Agents trained in simulation may make errors in the real world due to mismatches between training and execution environments. These mistakes can be dangerous and difficult to discover because the agent cannot predict them a priori. We propose using oracle feedback to learn a predictive model of these blind spots to reduce costly errors in real-world applications. We focus on blind spots in reinforcement learning (RL) that occur due to incomplete state representation: The agent does not have the appropriate features to represent the true state of the world and thus cannot distinguish among numerous states. We formalize the problem of discovering blind spots in RL as a noisy supervised learning problem with class imbalance. We learn models to predict blind spots in unseen regions of the state space by combining techniques for label aggregation, calibration, and supervised learning. The models take into consideration noise emerging from different forms of oracle feedback, including demonstrations and corrections. We evaluate our approach on two domains and show that it achieves higher predictive performance than baseline methods, and that the learned model can be used to selectively query an oracle at execution time to prevent errors. We also empirically analyze the biases of various feedback types and how they influence the discovery of blind spots.
In related work, @cite_21 introduce a method for finding unknown unknowns in discriminative classifiers. Data points are clustered in an unsupervised manner followed by a multi-arm bandit algorithm (each cluster is an arm) for efficiently finding regions of the feature space where the classifier is most likely to make mistakes. It is not straightforward to apply this approach to RL because examples (states) are no longer i.i.d. as in supervised learning. In RL, states are visited according to a distribution induced by either executing the learned policy or that induced by an optimal oracle. There can also be multiple labels (actions) that are acceptable for each state, rather than a single correct" label. Finally, certain mistakes in the real-world can be catastrophic, which requires risk-sensitive classification to prioritize identifying rare blind spot states @cite_9 .
@cite_9 @cite_21
2142261479 2583689529
We consider decentralized restless multi-armed bandit problems with unknown dynamics and multiple players. The reward state of each arm transits according to an unknown Markovian rule when it is played and evolves according to an arbitrary unknown random process when it is passive. Players activating the same arm at the same time collide and suffer from reward loss. The objective is to maximize the long-term reward by designing a decentralized arm selection policy to address unknown reward models and collisions among players. A decentralized policy is constructed that achieves a regret with logarithmic order. The result finds applications in communication networks, financial investment, and industrial engineering. Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known to achieve remarkable generalization when provided with massive amounts of labeled data, but can we provide this breadth of experience to an RL agent, such as a robot? The robot might continuously learn as it explores the world around it, even while deployed. However, this learning requires access to a reward function, which is often hard to measure in real-world domains, where the reward could depend on, for example, unknown positions of objects or the emotional state of the user. Conversely, it is often quite practical to provide the agent with reward functions in a limited set of situations, such as when a human supervisor is present or in a controlled setting. Can we make use of this limited supervision, and still benefit from the breadth of experience an agent might collect on its own? In this paper, we formalize this problem as semisupervised reinforcement learning, where the reward function can only be evaluated in a set of "labeled" MDPs, and the agent must generalize its behavior to the wide range of states it might encounter in a set of "unlabeled" MDPs, by using experience from both settings. Our proposed method infers the task objective in the unlabeled MDPs through an algorithm that resembles inverse RL, using the agent's own prior experience in the labeled MDPs as a kind of demonstration of optimal behavior. We evaluate our method on challenging tasks that require control directly from images, and show that our approach can improve the generalization of a learned deep neural network policy by using experience for which no reward function is available. We also show that our method outperforms direct supervised learning of the reward. We consider the restless multiarmed bandit problem with unknown dynamics in which a player chooses one out of N arms to play at each time. The reward state of each arm transits according to an unknown Markovian rule when it is played and evolves according to an arbitrary unknown random process when it is passive. The performance of an arm selection policy is measured by regret, defined as the reward loss with respect to the case where the player knows which arm is the most rewarding and always plays the best arm. We construct a policy with an