Despite the remarkable success of Deep RL in learning control policies from raw pixels, the resulting models do not generalize. We demonstrate that a trained agent fails completely when facing small visual changes, and that fine-tuning---the common transfer learning paradigm---fails to adapt to these changes, to the extent that it is faster to re-train the model from scratch. We show that by separating the visual transfer task from the control policy we achieve substantially better sample efficiency and transfer behavior, allowing an agent trained on the source task to transfer well to the target tasks. The visual mapping from the target to the source domain is performed using unaligned GANs, resulting in a control policy that can be further improved using imitation learning from imperfect demonstrations. We demonstrate the approach on synthetic visual variants of the Breakout game, as well as on transfer between subsequent levels of Road Fighter, a Nintendo car-driving game. A visualization of our approach can be seen in https://youtu.be/4mnkzYyXMn4 and https://youtu.be/KCGTrQi6Ogo .
University of Maryland（马里兰大学）；Microsoft Research, New York（微软研究院纽约分院）
Machine translation is a natural candidate problem for reinforcement learning from human feedback: users provide quick, dirty ratings on candidate translations to guide a system to improve. Yet, current neural machine translation training focuses on expensive human-generated reference translations. We describe a reinforcement learning algorithm that improves neural machine translation systems from simulated human feedback. Our algorithm combines the advantage actor-critic algorithm (Mnih et al., 2016) with the attention-based neural encoder-decoder architecture (Luong et al., 2015). This algor…
Sun Yat-sen University（中山大学）；Microsoft Research（微软研究院）
Recent studies have shown that reinforcement learning (RL) is an effective approach for improving the performance of neural machine translation (NMT) system. However, due to its instability, successfully RL training is challenging, especially in real-world systems where deep models and large datasets are leveraged. In this paper, taking several large-scale translation tasks as testbeds, we conduct a systematic study on how to train better NMT models using reinforcement learning. We provide a comprehensive comparison of several important factors (e.g., baseline reward, reward shaping) in RL tra…
Multimodal machine translation is one of the applications that integrates computer vision and language processing. It is a unique task given that in the field of machine translation, many state-of-the-arts algorithms still only employ textual information. In this work, we explore the effectiveness of reinforcement learning in multimodal machine translation. We present a novel algorithm based on the Advantage Actor-Critic (A2C) algorithm that specifically cater to the multimodal machine translation task of the EMNLP 2018 Third Conference on Machine Translation (WMT18). We experiment our propose…
University of Tsukuba（筑波大学）；RIKEN Center for Advanced Intelligence Project（理化学研究所先进智能项目中心）
We investigate policy transfer using image-to-semantics translation to mitigate learning difficulties in vision-based robotics control agents. This problem assumes two environments: a simulator environment with semantics, that is, low-dimensional and essential information, as the state space, and a real-world environment with images as the state space. By learning mapping from images to semantics, we can transfer a policy, pre-trained in the simulator, to the real world, thereby eliminating real-world on-policy agent interactions to learn, which are costly and risky. In addition, using image-t…
School of Computer Science and Engineering（计算机科学与工程学院）；Department of Cognitive Sciences（认知科学系）；The Hebrew University of Jerusalem（耶路撒冷希伯来大学）
Reinforcement learning (RL) is frequently used to increase performance in text generation tasks, including machine translation (MT), notably through the use of Minimum Risk Training (MRT) and Generative Adversarial Networks (GAN). However, little is known about what and how these methods learn in the context of MT. We prove that one of the most common RL methods for MT does not optimize the expected reward, as well as show that other methods take an infeasibly long time to converge. In fact, our results suggest that RL practices in MT are likely to improve performance only where the pre-traine…
Applying Reinforcement learning (RL) following maximum likelihood estimation (MLE) pre-training is a versatile method for enhancing neural machine translation (NMT) performance. However, recent work has argued that the gains produced by RL for NMT are mostly due to promoting tokens that have already received a fairly high probability in pre-training. We hypothesize that the large action space is a main obstacle to RL's effectiveness in MT, and conduct two sets of experiments that lend support to our hypothesis. First, we find that reducing the size of the vocabulary improves RL's effectiveness…
