Research on reinforcement learning has demonstrated promising results in manifold applications and domains. Still, efficiently learning effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and large state dimensionality (e.g. multi-agent systems or hyper-redundant robots). To alleviate this problem, we present DOP, a deep model-based reinforcement learning algorithm, which exploits action values to both (1) guide the exploration of the state space and (2) plan effective policies. Specifically, we exploit deep neural networks to learn Q-functions that are used to attack the curse of dimensionality during a Monte-Carlo tree search. Our algorithm, in fact, constructs upper confidence bounds on the learned value function to select actions optimistically. We implement and evaluate DOP on different scenarios: (1) a cooperative navigation problem, (2) a fetching task for a 7-DOF KUKA robot, and (3) a human-robot handover with a humanoid robot (both in simulation and real). The obtained results show the effectiveness of DOP in the chosen applications, where action values drive the exploration and reduce the computational demand of the planning process while achieving good performance.
In this paper, we address generalization at learning time by introducing , an iterative algorithm for policy generation that makes use of deep @math -networks to drive a focused exploration. relies on previous work @cite_21 and extends it with a different representation to obtain improved generalization capabilities over higher dimensional problems. In particular, we approximate the @math function using @math -learning with a deep convolutional neural network. Similar to @math -CP @cite_21 and TD-search @cite_6 , we aim at reducing the variance of value estimates during the search procedure by means of temporal difference learning. However, as in @cite_21 , extends TD-search by constructing upper confidence bounds on the value function, and by selecting optimistically with respect to those, instead of performing @math -greedy exploration. Thanks to the generalization capabilities of deep networks, improves over @math -CP both in terms of policy and exploration. Our representation, in fact, not only enables the algorithm to explore more informative portions of the search space @cite_20 @cite_11 , but also is able to generalize better among them with positive effects on the overall policy and search space expansion.
@cite_21 @cite_20 @cite_6 @cite_11
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The goal of search result diversification is to select a subset of documents from the candidate set to satisfy as many different subtopics as possible. In general, it is a problem of subset selection and selecting an optimal subset of documents is NP-hard. Existing methods usually formalize the problem as ranking the documents with greedy sequential document selection. At each of the ranking position the document that can provide the largest amount of additional information is selected. It is obvious that the greedy selections inevitably produce suboptimal rankings. In this paper we propose to partially alleviate the problem with a Monte Carlo tree search (MCTS) enhanced Markov decision process (MDP), referred to as M @math Div. In M @math Div, the construction of diverse ranking is formalized as an MDP process where each action corresponds to selecting a document for one ranking position. Given an MDP state which consists of the query, selected documents, and candidates, a recurrent neural network is utilized to produce the policy function for guiding the document selection and the value function for predicting the whole ranking quality. The produced raw policy and value are then strengthened with MCTS through exploring the possible rankings at the subsequent positions, achieving a better search policy for decision-making. Experimental results based on the TREC benchmarks showed that M @math Div can significantly outperform the state-of-the-art baselines based on greedy sequential document selection, indicating the effectiveness of the exploratory decision-making mechanism in M @math Div. We investigate the minimization of Newton's functional for the problem of the body of minimal resistance with maximal height @math cite butt in the class of convex developable functions defined in a disc. This class is a natural candidate to find a (non-radial) minimizer in accordance with the results of cite lrp2. We prove that the minimizer in this class has a minimal set in the form of a regular polygon with @math sides centered in the disc, and numerical experiments indicate that the natural number @math is a non-decreasing function of @math . The corresponding functions all achieve a lower value of the functional than the optimal radially symmetric function with the same height @math . We consider the problem of provably optimal exploration in reinforcement learning for finite horizon MDPs. We show that an optimistic modification to value iteration achieves a regret bound of @math where @math is the time horizon, @math the number of states, @math the number of actions and @math the number of time-steps. This result improves over the best previous known bound @math achieved by the UCRL2 algorithm of , 2010. The key significance of our new results is that when @math and @math , it leads to a regret of @math that matches the established lower bound of @math up to a logarithmic factor. Our analysis contains two key insights. We use careful application of concentration inequalities to the optimal value function as a whole, rather than to the transitions probabilities (to improve scaling in @math ), and we define Bernstein-based "exploration bonuses" that use the empirical variance of the estimated values at the next states (to improve scaling in @math ). Abstract Documents in computer-readable form can be used to provide information about other documents, i.e. those they cite. To do this efficiently requires procedures for computer recognition of citing statements. This is not easy, especially for multi-sentence citing statements. Computer recognition procedures have been developed which are accurate to the following extent: 73 of the words in statements selected by computer procedures as being citing statements are words which are correctly attributable to the corresponding documents. The retrieval effectiveness of