In some agent designs like inverse reinforcement learning an agent needs to learn its own reward function. Learning the reward function and optimising for it are typically two different processes, usually performed at different stages. We consider a continual (``one life'') learning approach where the agent both learns the reward function and optimises for it at the same time. We show that this comes with a number of pitfalls, such as deliberately manipulating the learning process in one direction, refusing to learn, ``learning'' facts already known to the agent, and making decisions that are strictly dominated (for all relevant reward functions). We formally introduce two desirable properties: the first is `unriggability', which prevents the agent from steering the learning process in the direction of a reward function that is easier to optimise. The second is `uninfluenceability', whereby the reward-function learning process operates by learning facts about the environment. We show that an uninfluenceable process is automatically unriggable, and if the set of possible environments is sufficiently rich, the converse is true too.
Model-based reinforcement learning (RL) is appealing because (i) it enables planning and thus more strategic exploration, and (ii) by decoupling dynamics from rewards, it enables fast transfer to new reward functions. However, learning an accurate Markov Decision Process (MDP) over high-dimensional states (e.g., raw pixels) is extremely challenging because it requires function approximation, which leads to compounding errors. Instead, to avoid compounding errors, we propose learning an abstract MDP over abstract states: low-dimensional coarse representations of the state (e.g., capturing agent…
KU Leuven（鲁汶大学）；Université Libre de Bruxelles（布鲁塞尔自由大学）
There are situations in which an agent should receive rewards only after having accomplished a series of previous tasks, that is, rewards are non-Markovian. One natural and quite general way to represent history-dependent rewards is via a Mealy machine, a finite state automaton that produces output sequences from input sequences. In our formal setting, we consider a Markov decision process (MDP) that models the dynamics of the environment in which the agent evolves and a Mealy machine synchronized with this MDP to formalize the non-Markovian reward function. While the MDP is known by the agent…
The promise of reinforcement learning is to solve complex sequential decision problems autonomously by specifying a high-level reward function only. However, reinforcement learning algorithms struggle when, as is often the case, simple and intuitive rewards provide sparse and deceptive feedback. Avoiding these pitfalls requires thoroughly exploring the environment, but creating algorithms that can do so remains one of the central challenges of the field. We hypothesise that the main impediment to effective exploration originates from algorithms forgetting how to reach previously visited states…
Rather than augmenting rewards with penalties for undesired behavior, Constrained Partially Observable Markov Decision Processes (CPOMDPs) plan safely by imposing inviolable hard constraint value budgets. Previous work performing online planning for CPOMDPs has only been applied to discrete action and observation spaces. In this work, we propose algorithms for online CPOMDP planning for continuous state, action, and observation spaces by combining dual ascent with progressive widening. We empirically compare the effectiveness of our proposed algorithms on continuous CPOMDPs that model both toy…
We considered a novel practical problem of online learning with episodically revealed rewards, motivated by several real-world applications, where the contexts are nonstationary over different episodes and the reward feedbacks are not always available to the decision making agents. For this online semi-supervised learning setting, we introduced Background Episodic Reward LinUCB (BerlinUCB), a solution that easily incorporates clustering as a self-supervision module to provide useful side information when rewards are not observed. Our experiments on a variety of datasets, both in stationary and…
Tsinghua University（清华大学）；University of California, Berkeley（加州大学伯克利分校）；Stanford University（斯坦福大学）；Shanghai Qi Zhi Institute（上海期智研究院）
It has been a recent trend to leverage the power of supervised learning (SL) towards more effective reinforcement learning (RL) methods. We propose a novel phasic approach by alternating online RL and offline SL for tackling sparse-reward goal-conditioned problems. In the online phase, we perform RL training and collect rollout data while in the offline phase, we perform SL on those successful trajectories from the dataset. To further improve sample efficiency, we adopt additional techniques in the online phase including task reduction to generate more feasible trajectories and a value-differe…
Michigan State University（密歇根州立大学）；Dalarna University（达拉纳大学）
Autonomous agents that act with each other on behalf of humans are becoming more common in many social domains, such as customer service, transportation, and health care. In such social situations greedy strategies can reduce the positive outcome for all agents, such as leading to stop-and-go traffic on highways, or causing a denial of service on a communications channel. Instead, we desire autonomous decision-making for efficient performance while also considering equitability of the group to avoid these pitfalls. Unfortunately, in complex situations it is far easier to design machine learnin…