Search-oriented conversational systems rely on information needs expressed in natural language (NL). We focus here on the understanding of NL expressions for building keyword-based queries. We propose a reinforcement-learning-driven translation model framework able to 1) learn the translation from NL expressions to queries in a supervised way, and, 2) to overcome the lack of large-scale dataset by framing the translation model as a word selection approach and injecting relevance feedback in the learning process. Experiments are carried out on two TREC datasets and outline the effectiveness of …
Translation with Thought: Difficulty-Adaptive Reasoning via Reinforcement Learning for Multi-Domain Machine Translation
Institute of Artificial Intelligence, Xiamen University（厦门大学人工智能研究院）；School of Informatics, Xiamen University（厦门大学信息学院）；Key Laboratory of Digital Protection and Intelligent Processing of Intangible Cultural Heritage of Fujian and Taiwan (Xiamen University), Ministry of Culture and Tourism（文化和旅游部闽台非物质文化遗产数字化保护与智能处理重点实验室（厦门大学））
LyriCAR: A Difficulty-Aware Curriculum Reinforcement Learning Framework For Controllable Lyric Translation
School of Informatics, Xiamen University（厦门大学信息学院）；School of Journalism and Communication, Xiamen University（厦门大学新闻传播学院）；School of Film, Xiamen University（厦门大学电影学院）；Xiamen Key Laboratory of Intelligent Storage and Computing, Xiamen University（厦门大学智能存储与计算重点实验室）；Institute of Artificial Intelligence, Xiamen University（厦门大学人工智能研究院）
Google Cloud AI（谷歌云AI）；University of Technology Sydney（悉尼科技大学）
We propose a novel adaptive transfer learning framework, learning to transfer learn (L2TL), to improve performance on a target dataset by careful extraction of the related information from a source dataset. Our framework considers cooperative optimization of shared weights between models for source and target tasks, and adjusts the constituent loss weights adaptively. The adaptation of the weights is based on a reinforcement learning (RL) selection policy, guided with a performance metric on the target validation set. We demonstrate that L2TL outperforms fine-tuning baselines and other adaptiv…
Sparse-reward domains are challenging for reinforcement learning algorithms since significant exploration is needed before encountering reward for the first time. Hierarchical reinforcement learning can facilitate exploration by reducing the number of decisions necessary before obtaining a reward. In this paper, we present a novel hierarchical reinforcement learning framework based on the compression of an invariant state space that is common to a range of tasks. The algorithm introduces subtasks which consist of moving between the state partitions induced by the compression. Results indicate …
School of Electrical Engineering and Computer Science（电气工程与计算机科学学院）；Washington State University（华盛顿州立大学）
This paper proposes an online transfer framework to capture the interaction among agents and shows that current transfer learning in reinforcement learning is a special case of online transfer. Furthermore, this paper re-characterizes existing agents-teaching-agents methods as online transfer and analyze one such teaching method in three ways. First, the convergence of Q-learning and Sarsa with tabular representation with a finite budget is proven. Second, the convergence of Q-learning and Sarsa with linear function approximation is established. Third, the we show the asymptotic performance ca…
The exploration--exploitation trade-off in reinforcement learning (RL) is a well-known and much-studied problem that balances greedy action selection with novel experience, and the study of exploration methods is usually only considered in the context of learning the optimal policy for a single learning task. However, in the context of online task transfer, where there is a change to the task during online operation, we hypothesize that exploration strategies that anticipate the need to adapt to future tasks can have a pronounced impact on the efficiency of transfer. As such, we re-examine the…
ISAE-SUPAERO, Université de Toulouse（图卢兹大学高等航空航天学院）；Sandbox AQ（Sandbox AQ公司）
Although transfer learning is considered to be a milestone in deep reinforcement learning, the mechanisms behind it are still poorly understood. In particular, predicting if knowledge can be transferred between two given tasks is still an unresolved problem. In this work, we explore the use of network distillation as a feature extraction method to better understand the context in which transfer can occur. Notably, we show that distillation does not prevent knowledge transfer, including when transferring from multiple tasks to a new one, and we compare these results with transfer without prior …
Coordinated Sciences Laboratory, University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校协调科学实验室）
Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with randomized instances, have been commonly applied to solve a variety of Reinforcement Learning tasks. However, this seems far from how skill transfer happens in the biological world: Humans and animals are able to quickly adapt the learned behaviors between similar tasks and learn new skills when presented with new situations. Here we seek to answer the question: Wil…
Computer Vision Center, Universitat Autònoma de Barcelona（巴塞罗那自治大学计算机视觉中心）；Universitat de les Illes Balears（巴利阿里群岛大学）