computer-recognized citing statements was tested in the following way. First, for eight retrieval requests in inorganiic chemistry, average recall by search of Chemical Abstracts Service indexing and Chemical Abstracts abstract text words was found to be 50 . Words from citing statements referring to the papers to be retrieved were then added to the index terms and abstract words as additional access points, and searching was repeated. Average recall increased to 70 . Only words from citing statements published within a year of the cited papers were used. The retrieval effect of citing statement words alone (published within a year) without index or abstract terms was the following: average recall was 40 . When just the words of the titles of the cited papers were added to those citing statement words, average recall increased to 50 . Two of the leading approaches for model-free reinforcement learning are policy gradient methods and @math -learning methods. @math -learning methods can be effective and sample-efficient when they work, however, it is not well-understood why they work, since empirically, the @math -values they estimate are very inaccurate. A partial explanation may be that @math -learning methods are secretly implementing policy gradient updates: we show that there is a precise equivalence between @math -learning and policy gradient methods in the setting of entropy-regularized reinforcement learning, that "soft" (entropy-regularized) @math -learning is exactly equivalent to a policy gradient method. We also point out a connection between @math -learning methods and natural policy gradient methods. Experimentally, we explore the entropy-regularized versions of @math -learning and policy gradients, and we find them to perform as well as (or slightly better than) the standard variants on the Atari benchmark. We also show that the equivalence holds in practical settings by constructing a @math -learning method that closely matches the learning dynamics of A3C without using a target network or @math -greedy exploration schedule. Research on multi-robot systems has demonstrated promising results in manifold applications and domains. Still, efficiently learning an effective robot behaviors is very difficult, due to unstructured scenarios, high uncertainties, and large state dimensionality (e.g. hyper-redundant and groups of robot). To alleviate this problem, we present Q-CP a cooperative model-based reinforcement learning algorithm, which exploits action values to both (1) guide the exploration of the state space and (2) generate effective policies. Specifically, we exploit Q-learning to attack the curse-of-dimensionality in the iterations of a Monte-Carlo Tree Search. We implement and evaluate Q-CP on different stochastic cooperative (general-sum) games: (1) a simple cooperative navigation problem among 3 robots, (2) a cooperation scenario between a pair of KUKA YouBots performing hand-overs, and (3) a coordination task between two mobile robots entering a door. The obtained results show the effectiveness of Q-CP in the chosen applications, where action values drive the exploration and reduce the computational demand of the planning process while achieving good performance. Many practitioners of reinforcement learning problems have observed that oftentimes the performance of the agent reaches very close to the optimal performance even though the estimated (action-)value function is still far from the optimal one. The goal of this paper is to explain and formalize this phenomenon by introducing the concept of the action-gap regularity. As a typical result, we prove that for an agent following the greedy policy ( ) with respect to an action-value function @math , the performance loss @math is upper bounded by @math , in which ζ ≥ = 0) is the parameter quantifying the action-gap regularity. For ζ > 0, our results indicate smaller performance loss compared to what previous analyses had suggested. Finally, we show how this regularity affects the performance of the family of approximate value iteration algorithms. In this work we describe a novel deep reinforcement learning architecture that allows multiple actions to be selected at every time-step in an efficient manner. Multi-action policies allow complex behaviours to be learnt that would otherwise be hard to achieve when using single action selection techniques. We use both imitation learning and temporal difference (TD) reinforcement learning (RL) to provide a 4x improvement in training time and 2.5x improvement in performance over single action selection TD RL. We demonstrate the capabilities of this network using a complex in-house 3D game. Mimicking the behavior of the expert teacher significantly improves world state exploration and allows the agents vision system to be trained more rapidly than TD RL alone. This initial training technique kick-starts TD learning and the agent quickly learns to surpass the capabilities of the expert. We show that recent innovations in deep reinforcement learning can effectively color very large graphs -- a well-known NP-hard problem with clear commercial applications. Because the Monte Carlo Tree Search with Upper Confidence Bound algorithm used in AlphaGoZero can improve the performance of a given heuristic, our approach allows deep neural networks trained using high performance computing (HPC) technologies to transform computation into improved heuristics with zero prior knowledge. Key to our approach is the introduction of a novel deep neural network architecture (FastColorNet) that has access to the full graph context and requires @math time and space to color a graph with @math vertices, which enables scaling to very large graphs that arise in real applications like parallel computing, compilers, numerical solvers, and design automation, among others. As a result, we are able to learn new state of the art heuristics for graph coloring. Given the prevalence of social media websites, one challenge facing computer vision researchers is to devise methods to search for persons of interest among the billions of shared photos on these websites. Despite significant progress in face recognition, searching a large collection of unconstrained face images remains a difficult problem. To address this challenge, we propose a face search system which combines a fast search procedure, coupled with a