We introduce Implicit Policy, a general class of expressive policies that can flexibly represent complex action distributions in reinforcement learning, with efficient algorithms to compute entropy regularized policy gradients. We empirically show that, despite its simplicity in implementation, entropy regularization combined with a rich policy class can attain desirable properties displayed under maximum entropy reinforcement learning framework, such as robustness and multi-modality.
There is a number of prior works that discuss different policy architectures. The most common policy for continuous control is unimodal Gaussian @cite_30 @cite_25 @cite_32 . @cite_6 discusses mixtures of Gaussian, which can represent multi-modal policies but it is necessary to specify the number of modes in advance. @cite_24 also represents a policy using implicit model, but the policy is trained to sample from the soft Q function instead of being trained directly. Recently, we find @cite_9 also uses Normalizing Flows to represent policies, but their focus is learning an hierarchy and involves layers of pre-training. Contrary to early works, we propose to represent flexible policies using implicit models Normalizing Flows and efficient algorithms to train the policy end-to-end.
@cite_30 @cite_9 @cite_32 @cite_6 @cite_24 @cite_25
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Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-to-end provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that map raw image observations directly to torques at the robot's motors. The policies are represented by deep convolutional neural networks (CNNs) with 92,000 parameters, and are trained using a guided policy search method, which transforms policy search into supervised learning, with supervision provided by a simple trajectory-centric reinforcement learning method. We evaluate our method on a range of real-world manipulation tasks that require close coordination between vision and control, such as screwing a cap onto a bottle, and present simulated comparisons to a range of prior policy search methods. Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-to-end provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that map raw image observations directly to torques at the robot's motors. The policies are represented by deep convolutional neural networks (CNNs) with 92,000 parameters, and are trained using a partially observed guided policy search method, which transforms policy search into supervised learning, with supervision provided by a simple trajectory-centric reinforcement learning method. We evaluate our method on a range of real-world manipulation tasks that require close coordination between vision and control, such as screwing a cap onto a bottle, and present simulated comparisons to a range of prior policy search methods. Policy learning for partially observed control tasks requires policies that have the ability to store information from past observations. In this paper, we present a method for learning policies with memory for high-dimensional, continuous systems. Our approach does not assume a known state representation and does not attempt to explicitly model the belief over the unobserved state. Instead, we directly learn a policy that can read and write from an internal continuous-valued memory. This type of policy can be interpreted as a type of recurrent neural network (RNN). However, our approach avoids many of the common problems that plague RNNs, such as the vanishing and exploding gradient issues, by instead representing the memory as state variables. The policy is then optimized by using a guided policy search algorithm that alternates between optimizing trajectories through state space (including both physical and memory states), and training a policy with supervised learning to match these trajectories. We evaluate our method on tasks involving continuous control in manipulation and navigation settings, and show that our method can learn complex policies that successfully complete a range of tasks that require memory. Previous research indicates that during the past 20 years, the highest-quality work has been published in an increasingly diverse and larger group of journals. In this article, we examine whether this diversification has also affected the handful of elite journals that are traditionally considered to be the best. We examine citation patterns during the past 40 years of seven long-standing traditionally elite journals and six journals that have been increasing in importance during the past 20 years. To be among the top 5 or 1 cited papers, papers now need about twice as many citations as they did 40 years ago. Since the late 1980s and early 1990s, elite journals have been publishing a decreasing proportion of these top-cited papers. This also applies to the two journals that are typically considered as the top venues and often used as bibliometric indicators of "excellence": Science and Nature. On the other hand, several new and established journals are publishing an increasing proportion of the most-cited papers. These changes bring new challenges and opportunities for all parties. Journals can enact policies to increase or maintain their relative position in the journal hierarchy. Researchers now have the option to publish in more diverse venues knowing that their work can still reach the same audiences. Finally, evaluators and administrators need to know that although there will always be a