We introduce the eigentask framework for lifelong learning. An eigentask is a pairing of a skill that solves a set of related tasks, paired with a generative model that can sample from the skill's input space. The framework extends generative replay approaches, which have mainly been used to avoid catastrophic forgetting, to also address other lifelong learning goals such as forward knowledge transfer. We propose a wake-sleep cycle of alternating task learning and knowledge consolidation for learning in our framework, and instantiate it for lifelong supervised learning and lifelong RL. We achieve improved performance over the state-of-the-art in supervised continual learning, and show evidence of forward knowledge transfer in a lifelong RL application in the game Starcraft2.
Learning While Acting: A Skill-Enhanced Test-Time Co-Evolution Framework for Online Lifelong Learning Agents
School of Computer Science and Technology, East China Normal University（东华大学计算机科学与技术学院）；Shanghai AI Laboratory（上海人工智能实验室）；Software Engineering Institute, East China Normal University（东华大学软件工程学院）
We propose a lifelong learning system that has the ability to reuse and transfer knowledge from one task to another while efficiently retaining the previously learned knowledge-base. Knowledge is transferred by learning reusable skills to solve tasks in Minecraft, a popular video game which is an unsolved and high-dimensional lifelong learning problem. These reusable skills, which we refer to as Deep Skill Networks, are then incorporated into our novel Hierarchical Deep Reinforcement Learning Network (H-DRLN) architecture using two techniques: (1) a deep skill array and (2) skill distillation,…
The objective of lifelong reinforcement learning (RL) is to optimize agents which can continuously adapt and interact in changing environments. However, current RL approaches fail drastically when environments are non-stationary and interactions are non-episodic. We propose Lifelong Skill Planning (LiSP), an algorithmic framework for non-episodic lifelong RL based on planning in an abstract space of higher-order skills. We learn the skills in an unsupervised manner using intrinsic rewards and plan over the learned skills using a learned dynamics model. Moreover, our framework permits skill dis…
Santa Fe Institute（圣塔菲研究所）；University of California, Merced（加州大学默塞德分校）
Lifelong learning occurs on timescales ranging from minutes to decades. People can lose themselves in a new skill, practicing for hours until exhausted. And they can pursue mastery over days or decades, perhaps abandoning old skills entirely to seek out new challenges. A full understanding of learning requires an account that integrates these timescales. Here, we present a minimal quantitative model that unifies the nested timescales of learning. Our dynamical model recovers classic accounts of skill acquisition, and describes how learning emerges from moment-to-moment dynamics of motivation, …
Universität Hamburg（汉堡大学）；Rochester Institute of Technology（罗切斯特理工学院）；Heriot-Watt University（赫瑞-瓦特大学）
Humans and animals have the ability to continually acquire, fine-tune, and transfer knowledge and skills throughout their lifespan. This ability, referred to as lifelong learning, is mediated by a rich set of neurocognitive mechanisms that together contribute to the development and specialization of our sensorimotor skills as well as to long-term memory consolidation and retrieval. Consequently, lifelong learning capabilities are crucial for autonomous agents interacting in the real world and processing continuous streams of information. However, lifelong learning remains a long-standing chall…
The Technion - Israel Institute of Technology（以色列理工学院）；Google Deepmind（谷歌DeepMind）
We introduce the Adaptive Skills, Adaptive Partitions (ASAP) framework that (1) learns skills (i.e., temporally extended actions or options) as well as (2) where to apply them. We believe that both (1) and (2) are necessary for a truly general skill learning framework, which is a key building block needed to scale up to lifelong learning agents. The ASAP framework can also solve related new tasks simply by adapting where it applies its existing learned skills. We prove that ASAP converges to a local optimum under natural conditions. Finally, our experimental results, which include a RoboCup do…
Humans can learn a variety of concepts and skills incrementally over the course of their lives while exhibiting many desirable properties, such as continual learning without forgetting, forward transfer and backward transfer of knowledge, and learning a new concept or task with only a few examples. Several lines of machine learning research, such as lifelong learning, few-shot learning, and transfer learning, attempt to capture these properties. However, most previous approaches can only demonstrate subsets of these properties, often by different complex mechanisms. In this work, we propose a …
University of Oxford（牛津大学）；Facebook AI Research（脸书人工智能研究院）
In lifelong learning, the learner is presented with a sequence of tasks, incrementally building a data-driven prior which may be leveraged to speed up learning of a new task. In this work, we investigate the efficiency of current lifelong approaches, in terms of sample complexity, computational and memory cost. Towards this end, we first introduce a new and a more realistic evaluation protocol, whereby learners observe each example only once and hyper-parameter selection is done on a small and disjoint set of tasks, which is not used for the actual learning experience and evaluation. Second, w…