In human-robot interaction (HRI) systems, such as autonomous vehicles, understanding and representing human behavior are important. Human behavior is naturally rich and diverse. Cost/reward learning, as an efficient way to learn and represent human behavior, has been successfully applied in many domains. Most of traditional inverse reinforcement learning (IRL) algorithms, however, cannot adequately capture the diversity of human behavior since they assume that all behavior in a given dataset is generated by a single cost function.In this paper, we propose a probabilistic IRL framework that dir…
Delft University of Technology（代尔夫特理工大学）；MRC Brain Network Dynamics Unit（医学研究委员会脑网络动力学组）；University of Oxford（牛津大学）
Intelligent agents must pursue their goals in complex environments with partial information and often limited computational capacity. Reinforcement learning methods have achieved great success by creating agents that optimize engineered reward functions, but which often struggle to learn in sparse-reward environments, generally require many environmental interactions to perform well, and are typically computationally very expensive. Active inference is a model-based approach that directs agents to explore uncertain states while adhering to a prior model of their goal behaviour. This paper intr…
Harvard University（哈佛大学）；University of Michigan（密歇根大学）；University of California, Los Angeles（加州大学洛杉矶分校）
Dental disease is one of the most common chronic diseases despite being largely preventable. However, professional advice on optimal oral hygiene practices is often forgotten or abandoned by patients. Therefore patients may benefit from timely and personalized encouragement to engage in oral self-care behaviors. In this paper, we develop an online reinforcement learning (RL) algorithm for use in optimizing the delivery of mobile-based prompts to encourage oral hygiene behaviors. One of the main challenges in developing such an algorithm is ensuring that the algorithm considers the impact of th…
How do we know if communication is emerging in a multi-agent system? The vast majority of recent papers on emergent communication show that adding a communication channel leads to an increase in reward or task success. This is a useful indicator, but provides only a coarse measure of the agent's learned communication abilities. As we move towards more complex environments, it becomes imperative to have a set of finer tools that allow qualitative and quantitative insights into the emergence of communication. This may be especially useful to allow humans to monitor agents' behaviour, whether for…
Coordinating Ride-Pooling with Public Transit using Reward-Guided Conservative Q-Learning: An Offline Training and Online Fine-Tuning Reinforcement Learning Framework
The Hong Kong University of Science and Technology（香港科技大学）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
Preference-based reinforcement learning (RL) algorithms help avoid the pitfalls of hand-crafted reward functions by distilling them from human preference feedback, but they remain impractical due to the burdensome number of labels required from the human, even for relatively simple tasks. In this work, we demonstrate that encoding environment dynamics in the reward function (REED) dramatically reduces the number of preference labels required in state-of-the-art preference-based RL frameworks. We hypothesize that REED-based methods better partition the state-action space and facilitate generali…
Reinforcement learning with sparse rewards is challenging because an agent can rarely obtain non-zero rewards and hence, gradient-based optimization of parameterized policies can be incremental and slow. Recent work demonstrated that using a memory buffer of previous successful trajectories can result in more effective policies. However, existing methods may overly exploit past successful experiences, which can encourage the agent to adopt sub-optimal and myopic behaviors. In this work, instead of focusing on good experiences with limited diversity, we propose to learn a trajectory-conditioned…
Reward Machines for Deep RL in Noisy and Uncertain Environments
University of Toronto（多伦多大学）；Vector Institute（矢量研究所）；Cornell University（康奈尔大学）；Pontificia Universidad Católica de Chile（智利天主教大学）；Centro Nacional de Inteligencia Artificial（国家人工智能中心）；Schwartz Reisman Institute for Technology and Society（施瓦茨·赖斯曼技术与社会研究所）
School of Computer Science and Engineering, University of New South Wales（新南威尔士大学计算机科学与工程学院）；School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）；School of Computer Science, University of Technology Sydney（悉尼科技大学计算机科学学院）；Data61, CSIRO（联邦科学与工业研究组织Data61研究院）
Deep reinforcement learning enables an agent to capture user's interest through interactions with the environment dynamically. It has attracted great interest in the recommendation research. Deep reinforcement learning uses a reward function to learn user's interest and to control the learning process. However, most reward functions are manually designed; they are either unrealistic or imprecise to reflect the high variety, dimensionality, and non-linearity properties of the recommendation problem. That makes it difficult for the agent to learn an optimal policy to generate the most satisfacto…
Markov Decision Processes (MDPs) are a mathematical framework for modeling sequential decision making under uncertainty. The classical approaches for solving MDPs are well known and have been widely studied, some of which rely on approximation techniques to solve MDPs with large state space and/or action space. However, most of these classical solution approaches and their approximation techniques still take much computation time to converge and usually must be re-computed if the reward function is changed. This paper introduces a novel alternative approach for exactly and efficiently solving …