interleaving exploration and exploitation epoch structure that achieves a regret with logarithmic order. We further extend the problem to a decentralized setting where multiple distributed players share the arms without information exchange. Under both an exogenous restless model and an endogenous restless model, we show that a decentralized extension of the proposed policy preserves the logarithmic regret order as in the centralized setting. The results apply to adaptive learning in various dynamic systems and communication networks, as well as financial investment. During training, model-free reinforcement learning (RL) systems can explore actions that lead to harmful or costly consequences. Having a human "in the loop'' and ready to intervene at all times can prevent these mistakes, but is prohibitively expensive for current algorithms. We explore how human oversight can be combined with a supervised learning system to prevent catastrophic events during training. We demonstrate this scheme on Atari games, with a Deep RL agent being overseen by a human for four hours. When the class of catastrophes is simple, we are able to prevent all catastrophes without affecting the agent's learning (whereas an RL baseline fails due to catastrophic forgetting). The fundamental problem of multiple secondary users contending for opportunistic spectrum access over multiple channels in cognitive radio networks has been formulated recently as a decentralized multi-armed bandit (D-MAB) problem. In a D-MAB problem there are @math users and @math arms (channels) that each offer i.i.d. stochastic rewards with unknown means so long as they are accessed without collision. The goal is to design a decentralized online learning policy that incurs minimal regret, defined as the difference between the total expected rewards accumulated by a model-aware genie, and that obtained by all users applying the policy. We make two contributions in this paper. First, we consider the setting where the users have a prioritized ranking, such that it is desired for the @math -th-ranked user to learn to access the arm offering the @math -th highest mean reward. For this problem, we present the first distributed policy that yields regret that is uniformly logarithmic over time without requiring any prior assumption about the mean rewards. Second, we consider the case when a fair access policy is required, i.e., it is desired for all users to experience the same mean reward. For this problem, we present a distributed policy that yields order-optimal regret scaling with respect to the number of users and arms, better than previously proposed policies in the literature. Both of our distributed policies make use of an innovative modification of the well known UCB1 policy for the classic multi-armed bandit problem that allows a single user to learn how to play the arm that yields the @math -th largest mean reward. While exploring to find better solutions, an agent performing online reinforcement learning (RL) can perform worse than is acceptable. In some cases, exploration might have unsafe, or even catastrophic, results, often modeled in terms of reaching 'failure' states of the agent's environment. This paper presents a method that uses domain knowledge to reduce the number of failures during exploration. This method formulates the set of actions from which the RL agent composes a control policy to ensure that exploration is conducted in a policy space that excludes most of the unacceptable policies. The resulting action set has a more abstract relationship to the task being solved than is common in many applications of RL. Although the cost of this added safety is that learning may result in a suboptimal solution, we argue that this is an appropriate tradeoff in many problems. We illustrate this method in the domain of motion planning. Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and on-policy training, making them difficult to apply in real-world scenarios. In this paper, we study how we can develop HRL algorithms that are general, in that they do not make onerous additional assumptions beyond standard RL algorithms, and efficient, in the sense that they can be used with modest numbers of interaction samples, making them suitable for real-world problems such as robotic control. For generality, we develop a scheme where lower-level controllers are supervised with goals that are learned and proposed automatically by the higher-level controllers. To address efficiency, we propose to use off-policy experience for both higher and lower-level training. This poses a considerable challenge, since changes to the lower-level behaviors change the action space for the higher-level policy, and we introduce an off-policy correction to remedy this challenge. This allows us to take advantage of recent advances in off-policy model-free RL to learn both higher- and lower-level policies using substantially fewer environment interactions than on-policy algorithms. We term the resulting HRL agent HIRO and find that it is generally applicable and highly sample-efficient. Our experiments show that HIRO can be used to learn highly complex behaviors for simulated robots, such as pushing objects and utilizing them to reach target locations, learning from only a few million samples, equivalent to a few days of real-time interaction. In comparisons with a number of prior HRL methods, we find that our approach substantially outperforms previous state-of-the-art techniques. 