certain prestige associated with publishing in "elite" journals, journal hierarchies are in constant flux. One way to approach end-to-end autonomous driving is to learn a policy function that maps from a sensory input, such as an image frame from a front-facing camera, to a driving action, by imitating an expert driver, or a reference policy. This can be done by supervised learning, where a policy function is tuned to minimize the difference between the predicted and ground-truth actions. A policy function trained in this way however is known to suffer from unexpected behaviours due to the mismatch between the states reachable by the reference policy and trained policy functions. More advanced algorithms for imitation learning, such as DAgger, addresses this issue by iteratively collecting training examples from both reference and trained policies. These algorithms often requires a large number of queries to a reference policy, which is undesirable as the reference policy is often expensive. In this paper, we propose an extension of the DAgger, called SafeDAgger, that is query-efficient and more suitable for end-to-end autonomous driving. We evaluate the proposed SafeDAgger in a car racing simulator and show that it indeed requires less queries to a reference policy. We observe a significant speed up in convergence, which we conjecture to be due to the effect of automated curriculum learning. Model-free deep reinforcement learning has been shown to exhibit good performance in domains ranging from video games to simulated robotic manipulation and locomotion. However, model-free methods are known to perform poorly when the interaction time with the environment is limited, as is the case for most real-world robotic tasks. In this paper, we study how maximum entropy policies trained using soft Q-learning can be applied to real-world robotic manipulation. The application of this method to real-world manipulation is facilitated by two important features of soft Q-learning. First, soft Q-learning can learn multimodal exploration strategies by learning policies represented by expressive energy-based models. Second, we show that policies learned with soft Q-learning can be composed to create new policies, and that the optimality of the resulting policy can be bounded in terms of the divergence between the composed policies. This compositionality provides an especially valuable tool for real-world manipulation, where constructing new policies by composing existing skills can provide a large gain in efficiency over training from scratch. Our experimental evaluation demonstrates that soft Q-learning is substantially more sample efficient than prior model-free deep reinforcement learning methods, and that compositionality can be performed for both simulated and real-world tasks. Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor activations for the full duration of the action. We propose a data-efficient deep predictive policy training (DPPT) framework with a deep neural network policy architecture which maps an image observation to a sequence of motor activations. The architecture consists of three sub-networks referred to as the perception, policy and behavior super-layers. The perception and behavior super-layers force an abstraction of visual and motor data trained with synthetic and simulated training samples, respectively. The policy super-layer is a small subnetwork with fewer parameters that maps data in-between the abstracted manifolds. It is trained for each task using methods for policy search reinforcement learning. We demonstrate the suitability of the proposed architecture and learning framework by training predictive policies for skilled object grasping and ball throwing on a PR2 robot. The effectiveness of the method is illustrated by the fact that these tasks are trained using only about 180 real robot attempts with qualitative terminal rewards. Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor activations for the full duration of the action. We propose a data-efficient deep predictive policy training (DPPT) framework with a deep neural network policy architecture which maps an image observation to a sequence of motor activations. The architecture consists of three sub-networks referred to as the perception, policy and behavior super-layers. The perception and behavior super-layers force an abstraction of visual and motor data trained with synthetic and simulated training samples, respectively. The policy super-layer is a small sub-network with fewer parameters that maps data in-between the abstracted manifolds. It is trained for each task using methods for policy search reinforcement learning. We demonstrate the suitability of the proposed architecture and learning framework by training predictive policies for skilled object grasping and ball throwing on a PR2 robot. The effectiveness of the method is illustrated by the fact that these tasks are trained using only about 180 real robot attempts with qualitative terminal rewards. We study the problem of generating interpretable and verifiable policies through reinforcement learning. Unlike the popular Deep Reinforcement Learning (DRL) paradigm, in which the policy is represented by a neural network, the aim in Programmatically Interpretable Reinforcement Learning is to find a policy that can be represented in a high-level programming language. Such programmatic policies have the benefits of being more easily interpreted than neural networks, and being