Image-to-image (I2I) translation has matured in recent years and is able to generate high-quality realistic images. However, despite current success, it still faces important challenges when applied to small domains. Existing methods use transfer learning for I2I translation, but they still require the learning of millions of parameters from scratch. This drawback severely limits its application on small domains. In this paper, we propose a new transfer learning for I2I translation (TransferI2I). We decouple our learning process into the image generation step and the I2I translation step. In t…
Google Brain（谷歌大脑）；University of California Berkeley（加州大学伯克利分校）；X, The Moonshot Factory（X，登月工厂）
Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system. However, data for RL is collected via running an agent in the desired environment, and for applications like robotics, running a robot in the real world may be extremely costly and time consuming. Simulated training offers an appealing alternative, but ensuring that policies trained in simulation can transfer effectively into the real world requires additional mach…
Shanghai Jiao Tong University（上海交通大学）；University of Technology Sydney（悉尼科技大学）；Xian Jiao Tong University（西安交通大学）
Prevailing image-translation frameworks mostly seek to process images via the end-to-end style, which has achieved convincing results. Nonetheless, these methods lack interpretability and are not scalable on different image-translation tasks (e.g., style transfer, HDR, etc.). In this paper, we propose an interpretable knowledge-based image-translation framework, which realizes the image-translation through knowledge retrieval and transfer. In details, the framework constructs a plug-and-play and model-agnostic general purpose knowledge library, remembering task-specific styles, tones, texture …
RL-I2IT: Image-to-Image Translation with Deep Reinforcement Learning
School of Computer Science（计算机科学学院）；Department of Information Technology（信息技术系）；School of Applied and Creative Computing（应用与创意计算学院）；Microsoft Research Asia（微软亚洲研究院）；Department of Computer Science（计算机科学系）；Department of Computer Science and Engineering（计算机科学与工程系）
One question central to Reinforcement Learning is how to learn a feature representation that supports algorithm scaling and re-use of learned information from different tasks. Successor Features approach this problem by learning a feature representation that satisfies a temporal constraint. We present an implementation of an approach that decouples the feature representation from the reward function, making it suitable for transferring knowledge between domains. We then assess the advantages and limitations of using Successor Features for transfer.
Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange information with their human partners. Significant advancements have been made in developing robots capable of interpreting free-form instructions, but less attention has been devoted to endowing robots with the ability to generate natural language. We propose a navigational guide model that enables robots to generate natural language instructions that allow …
Recent work in deep reinforcement learning has allowed algorithms to learn complex tasks such as Atari 2600 games just from the reward provided by the game, but these algorithms presently require millions of training steps in order to learn, making them approximately five orders of magnitude slower than humans. One reason for this is that humans build robust shared representations that are applicable to collections of problems, making it much easier to assimilate new variants. This paper first introduces the idea of automatically-generated game sets to aid in transfer learning research, and th…
Chongqing University（重庆大学）；University of Waterloo（滑铁卢大学）
Knowledge transfer is a promising concept to achieve real-time decision-making for autonomous vehicles. This paper constructs a transfer deep reinforcement learning framework to transform the driving tasks in inter-section environments. The driving missions at the un-signalized intersection are cast into a left turn, right turn, and running straight for automated vehicles. The goal of the autonomous ego vehicle (AEV) is to drive through the intersection situation efficiently and safely. This objective promotes the studied vehicle to increase its speed and avoid crashing other vehicles. The dec…
University of Science and Technology of China（中国科学技术大学）
Unsupervised domain translation has recently achieved impressive performance with Generative Adversarial Network (GAN) and sufficient (unpaired) training data. However, existing domain translation frameworks form in a disposable way where the learning experiences are ignored and the obtained model cannot be adapted to a new coming domain. In this work, we take on unsupervised domain translation problems from a meta-learning perspective. We propose a model called Meta-Translation GAN (MT-GAN) to find good initialization of translation models. In the meta-training procedure, MT-GAN is explicitly…