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. Consider a multi-agent system in a dynamic and uncertain environment. Each agent's local decision problem is modeled as a Markov decision process (MDP) and agents must coordinate on a joint action in each period, which provides a reward to each agent and causes local state transitions. A social planner knows the model of every agent's MDP and wants to implement the optimal joint policy, but agents are self-interested and have private local state. We provide an incentive-compatible mechanism for eliciting state information that achieves the optimal joint plan in a Markov perfect equilibrium of the induced stochastic game. In the special case in which local problems are Markov chains and agents compete to take a single action in each period, we leverage Gittins allocation indices to provide an efficient factored algorithm and distribute computation of the optimal policy among the agents. Distributed, optimal coordinated learning in a multi-agent variant of the multi-armed bandit problem is obtained as a special case. We formulate the following combinatorial multi-armed bandit (MAB) problem: There are N random variables with unknown mean that are each instantiated in an i.i.d. fashion over time. At each time multiple random variables can be selected, subject to an arbitrary constraint on weights associated with the selected variables. All of the selected individual random variables are observed at that time, and a linearly weighted combination of these selected variables is yielded as the reward. The goal is to find a policy that minimizes regret, defined as the difference between the reward obtained by a genie that knows the mean of each random variable, and that obtained by the given policy. This formulation is broadly applicable and useful for stochastic online versions of many interesting tasks in networks that can be formulated as tractable combinatorial optimization problems with linear objective functions, such as maximum weighted matching, shortest path, and minimum spanning tree computations. Prior work on multi-armed bandits with multiple plays cannot be applied to this formulation because of the general nature of the constraint. On the other hand, the mapping of all feasible combinations to arms allows for the use of prior work on MAB with single-play, but results in regret, storage, and computation growing exponentially in the number of unknown variables. We present new efficient policies for this problem that are shown to achieve regret that grows logarithmically with time, and polynomially in the number of unknown variables. Furthermore, these policies only require storage that grows linearly in the number of unknown parameters. For problems where the underlying deterministic problem is tractable, these policies further require only polynomial computation. For computationally intractable problems, we also present results on a different notion of regret that is suitable when a polynomial-time approximation algorithm is used. The Co-Training algorithm uses unlabeled examples in multiple views to bootstrap classifiers in each view, typically in a greedy manner, and operating under assumptions of view-independence and compatibility. In this paper, we propose a Co-Regularization framework where classifiers are learnt in each view through forms of multi-view regularization. We propose algorithms within this framework that are based on optimizing measures of agreement and smoothness over labeled and unlabeled examples. These algorithms naturally extend standard regularization methods like Support Vector Machines (SVM) and Regularized Least squares (RLS) for multi-view semi-supervised learning, and inherit their benefits and applicability to high-dimensional classification problems. An empirical investigation is presented that confirms the promise of this approach. Deep reinforcement learning (deep RL) has been successful in learning sophisticated behaviors automatically; however, the learning process requires a huge number of trials. In contrast, animals can learn new tasks in just a few trials, benefiting from their prior knowledge about the world. This paper seeks to bridge this gap. Rather than designing a “fast” reinforcement learning algorithm, we propose to represent it as a recurrent neural network (RNN) and learn it from data. In our proposed method, RL^2, the algorithm is encoded in the weights of the RNN, which are learned slowly through a general-purpose (“slow”) RL algorithm. The RNN receives all information a typical RL algorithm would receive, including observations, actions, rewards, and termination flags; and it retains its state across episodes in a given Markov Decision Process (MDP). The activations of the RNN store the state of the “fast” RL algorithm on the current (previously unseen) MDP. We evaluate RL^2 experimentally on both small-scale and large-scale problems. On the small-scale side, we train it to solve randomly generated multi-arm bandit problems and finite MDPs. After RL^2 is trained, its performance