amenable to verification by symbolic methods. We propose a new method, called Neurally Directed Program Search (NDPS), for solving the challenging nonsmooth optimization problem of finding a programmatic policy with maxima reward. NDPS works by first learning a neural policy network using DRL, and then performing a local search over programmatic policies that seeks to minimize a distance from this neural "oracle". We evaluate NDPS on the task of learning to drive a simulated car in the TORCS car-racing environment. We demonstrate that NDPS is able to discover human-readable policies that pass some significant performance bars. We also find that a well-designed policy language can serve as a regularizer, and result in the discovery of policies that lead to smoother trajectories and are more easily transferred to environments not encountered during training. We introduce the value iteration network (VIN): a fully differentiable neural network with a planning module' embedded within. VINs can learn to plan, and are suitable for predicting outcomes that involve planning-based reasoning, such as policies for reinforcement learning. Key to our approach is a novel differentiable approximation of the value-iteration algorithm, which can be represented as a convolutional neural network, and trained end-to-end using standard backpropagation. We evaluate VIN based policies on discrete and continuous path-planning domains, and on a natural-language based search task. We show that by learning an explicit planning computation, VIN policies generalize better to new, unseen domains. We introduce the value iteration network (VIN): a fully differentiable neural network with a 'planning module' embedded within. VINs can learn to plan, and are suitable for predicting outcomes that involve planning-based reasoning, such as policies for reinforcement learning. Key to our approach is a novel differentiable approximation of the value-iteration algorithm, which can be represented as a convolutional neural network, and trained end-to-end using standard backpropagation. We evaluate VIN based policies on discrete and continuous path-planning domains, and on a natural-language based search task. We show that by learning an explicit planning computation, VIN policies generalize better to new, unseen domains. A partially observable Markov decision process (POMDP) has been proposed as a dialog model that enables automatic optimization of the dialog policy and provides robustness to speech understanding errors. Various approximations allow such a model to be used for building real-world dialog systems. However, they require a large number of dialogs to train the dialog policy and hence they typically rely on the availability of a user simulator. They also require significant designer effort to hand-craft the policy representation. We investigate the use of Gaussian processes (GPs) in policy modeling to overcome these problems. We show that GP policy optimization can be implemented for a real world POMDP dialog manager, and in particular: 1) we examine different formulations of a GP policy to minimize variability in the learning process; 2) we find that the use of GP increases the learning rate by an order of magnitude thereby allowing learning by direct interaction with human users; and 3) we demonstrate that designer effort can be substantially reduced by basing the policy directly on the full belief space thereby avoiding ad hoc feature space modeling. Overall, the GP approach represents an important step forward towards fully automatic dialog policy optimization in real world systems. While deep reinforcement learning has successfully solved many challenging control tasks, its real-world applicability has been limited by the inability to ensure the safety of learned policies. We propose an approach to verifiable reinforcement learning by training decision tree policies, which can represent complex policies (since they are nonparametric), yet can be efficiently verified using existing techniques (since they are highly structured). The challenge is that decision tree policies are difficult to train. We propose VIPER, an algorithm that combines ideas from model compression and imitation learning to learn decision tree policies guided by a DNN policy (called the oracle) and its Q-function, and show that it substantially outperforms two baselines. We use VIPER to (i) learn a provably robust decision tree policy for a variant of Atari Pong with a symbolic state space, (ii) learn a decision tree policy for a toy game based on Pong that provably never loses, and (iii) learn a provably stable decision tree policy for cart-pole. In each case, the decision tree policy achieves performance equal to that of the original DNN policy. In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the task. However, obtaining successful policies required thousands to millions of training episodes, limiting the applicability of these approaches to real hardware. We developed a training procedure that allows us to use a simple custom simulator to learn policies robust to the mismatch of simulation vs robot. In our experiments, we demonstrate that the policy learned in the simulator is able to pivot the object to the desired target angle on the real robot. We also show generalization to an object with different inertia, shape, mass and friction properties than those used during training. This result is a step towards making model-free reinforcement learning available for