state-of-the-art commercial off the shelf (COTS) matcher, in a cascaded framework. Given a probe face, we first filter the large gallery of photos to find the top- @math most similar faces using features learned by a convolutional neural network. The @math retrieved candidates are re-ranked by combining similarities based on deep features and those output by the COTS matcher. We evaluate the proposed face search system on a gallery containing @math million web-downloaded face images. Experimental results demonstrate that while the deep features perform worse than the COTS matcher on a mugshot dataset (93.7 percent versus 98.6 percent TAR@FAR of 0.01 percent), fusing the deep features with the COTS matcher improves the overall performance ( @math percent TAR@FAR of 0.01 percent). This shows that the learned deep features provide complementary information over representations used in state-of-the-art face matchers. On the unconstrained face image benchmarks, the performance of the learned deep features is competitive with reported accuracies. LFW database: @math percent accuracy under the standard protocol and @math percent TAR@FAR of @math percent under the BLUFR protocol; IJB-A benchmark: @math percent TAR@FAR of @math percent (verification), rank 1 retrieval of @math percent (closed-set search), @math percent FNIR@FAR of @math percent (open-set search). The proposed face search system offers an excellent trade-off between accuracy and scalability on galleries with millions of images. Additionally, in a face search experiment involving photos of the Tsarnaev brothers, convicted of the Boston Marathon bombing, the proposed cascade face search system could find the younger brother's (Dzhokhar Tsarnaev) photo at rank @math in @math second on a @math M gallery and at rank @math in @math seconds on an @math M gallery. We present a succinct representation of a set of n points on an n ×n grid using @math bits to support orthogonal range counting in @math time, and range reporting in @math time, where k is the size of the output. This achieves an improvement on query time by a factor of @math upon the previous result of Makinen and Navarro [1], while using essentially the information-theoretic minimum space. Our data structure not only can be used as a key component in solutions to the general orthogonal range search problem to save storage cost, but also has applications in text indexing. In particular, we apply it to improve two previous space-efficient text indexes that support substring search [2] and position-restricted substring search [1]. We also use it to extend previous results on succinct representations of sequences of small integers, and to design succinct data structures supporting certain types of orthogonal range query in the plane. Derivative-free optimization has become an important technique used in machine learning for optimizing black-box models. To conduct updates without explicitly computing gradient, most current approaches iteratively sample a random search direction from Gaussian distribution and compute the estimated gradient along that direction. However, due to the variance in the search direction, the convergence rates and query complexities of existing methods suffer from a factor of @math , where @math is the problem dimension. In this paper, we introduce a novel Stochastic Zeroth-order method with Variance Reduction under Gaussian smoothing (SZVR-G) and establish the complexity for optimizing non-convex problems. With variance reduction on both sample space and search space, the complexity of our algorithm is sublinear to @math and is strictly better than current approaches, in both smooth and non-smooth cases. Moreover, we extend the proposed method to the mini-batch version. Our experimental results demonstrate the superior performance of the proposed method over existing derivative-free optimization techniques. Furthermore, we successfully apply our method to conduct a universal black-box attack to deep neural networks and present some interesting results. We show how an ensemble of @math -functions can be leveraged for more effective exploration in deep reinforcement learning. We build on well established algorithms from the bandit setting, and adapt them to the @math -learning setting. We propose an exploration strategy based on upper-confidence bounds (UCB). Our experiments show significant gains on the Atari benchmark. In Markov decision processes (MDPs), the variance of the reward-to-go is a natural measure of uncertainty about the long term performance of a policy, and is important in domains such as finance, resource allocation, and process control. Currently however, there is no tractable procedure for calculating it in large scale MDPs. This is in contrast to the case of the expected reward-to-go, also known as the value function, for which effective simulation-based algorithms are known, and have been used successfully in various domains. In this paper we extend temporal difference (TD) learning algorithms to estimating the variance of the reward-to-go for a fixed policy. We propose variants of both TD(0) and LSTD(λ) with linear function approximation, prove their convergence, and demonstrate their utility in an option pricing problem. Our results show a dramatic improvement in terms of sample efficiency over standard Monte-Carlo methods, which are currently the state-of-the-art. This paper aims at theoretically and empirically comparing two standard optimization criteria for Reinforcement Learning: i) maximization of the mean value and ii) minimization of the Bellman residual. For that purpose, we place ourselves in the framework of policy search algorithms, that are usually designed to maximize the mean value, and derive a method that minimizes the residual @math over policies. A theoretical analysis shows how good this proxy is to policy optimization, and notably that it is better than its value-based counterpart. We also propose experiments on randomly generated generic Markov decision processes, specifically designed for studying the influence of the involved concentrability coefficient. They show that the Bellman residual is generally a bad proxy to policy optimization and that directly maximizing the mean value is much better, despite the current lack of deep theoretical analysis. This might seem obvious, as directly addressing the