University of Cambridge（剑桥大学）；Tencent RoboticsX（腾讯机器人X实验室）；Hong Kong University of Science and Technology（香港科技大学）；Tsinghua University（清华大学）；IDEA（粤港澳大湾区数字经济研究院）；University of California, Los Angeles（加利福尼亚大学洛杉矶分校）
In this work, we study the simple yet universally applicable case of reward shaping in value-based Deep Reinforcement Learning (DRL). We show that reward shifting in the form of the linear transformation is equivalent to changing the initialization of the $Q$-function in function approximation. Based on such an equivalence, we bring the key insight that a positive reward shifting leads to conservative exploitation, while a negative reward shifting leads to curiosity-driven exploration. Accordingly, conservative exploitation improves offline RL value estimation, and optimistic value estimation …
Deep reinforcement learning methods traditionally struggle with tasks where environment rewards are particularly sparse. One successful method of guiding exploration in these domains is to imitate trajectories provided by a human demonstrator. However, these demonstrations are typically collected under artificial conditions, i.e. with access to the agent's exact environment setup and the demonstrator's action and reward trajectories. Here we propose a two-stage method that overcomes these limitations by relying on noisy, unaligned footage without access to such data. First, we learn to map una…
UC Berkeley（加州大学伯克利分校）；University of California, Berkeley（加州大学伯克利分校）
Meta-reinforcement learning (RL) methods can meta-train policies that adapt to new tasks with orders of magnitude less data than standard RL, but meta-training itself is costly and time-consuming. If we can meta-train on offline data, then we can reuse the same static dataset, labeled once with rewards for different tasks, to meta-train policies that adapt to a variety of new tasks at meta-test time. Although this capability would make meta-RL a practical tool for real-world use, offline meta-RL presents additional challenges beyond online meta-RL or standard offline RL settings. Meta-RL learn…
Towards Efficient Online Exploration for Reinforcement Learning with Human Feedback
Department of Statistics and Data Science, The Chinese University of Hong Kong（统计与数据科学系，香港中文大学）；Department of Statistics, University of Wisconsin-Madison（统计系，威斯康星大学麦迪逊分校）
TECNALIA（泰克纳利亚）；Basque Research and Technology Alliance (BRTA)（巴斯克研究与技术联盟）；University of the Basque Country (UPV/EHU)（巴斯克大学）
This work aims at unveiling the potential of Transfer Learning (TL) for developing a traffic flow forecasting model in scenarios of absent data. Knowledge transfer from high-quality predictive models becomes feasible under the TL paradigm, enabling the generation of new proper models with few data. In order to explore this capability, we identify three different levels of data absent scenarios, where TL techniques are applied among Deep Learning (DL) methods for traffic forecasting. Then, traditional batch learning is compared against TL based models using real traffic flow data, collected by …
Transfer learning is an important new subfield of multiagent reinforcement learning that aims to help an agent learn about a problem by using knowledge that it has gained solving another problem, or by using knowledge that is communicated to it by an agent who already knows the problem. This is useful when one wishes to change the architecture or learning algorithm of an agent (so that the new knowledge need not be built "from scratch"), when new agents are frequently introduced to the environment with no knowledge, or when an agent must adapt to similar but different problems. Great progress …
Indian Institute of Technology Madras（印度理工学院马德拉斯分校）；Chennai Mathematical Institute（金奈数学研究所）；Indian Institute of Technology (ISM) Dhanbad（印度理工学院（印度矿业学院）丹巴德分校）；Tata Institute of Fundamental Research（塔塔基础研究所）
We revisit the classic problem of optimal subset selection in the online learning set-up. Assume that the set $[N]$ consists of $N$ distinct elements. On the $t$th round, an adversary chooses a monotone reward function $f_t: 2^{[N]} \to \mathbb{R}_+$ that assigns a non-negative reward to each subset of $[N].$ An online policy selects (perhaps randomly) a subset $S_t \subseteq [N]$ consisting of $k$ elements before the reward function $f_t$ for the $t$th round is revealed to the learner. As a consequence of its choice, the policy receives a reward of $f_t(S_t)$ on the $t$th round. Our goal is t…
Minimal Ingredients for Reward Assignment from Expert Demonstrations
New York University（纽约大学）；New York University Abu Dhabi（纽约大学阿布扎赫尔分校）；Shanghai Frontiers Science Center of Artificial Intelligence and Deep Learning, NYU Shanghai（上海前沿科学中心（人工智能与深度学习））
MIT-IBM Watson AI Lab（麻省理工学院-IBM沃森人工智能实验室）；IBM Research（IBM研究院）；University of Padova（帕多瓦大学）
AI systems that learn through reward feedback about the actions they take are increasingly deployed in domains that have significant impact on our daily life. However, in many cases the online rewards should not be the only guiding criteria, as there are additional constraints and/or priorities imposed by regulations, values, preferences, or ethical principles. We detail a novel online agent that learns a set of behavioral constraints by observation and uses these learned constraints as a guide when making decisions in an online setting while still being reactive to reward feedback. To define …
