Efficiently adapting to new environments and changes in dynamics is critical for agents to successfully operate in the real world. Reinforcement learning (RL) based approaches typically rely on external reward feedback for adaptation. However, in many scenarios this reward signal might not be readily available for the target task, or the difference between the environments can be implicit and only observable from the dynamics. To this end, we introduce a method that allows for self-adaptation of learned policies: No-Reward Meta Learning (NoRML). NoRML extends Model Agnostic Meta Learning (MAML) for RL and uses observable dynamics of the environment instead of an explicit reward function in MAML's finetune step. Our method has a more expressive update step than MAML, while maintaining MAML's gradient based foundation. Additionally, in order to allow more targeted exploration, we implement an extension to MAML that effectively disconnects the meta-policy parameters from the fine-tuned policies' parameters. We first study our method on a number of synthetic control problems and then validate our method on common benchmark environments, showing that NoRML outperforms MAML when the dynamics change between tasks.
Prior model-based RL approaches have considered the problem of learning to adapt to different dynamics through meta-RL or through learned priors @cite_15 . Using a learned model is suitable when sample efficiency is a concern, but achieves lower asymptotic performance than model-free meta-RL . Recent work by used MAML to adapt to different learned dynamics models within an ensemble, to improve model-based RL. We also consider the problem of adapting to different dynamics, but in the context of adapting to different environments, rather than different estimated models of the same environment. Further, our method improves upon MAML by not requiring a reward function for adaptation.
@cite_15
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Three Bayesian related approaches, namely, variational Bayesian (VB), minimum message length (MML) and Bayesian Ying-Yang (BYY) harmony learning, have been applied to automatically determining an appropriate number of components during learning Gaussian mixture model (GMM). This paper aims to provide a comparative investigation on these approaches with not only a Jeffreys prior but also a conjugate Dirichlet-Normal-Wishart (DNW) prior on GMM. In addition to adopting the existing algorithms either directly or with some modifications, the algorithm for VB with Jeffreys prior and the algorithm for BYY with DNW prior are developed in this paper to fill the missing gap. The performances of automatic model selection are evaluated through extensive experiments, with several empirical findings: 1) Considering priors merely on the mixing weights, each of three approaches makes biased mistakes, while considering priors on all the parameters of GMM makes each approach reduce its bias and also improve its performance. 2) As Jeffreys prior is replaced by the DNW prior, all the three approaches improve their performances. Moreover, Jeffreys prior makes MML slightly better than VB, while the DNW prior makes VB better than MML. 3) As the hyperparameters of DNW prior are further optimized by each of its own learning principle, BYY improves its performances while VB and MML deteriorate their performances when there are too many free hyper-parameters. Actually, VB and MML lack a good guide for optimizing the hyper-parameters of DNW prior. 4) BYY considerably outperforms both VB and MML for any type of priors and whether hyper-parameters are optimized. Being different from VB and MML that rely on appropriate priors to perform model selection, BYY does not highly depend on the type of priors. It has model selection ability even without priors and performs already very well with Jeffreys prior, and incrementally improves as Jeffreys prior is replaced by the DNW prior. Finally, all algorithms are applied on the Berkeley segmentation database of real world images. Again, BYY considerably outperforms both VB and MML, especially in detecting the objects of interest from a confusing background. Meta-learning allows an intelligent agent to leverage prior learning episodes as a basis for quickly improving performance on a novel task. Bayesian hierarchical modeling provides a theoretical framework for formalizing meta-learning as inference for a set of parameters that are shared across tasks. Here, we reformulate the model-agnostic meta-learning algorithm (MAML) of (2017) as a method for probabilistic inference in a hierarchical Bayesian model. In contrast to prior methods for meta-learning via hierarchical Bayes, MAML is naturally applicable to complex function approximators through its use of a scalable gradient descent procedure for posterior inference. Furthermore, the identification of MAML as hierarchical Bayes provides a way to understand the algorithm's operation as a meta-learning procedure, as well as an opportunity to make use of computational strategies for efficient inference. We use this opportunity to propose an improvement to the MAML algorithm that makes use of techniques from approximate inference and curvature estimation. Model-free reinforcement learning (RL) has been proven to be a powerful, general tool for learning complex behaviors. However, its sample efficiency is often impractically large for solving challenging real-world problems, even for off-policy algorithms such as Q-learning. A limiting factor in classic model-free RL is that the learning signal consists only of scalar rewards, ignoring much of the rich information contained in state transition tuples. Model-based RL uses this information, by training a predictive model, but often does not achieve the same asymptotic performance as model-free RL due to model bias. We introduce temporal difference models (TDMs), a family of goal-conditioned value functions that can be trained with model-free learning and used for model-based control. TDMs combine the benefits of model-free and model-based RL: they leverage the rich information in state transitions to learn very efficiently, while still attaining asymptotic performance that exceeds that of direct model-based RL methods. Our experimental results show that, on a range of continuous control tasks, TDMs provide a substantial improvement in efficiency compared to state-of-the-art model-based and model-free methods. Consider the problem of learning logistic-regression models for multiple classification tasks, where the training data set for each task is not drawn from the same statistical distribution. In such a multi-task learning (MTL) scenario, it is necessary to identify groups of similar tasks that should be learned jointly. Relying on a Dirichlet process (DP) based statistical model to learn the extent of similarity between classification tasks, we develop computationally efficient algorithms for two different forms of the MTL problem. First, we consider a symmetric multi-task learning (SMTL) situation in which classifiers for multiple tasks are learned jointly using a variational Bayesian (VB) algorithm. Second, we consider an asymmetric multi-task learning (AMTL) formulation in which the posterior density function from the SMTL model parameters (from previous tasks) is used as a prior for a new task: this approach has the significant advantage of not requiring storage and use of all previous data from prior tasks. The AMTL formulation is solved with a simple Markov Chain Monte Carlo (MCMC) construction. Experimental results on two real life MTL problems indicate that the proposed algorithms: (a) automatically identify subgroups of related tasks whose training data appear to be drawn from similar distributions; and (b) are more accurate than simpler approaches such as single-task learning, pooling of data across all tasks, and simplified approximations to DP.