaces used in training and testing: While true class labels are used as supplementary attributes for training the binary models along the chain, the same models need to rely on estimations of these labels at prediction time. We elucidate under which circumstances the attribute noise thus created can affect the overall prediction performance. As a result of our findings, we propose two modifications of classifier chains that are meant to overcome this problem. Experimentally, we show that our variants are indeed able to produce better results in cases where the original chaining process is likely to fail.
Yet another direction is sequential decision making problems such as planning and reinforcement learning, where the goal is to predict an optimal . The problem of error propagation has been noticed and specifically well studied in the field of . In applications like mobile robot navigation and electronic games, imitation learning aims at imitating an experts policy which comprises an optimal selection of sequential actions. By executing actions, the expert and the imitating machine move from one state to another. Erroneously choosing the wrong action then requires a dynamic (state-dependent) recovery policy, which cannot be achieved by simply imitating the faultless expert policy in this situation. In fact, the erroneous action can lead to a higher probability of subsequent errors @cite_15 .
@cite_15
2169498096 1931877416 2962957031 2142641780
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. Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and often in practice. Some recent approaches provide stronger guarantees in this setting, but remain somewhat unsatisfactory as they train either non-stationary or stochastic policies and require a large number of iterations. In this paper, we propose a new iterative algorithm, which trains a stationary deterministic policy, that can be seen as a no regret algorithm in an online learning setting. We show that any such no regret algorithm, combined with additional reduction assumptions, must find a policy with good performance under the distribution of observations it induces in such sequential settings. We demonstrate that this new approach outperforms previous approaches on two challenging imitation learning problems and a benchmark sequence labeling problem. Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and often in practice. Some recent approaches (Daume , 2009; Ross and Bagnell, 2010) provide stronger guarantees in this setting, but remain somewhat unsatisfactory as they train either non-stationary or stochastic policies and require a large number of iterations. In this paper, we propose a new iterative algorithm, which trains a stationary deterministic policy, that can be seen as a no regret algorithm in an online learning setting. We show that any such no regret algorithm, combined with additional reduction assumptions, must find a policy with good performance under the distribution of observations it induces in such sequential settings. We demonstrate that this new approach outperforms previous approaches on two challenging imitation learning problems and a benchmark sequence labeling problem. Imitation Learning, while applied successfully on many large real-world problems, is typically addressed as a standard supervised learning problem, where it is assumed the training and testing data are i.i.d.. This is not true in imitation learning as the learned policy influences the future test inputs (states) upon which it will be tested. We show that this leads to compounding errors and a regret bound that grows quadratically in the time horizon of the task. We propose two alternative algorithms for imitation learning where training occurs over several episodes of interaction. These two approaches share in common that the learner’s policy is slowly modified from executing the expert’s policy to the learned policy. We show that this leads to stronger performance guarantees and demonstrate the improved performance on two challenging problems: training a learner to play 1) a 3D racing game (Super Tux Kart) and 2) Mario Bros.; given input images from the games and corresponding actions taken by a human expert and near-optimal planner respectively.