problem of interest is usually better, but given the prevalence of (projected) Bellman residual minimization in value-based reinforcement learning, we believe that this question is worth to be considered. Consider the problem of approximating the optimal policy of a Markov decision process (MDP) by sampling state transitions. In contrast to existing reinforcement learning methods that are based on successive approximations to the nonlinear Bellman equation, we propose a Primal-Dual @math Learning method in light of the linear duality between the value and policy. The @math learning method is model-free and makes primal-dual updates to the policy and value vectors as new data are revealed. For infinite-horizon undiscounted Markov decision process with finite state space @math and finite action space @math , the @math learning method finds an @math -optimal policy using the following number of sample transitions @math where @math is an upper bound of mixing times across all policies and @math is a parameter characterizing the range of stationary distributions across policies. The @math learning method also applies to the computational problem of MDP where the transition probabilities and rewards are explicitly given as the input. In the case where each state transition can be sampled in @math time, the @math learning method gives a sublinear-time algorithm for solving the averaged-reward MDP. Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised learning to train the policy to mimic a “teacher” algorithm, such as a trajectory optimizer or a trajectory-centric reinforcement learning method. Guided policy search methods provide asymptotic local convergence guarantees by construction, but it is not clear how much the policy improves within a small, finite number of iterations. We show that guided policy search algorithms can be interpreted as an approximate variant of mirror descent, where the projection onto the constraint manifold is not exact. We derive a new guided policy search algorithm that is simpler and provides appealing improvement and convergence guarantees in simplified convex and linear settings, and show that in the more general nonlinear setting, the error in the projection step can be bounded. We provide empirical results on several simulated robotic manipulation tasks that show that our method is stable and achieves similar or better performance when compared to prior guided policy search methods, with a simpler formulation and fewer hyperparameters. Deep learning-based robotic grasping has made significant progress the past several years thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object instances, and as a result generalization can be a challenge. In this work, we explore a novel data generation pipeline for training a deep neural network to perform grasp planning that applies the idea of to object synthesis. We generate millions of unique, unrealistic procedurally generated objects, and train a deep neural network to perform grasp planning on these objects. Since the distribution of successful grasps for a given object can be highly multimodal, we propose an autoregressive grasp planning model that maps sensor inputs of a scene to a probability distribution @math , where @math corresponds to the model's estimate of the normalized probability of success of the grasp @math conditioned on the observations @math . Our model allows us to sample grasps efficiently at test time (or avoid sampling entirely). We evaluate our model architecture and data generation pipeline in simulation and find we can achieve @math 90 success rate on previously unseen realistic objects at test time despite having only been trained on random objects. Model-free reinforcement learning has been successfully applied to a range of challenging problems, and has recently been extended to handle large neural network policies and value functions. However, the sample complexity of modelfree algorithms, particularly when using high-dimensional function approximators, tends to limit their applicability to physical systems. In this paper, we explore algorithms and representations to reduce the sample complexity of deep reinforcement learning for continuous control tasks. We propose two complementary techniques for improving the efficiency of such algorithms. First, we derive a continuous variant of the Q-learning algorithm, which we call normalized advantage functions (NAF), as an alternative to the more commonly used policy gradient and actor-critic methods. NAF representation allows us to apply Q-learning with experience replay to continuous tasks, and substantially improves performance on a set of simulated robotic control tasks. To further improve the efficiency of our approach, we explore the use of learned models for accelerating model-free reinforcement learning. We show that iteratively refitted local linear models are especially effective for this, and demonstrate substantially faster learning on domains where such models are applicable. Bayesian Optimisation (BO) refers to a class of methods for global optimisation of a function @math which is only accessible via point evaluations. It is typically used in settings where @math is expensive to evaluate. A common use case for BO in machine learning is model selection, where it is not possible to analytically model the generalisation performance of a statistical model, and we resort to noisy and expensive training and validation procedures to choose the best model. Conventional BO methods have focused on Euclidean and categorical domains, which, in the context of model selection, only permits tuning scalar hyper-parameters of machine learning algorithms. However, with the surge of interest in deep learning, there is an increasing demand to tune neural network . In this work, we develop NASBOT, a Gaussian process based BO framework for neural architecture search. To accomplish this, we develop a distance metric in the space of neural network architectures which can be computed efficiently via an optimal transport program. This distance might be of independent interest to the deep learning community as it may find applications outside of BO. We demonstrate that NASBOT outperforms other alternatives for architecture search in several cross validation based model selection tasks on multi-layer perceptrons and convolutional neural networks.