Human beings are able to master a variety of knowledge and skills with ongoing learning. By contrast, dramatic performance degradation is observed when new tasks are added to an existing neural network model. This phenomenon, termed as \emph{Catastrophic Forgetting}, is one of the major roadblocks that prevent deep neural networks from achieving human-level artificial intelligence. Several research efforts, e.g. \emph{Lifelong} or \emph{Continual} learning algorithms, have been proposed to tackle this problem. However, they either suffer from an accumulating drop in performance as the task seq…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with something that is not their intent. Our key idea is that the robot can detect when its repertoire of intents is insufficient to explain the user's input, and give them back control. This then enables the robot to observe unhindered task execution, learn the new intent behind it, and add it to this repertoire. We demonstrate with both a case study and a user…
T2S: Tokenized Skill Scaling for Lifelong Imitation Learning
School of Computer Science and Technology, East China Normal University, Shanghai 200062, China（东华大学计算机科学与技术学院）；Shanghai Innovation Institute, Shanghai 200062, China（上海创新研究院）；School of Informatics, Xiamen University, Xiamen, Fujian 361005, China（厦门大学信息学院）
Reinforcement learning (RL) algorithms typically start tabula rasa, without any prior knowledge of the environment, and without any prior skills. This however often leads to low sample efficiency, requiring a large amount of interaction with the environment. This is especially true in a lifelong learning setting, in which the agent needs to continually extend its capabilities. In this paper, we examine how a pre-trained task-independent language model can make a goal-conditional RL agent more sample efficient. We do this by facilitating transfer learning between different related tasks. We exp…
Multi-task learning ideally allows robots to acquire a diverse repertoire of useful skills. However, many multi-task reinforcement learning efforts assume the robot can collect data from all tasks at all times. In reality, the tasks that the robot learns arrive sequentially, depending on the user and the robot's current environment. In this work, we study a practical sequential multi-task RL problem that is motivated by the practical constraints of physical robotic systems, and derive an approach that effectively leverages the data and policies learned for previous tasks to cumulatively grow t…
ETH Zürich（苏黎世联邦理工学院）；University of Rochester（罗切斯特大学）；Carnegie Mellon University（卡内基梅隆大学）；Paris Artificial Intelligence Research Institute, Inria（法国国家信息与自动化研究所巴黎人工智能研究院）
Curiosity is a vital metacognitive skill in educational contexts, leading to creativity, and a love of learning. And while many school systems increasingly undercut curiosity by teaching to the test, teachers are increasingly interested in how to evoke curiosity in their students to prepare them for a world in which lifelong learning and reskilling will be more and more important. One aspect of curiosity that has received little attention, however, is the role of peers in eliciting curiosity. We present what we believe to be the first theoretical framework that articulates an integrated socio-…
Continual Policy Consolidation for Lifelong Robot Learning
Department of XXX, University of YYY, Location, Country；School of ZZZ, Institute of WWW, Location, Country；Zhejiang University, Zhejiang, China；South University of Science；Hong Kong University, Hong Kong, China；INFIFORCE Intelligent Technology Co., Ltd., Hangzhou, China；The Hong Kong Polytechnic University, Hong Kong, China；School of Computer Science, Carnegie Mellon University
SPECI: Skill Prompts based Hierarchical Continual Imitation Learning for Robot Manipulation
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院）；School of Artificial Intelligence, University of Chinese Academy of Sciences（人工智能学院，中国科学院大学）
The automatic and efficient discovery of skills, without supervision, for long-living autonomous agents, remains a challenge of Artificial Intelligence. Intrinsically Motivated Goal Exploration Processes give learning agents a human-inspired mechanism to sequentially select goals to achieve. This approach gives a new perspective on the lifelong learning problem, with promising results on both simulated and real-world experiments. Until recently, those algorithms were restricted to domains with experimenter-knowledge, since the Goal Space used by the agents was built on engineered feature extra…
University of the Witwatersrand（威特沃特斯兰德大学）；Council for Scientific and Industrial Research（科学与工业研究委员会）
An important property for lifelong-learning agents is the ability to combine existing skills to solve unseen tasks. In general, however, it is unclear how to compose skills in a principled way. We provide a "recipe" for optimal value function composition in entropy-regularised reinforcement learning (RL) and then extend this to the standard RL setting. Composition is demonstrated in a video game environment, where an agent with an existing library of policies is able to solve new tasks without the need for further learning.