on new MDPs is close to human-designed algorithms with optimality guarantees. On the large-scale side, we test RL^2 on a vision-based navigation task and show that it scales up to high-dimensional problems. Many reinforcement learning (RL) tasks, especially in robotics, consist of multiple sub-tasks that are strongly structured. Such task structures can be exploited by incorporating hierarchical policies that consist of gating networks and sub-policies. However, this concept has only been partially explored for real world settings and complete methods, derived from first principles, are needed. Real world settings are challenging due to large and continuous state-action spaces that are prohibitive for exhaustive sampling methods. We define the problem of learning sub-policies in continuous state action spaces as finding a hierarchical policy that is composed of a high-level gating policy to select the low-level sub-policies for execution by the agent. In order to efficiently share experience with all sub-policies, also called inter-policy learning, we treat these sub-policies as latent variables which allows for distribution of the update information between the sub-policies. We present three different variants of our algorithm, designed to be suitable for a wide variety of real world robot learning tasks and evaluate our algorithms in two real robot learning scenarios as well as several simulations and comparisons. To reveal and leverage the correlated and complemental information between different views, a great amount of multi-view learning algorithms have been proposed in recent years. However, unsupervised feature selection in multi-view learning is still a challenge due to lack of data labels that could be utilized to select the discriminative features. Moreover, most of the traditional feature selection methods are developed for the single-view data, and are not directly applicable to the multi-view data. Therefore, we propose an unsupervised learning method called Adaptive Unsupervised Multi-view Feature Selection (AUMFS) in this paper. AUMFS attempts to jointly utilize three kinds of vital information, i.e., data cluster structure, data similarity and the correlations between different views, contained in the original data together for feature selection. To achieve this goal, a robust sparse regression model with the l2,1-norm penalty is introduced to predict data cluster labels, and at the same time, multiple view-dependent visual similar graphs are constructed to flexibly model the visual similarity in each view. Then, AUMFS integrates data cluster labels prediction and adaptive multi-view visual similar graph learning into a unified framework. To solve the objective function of AUMFS, a simple yet efficient iterative method is proposed. We apply AUMFS to three visual concept recognition applications (i.e., social image concept recognition, object recognition and video-based human action recognition) on four benchmark datasets. Experimental results show the proposed method significantly outperforms several state-of-the-art feature selection methods. More importantly, our method is not very sensitive to the parameters and the optimization method converges very fast. We leverage causal inference tools to support a principled and more robust transfer of knowledge in reinforcement learning (RL) settings. In particular, we tackle the problem of transferring knowledge across bandit agents in settings where causal effects cannot be identified by Pearl's do-calculus nor standard off-policy learning techniques. Our new identification strategy combines two steps -- first, deriving bounds over the arm's distribution based on structural knowledge; second, incorporating these bounds in a novel bandit algorithm, B-kl-UCB. Simulations demonstrate that our strategy is consistently more efficient than the current (non-causal) state-of-the-art methods. Reinforcement learning (RL) problems are hard to solve in a robotics context as classical algorithms rely on discrete representations of actions and states, but in robotics both are continuous. A discrete set of actions and states can be defined, but it requires an expertise that may not be available, in particular in open environments. It is proposed to define a process to make a robot build its own representation for an RL algorithm. The principle is to first use a direct policy search in the sensori-motor space, i.e., with no predefined discrete sets of states nor actions, and then extract from the corresponding learning traces discrete actions and identify the relevant dimensions of the state to estimate the value function. Once this is done, the robot can apply RL: 1) to be more robust to new domains and, if required and 2) to learn faster than a direct policy search. This approach allows to take the best of both worlds: first learning in a continuous space to avoid the need of a specific representation, but at a price of a long learning process and a poor generalization, and then learning with an adapted representation to be faster and more robust. We consider the adaptive shortest-path routing problem in wireless networks under unknown and stochastically varying link states. In this problem, we aim to optimize the quality of communication between a