Image to image translation is the problem of transferring an image from a source domain to a different (but related) target domain. We present a new unsupervised image to image translation technique that leverages the underlying semantic information for object transfiguration and domain transfer tasks. Specifically, we present a generative adversarial learning approach that jointly translates images and labels from a source domain to a target domain. Our main technical contribution is an encoder-decoder based network architecture that jointly encodes the image and its underlying semantics and …
Accelerating learning processes for complex tasks by leveraging previously learned tasks has been one of the most challenging problems in reinforcement learning, especially when the similarity between source and target tasks is low. This work proposes REPresentation And INstance Transfer (REPAINT) algorithm for knowledge transfer in deep reinforcement learning. REPAINT not only transfers the representation of a pre-trained teacher policy in the on-policy learning, but also uses an advantage-based experience selection approach to transfer useful samples collected following the teacher policy in…
The objective of transfer reinforcement learning is to generalize from a set of previous tasks to unseen new tasks. In this work, we focus on the transfer scenario where the dynamics among tasks are the same, but their goals differ. Although general value function (Sutton et al., 2011) has been shown to be useful for knowledge transfer, learning a universal value function can be challenging in practice. To attack this, we propose (1) to use universal successor representations (USR) to represent the transferable knowledge and (2) a USR approximator (USRA) that can be trained by interacting with…
School of Interactive Computing（交互计算学院）；Georgia Institute of Technology（佐治亚理工学院）
Text adventure games, in which players must make sense of the world through text descriptions and declare actions through text descriptions, provide a stepping stone toward grounding action in language. Prior work has demonstrated that using a knowledge graph as a state representation and question-answering to pre-train a deep Q-network facilitates faster control policy transfer. In this paper, we explore the use of knowledge graphs as a representation for domain knowledge transfer for training text-adventure playing reinforcement learning agents. Our methods are tested across multiple compute…
Carnegie Mellon University（卡内基梅隆大学）；Tencent AI Lab（腾讯人工智能实验室）
Although Neural Machine Translation (NMT) models have advanced state-of-the-art performance in machine translation, they face problems like the inadequate translation. We attribute this to that the standard Maximum Likelihood Estimation (MLE) cannot judge the real translation quality due to its several limitations. In this work, we propose an adequacy-oriented learning mechanism for NMT by casting translation as a stochastic policy in Reinforcement Learning (RL), where the reward is estimated by explicitly measuring translation adequacy. Benefiting from the sequence-level training of RL strate…
Computer Vision Center, Universitat Autònoma de Barcelona（巴塞罗那自治大学计算机视觉中心）
Image-to-image translation has recently achieved remarkable results. But despite current success, it suffers from inferior performance when translations between classes require large shape changes. We attribute this to the high-resolution bottlenecks which are used by current state-of-the-art image-to-image methods. Therefore, in this work, we propose a novel deep hierarchical Image-to-Image Translation method, called DeepI2I. We learn a model by leveraging hierarchical features: (a) structural information contained in the shallow layers and (b) semantic information extracted from the deep lay…
Samsung Semiconductor, Inc.（三星半导体公司）；University of Michigan（密歇根大学）
Video-to-video translation is more difficult than image-to-image translation due to the temporal consistency problem that, if unaddressed, leads to distracting flickering effects. Although video models designed from scratch produce temporally consistent results, training them to match the vast visual knowledge captured by image models requires an intractable number of videos. To combine the benefits of image and video models, we propose an image-to-video model transfer method called Hyperconsistency (HyperCon) that transforms any well-trained image model into a temporally consistent video mode…
Background and objectives. Domain shift is a generalisation problem of machine learning models that occurs when the data distribution of the training set is different to the data distribution encountered by the model when it is deployed. This is common in the context of biomedical image segmentation due to the variance of experimental conditions, equipment, and capturing settings. In this work, we address this challenge by studying both neural style transfer algorithms and unpaired image-to-image translation methods in the context of the segmentation of tumour spheroids. Methods. We have illus…
Recent techniques to solve photorealistic style transfer within deep convolutional neural networks (CNNs) generally require intensive training from large-scale datasets, thus having limited applicability and poor generalization ability to unseen images or styles. To overcome this, we propose a novel framework, dubbed Deep Translation Prior (DTP), to accomplish photorealistic style transfer through test-time training on given input image pair with untrained networks, which learns an image pair-specific translation prior and thus yields better performance and generalization. Tailored for such te…