solving robotics tasks via pre-training in simulators that offer only an imprecise match to the real-world dynamics. Despite the recent advances of deep reinforcement learning (DRL), agents trained by DRL tend to be brittle and sensitive to the training environment, especially in the multi-agent scenarios. In the multi-agent setting, a DRL agent’s policy can easily get stuck in a poor local optima w.r.t. its training partners – the learned policy may be only locally optimal to other agents’ current policies. In this paper, we focus on the problem of training robust DRL agents with continuous actions in the multi-agent learning setting so that the trained agents can still generalize when its opponents’ policies alter. To tackle this problem, we proposed a new algorithm, MiniMax Multi-agent Deep Deterministic Policy Gradient (M3DDPG) with the following contributions: (1) we introduce a minimax extension of the popular multi-agent deep deterministic policy gradient algorithm (MADDPG), for robust policy learning; (2) since the continuous action space leads to computational intractability in our minimax learning objective, we propose Multi-Agent Adversarial Learning (MAAL) to efficiently solve our proposed formulation. We empirically evaluate our M3DDPG algorithm in four mixed cooperative and competitive multi-agent environments and the agents trained by our method significantly outperforms existing baselines. Purpose – The purpose of this paper is to suggest an alternative to the widely used Times Cited criterion for analysing citation networks. The approach involves taking account of the natures of the papers that cite a given paper, so as to differentiate between papers that attract the same number of citations.Design methodology approach – ArticleRank is an algorithm that has been derived from Google's PageRank algorithm to measure the influence of journal articles. ArticleRank is applied to two datasets – a citation network based on an early paper on webometrics, and a self‐citation network based on the 19 most cited papers in the Journal of Documentation – using citation data taken from the Web of Knowledge database.Findings – ArticleRank values provide a different ranking of a set of papers from that provided by the corresponding Times Cited values, and overcomes the inability of the latter to differentiate between papers with the same numbers of citations. The difference in rankings between Times Cited ... The ability to compute an accurate reward function is essential for optimising a dialogue policy via reinforcement learning. In real-world applications, using explicit user feedback as the reward signal is often unreliable and costly to collect. This problem can be mitigated if the user's intent is known in advance or data is available to pre-train a task success predictor off-line. In practice neither of these apply for most real world applications. Here we propose an on-line learning framework whereby the dialogue policy is jointly trained alongside the reward model via active learning with a Gaussian process model. This Gaussian process operates on a continuous space dialogue representation generated in an unsupervised fashion using a recurrent neural network encoder-decoder. The experimental results demonstrate that the proposed framework is able to significantly reduce data annotation costs and mitigate noisy user feedback in dialogue policy learning. Using data collected from human teleoperation, our goal is to learn a control policy that maps perception to actuation. Such policies are potentially multi-valued with regard to perception with a single input mapping to multiple outputs depending on the user's objective at a particular time. We propose a multi-valued function regressor to learn a larger class of robot control policies from human demonstration and extend the Hierarchical Dirichlet Process Hidden Markov Model to discover latent variables representing unknown objectives in the demonstrated data and the transitions between these objectives. Each of these objectives requires only a single-valued policy function, and thus can be learned with a Gaussian process function regressor. The learned transitions between these objectives determine the correct actuation where the complete policy function is multi-valued. We present the results of experiments conducted on the Nao humanoid robot platform. Statistical dialogue systems offer the potential to reduce costs by learning policies automatically on-line, but are not designed to scale to large open-domains. This paper proposes a hierarchical distributed dialogue architecture in which policies are organised in a class hierarchy aligned to an underlying knowledge graph. This allows a system to be deployed using a modest amount of data to train a small set of generic policies. As further data is collected, generic policies can be adapted to give in-domain performance. Using Gaussian process-based reinforcement learning, it is shown that within this framework generic policies can be constructed which provide acceptable user performance, and better performance than can be obtained using under-trained domain specific policies. It is also shown that as sufficient in-domain data becomes available, it is possible to seamlessly improve performance, without subjecting users to unacceptable behaviour during the adaptation period and without limiting the final performance compared to policies trained from scratch. 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.