source and a destination through adaptive path selection. Due to the randomness and uncertainties in the network dynamics, the quality of each link varies over time according to a stochastic process with unknown distributions. After a path is selected for communication, the aggregated quality of all links on this path (e.g., total path delay) is observed. The quality of each individual link is not observable. We formulate this problem as a multi-armed bandit with dependent arms. We show that by exploiting arm dependencies, a regret polynomial with network size can be achieved while maintaining the optimal logarithmic order with time. This is in sharp contrast with the exponential regret order with network size offered by a direct application of the classic MAB policies that ignore arm dependencies. Furthermore, our results are obtained under a general model of link-quality distributions (including heavy-tailed distributions) and find applications in cognitive radio and ad hoc networks with unknown and dynamic communication environments. In this paper, we propose to use deep policy networks which are trained with an advantage actor-critic method for statistically optimised dialogue systems. First, we show that, on summary state and action spaces, deep Reinforcement Learning (RL) outperforms Gaussian Processes methods. Summary state and action spaces lead to good performance but require pre-engineering effort, RL knowledge, and domain expertise. In order to remove the need to define such summary spaces, we show that deep RL can also be trained efficiently on the original state and action spaces. Dialogue systems based on partially observable Markov decision processes are known to require many dialogues to train, which makes them unappealing for practical deployment. We show that a deep RL method based on an actor-critic architecture can exploit a small amount of data very efficiently. Indeed, with only a few hundred dialogues collected with a handcrafted policy, the actor-critic deep learner is considerably bootstrapped from a combination of supervised and batch RL. In addition, convergence to an optimal policy is significantly sped up compared to other deep RL methods initialized on the data with batch RL. All experiments are performed on a restaurant domain derived from the Dialogue State Tracking Challenge 2 (DSTC2) dataset. We consider a class of restless multi-armed bandit (RMAB) problems with unknown arm dynamics. At each time, a player chooses an arm out of @math arms to play, referred to as an active arm, and receives a random reward from a finite set of reward states. The reward state of the active arm transits according to an unknown Markovian dynamic. The reward state of passive arms (which are not chosen to play at time t) evolves according to an arbitrary unknown random process. The objective is an arm-selection policy that minimizes the regret, defined as the reward loss with respect to a player that always plays the most rewarding arm. This class of RMAB problems has been studied recently in the context of communication networks and financial investment applications. We develop a strategy that selects arms to be played in a consecutive manner in which the selection sequencing rules are adaptively updated controlled by the current sample reward means, referred to as Adaptive Sequencing Rules (ASR) algorithm. By designing judiciously the adaptive sequencing rules of the chosen arms, we show that ASR algorithm achieves a logarithmic regret order with time and a finite-sample bound on the regret is established. Although existing methods have shown a logarithmic regret order with time in this RMAB setting, the theoretical analysis presents significant improvement in the regret scaling with respect to the system parameters under ASR. Extensive simulation results support the theoretical study and demonstrate strong performance of the algorithm as compared to existing methods. Active and semi-supervised learning are important techniques when labeled data are scarce. Recently a method was suggested for combining active learning with a semi-supervised learning algorithm that uses Gaussian fields and harmonic functions. This classifier is relational in nature: it relies on having the data presented as a partially labeled graph (also known as a within-network learning problem). This work showed yet again that empirical risk minimization (ERM) was the best method to find the next instance to label and provided an efficient way to compute ERM with the semi-supervised classifier. The computational problem with ERM is that it relies on computing the risk for all possible instances. If we could limit the candidates that should be investigated, then we can speed up active learning considerably. In the case where the data is graphical in nature, we can leverage the graph structure to rapidly identify instances that are likely to be good candidates for labeling. This paper describes a novel hybrid approach of using of community finding and social network analytic centrality measures to identify good candidates for labeling and then using ERM to find the best instance in this candidate set. We show on real-world data that we can limit the ERM computations to a fraction of instances with comparable performance.