In this work we show how to use the Operational Space Control framework (OSC) under joint and cartesian constraints for reinforcement learning in cartesian space. Our method is therefore able to learn fast and with adjustable degrees of freedom, while we are able to transfer policies without additional dynamics randomizations on a KUKA LBR iiwa peg in-hole task. Before learning in simulation starts, we perform a system identification for aligning the simulation environment as far as possible with the dynamics of a real robot. Adding constraints to the OSC controller allows us to learn in a saf…
State-of-the-art image-to-image translation methods tend to struggle in an imbalanced domain setting, where one image domain lacks richness and diversity. We introduce a new unsupervised translation network, BalaGAN, specifically designed to tackle the domain imbalance problem. We leverage the latent modalities of the richer domain to turn the image-to-image translation problem, between two imbalanced domains, into a balanced, multi-class, and conditional translation problem, more resembling the style transfer setting. Specifically, we analyze the source domain and learn a decomposition of it …
Natural Language-conditioned reinforcement learning (RL) enables the agents to follow human instructions. Previous approaches generally implemented language-conditioned RL by providing human instructions in natural language (NL) and training a following policy. In this outside-in approach, the policy needs to comprehend the NL and manage the task simultaneously. However, the unbounded NL examples often bring much extra complexity for solving concrete RL tasks, which can distract policy learning from completing the task. To ease the learning burden of the policy, we investigate an inside-out sc…
University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
In this paper, we present a new approach to Transfer Learning (TL) in Reinforcement Learning (RL) for cross-domain tasks. Many of the available techniques approach the transfer architecture as a method of speeding up the target task learning. We propose to adapt and reuse the mapped source task optimal-policy directly in related domains. We show the optimal policy from a related source task can be near optimal in target domain provided an adaptive policy accounts for the model error between target and source. The main benefit of this policy augmentation is generalizing policies across multiple…
Washington State University（华盛顿州立大学）；Princeton University（普林斯顿大学）
Policy advice is a transfer learning method where a student agent is able to learn faster via advice from a teacher. However, both this and other reinforcement learning transfer methods have little theoretical analysis. This paper formally defines a setting where multiple teacher agents can provide advice to a student and introduces an algorithm to leverage both autonomous exploration and teacher's advice. Our regret bounds justify the intuition that good teachers help while bad teachers hurt. Using our formalization, we are also able to quantify, for the first time, when negative transfer can…
A key question in Reinforcement Learning is which representation an agent can learn to efficiently reuse knowledge between different tasks. Recently the Successor Representation was shown to have empirical benefits for transferring knowledge between tasks with shared transition dynamics. This paper presents Model Features: a feature representation that clusters behaviourally equivalent states and that is equivalent to a Model-Reduction. Further, we present a Successor Feature model which shows that learning Successor Features is equivalent to learning a Model-Reduction. A novel optimization ob…
We introduce Wasserstein Adversarial Proximal Policy Optimization (WAPPO), a novel algorithm for visual transfer in Reinforcement Learning that explicitly learns to align the distributions of extracted features between a source and target task. WAPPO approximates and minimizes the Wasserstein-1 distance between the distributions of features from source and target domains via a novel Wasserstein Confusion objective. WAPPO outperforms the prior state-of-the-art in visual transfer and successfully transfers policies across Visual Cartpole and two instantiations of 16 OpenAI Procgen environments.
Designing agents that acquire knowledge autonomously and use it to solve new tasks efficiently is an important challenge in reinforcement learning. Knowledge acquired during an unsupervised pre-training phase is often transferred by fine-tuning neural network weights once rewards are exposed, as is common practice in supervised domains. Given the nature of the reinforcement learning problem, we argue that standard fine-tuning strategies alone are not enough for efficient transfer in challenging domains. We introduce Behavior Transfer (BT), a technique that leverages pre-trained policies for ex…
