Discovering Blind Spots in Reinforcement Learning

Agents trained in simulation may make errors in the real world due to mismatches between training and execution environments. These mistakes can be dangerous and difficult to discover because the agent cannot predict them a priori. We propose using oracle feedback to learn a predictive model of these blind spots to reduce costly errors in real-world applications. We focus on blind spots in reinforcement learning (RL) that occur due to incomplete state representation: The agent does not have the appropriate features to represent the true state of the world and thus cannot distinguish among numerous states. We formalize the problem of discovering blind spots in RL as a noisy supervised learning problem with class imbalance. We learn models to predict blind spots in unseen regions of the state space by combining techniques for label aggregation, calibration, and supervised learning. The models take into consideration noise emerging from different forms of oracle feedback, including demonstrations and corrections. We evaluate our approach on two domains and show that it achieves higher predictive performance than baseline methods, and that the learned model can be used to selectively query an oracle at execution time to prevent errors. We also empirically analyze the biases of various feedback types and how they influence the discovery of blind spots.Comment: To appear at AAMAS 201

A Wholistic View of Continual Learning with Deep Neural Networks: Forgotten Lessons and the Bridge to Active and Open World Learning

Current deep learning research is dominated by benchmark evaluation. A method is regarded as favorable if it empirically performs well on the dedicated test set. This mentality is seamlessly reflected in the resurfacing area of continual learning, where consecutively arriving sets of benchmark data are investigated. The core challenge is framed as protecting previously acquired representations from being catastrophically forgotten due to the iterative parameter updates. However, comparison of individual methods is nevertheless treated in isolation from real world application and typically judged by monitoring accumulated test set performance. The closed world assumption remains predominant. It is assumed that during deployment a model is guaranteed to encounter data that stems from the same distribution as used for training. This poses a massive challenge as neural networks are well known to provide overconfident false predictions on unknown instances and break down in the face of corrupted data. In this work we argue that notable lessons from open set recognition, the identification of statistically deviating data outside of the observed dataset, and the adjacent field of active learning, where data is incrementally queried such that the expected performance gain is maximized, are frequently overlooked in the deep learning era. Based on these forgotten lessons, we propose a consolidated view to bridge continual learning, active learning and open set recognition in deep neural networks. Our results show that this not only benefits each individual paradigm, but highlights the natural synergies in a common framework. We empirically demonstrate improvements when alleviating catastrophic forgetting, querying data in active learning, selecting task orders, while exhibiting robust open world application where previously proposed methods fail.Comment: 32 page

Efficient High-Dimensional Inference in the Multiple Measurement Vector Problem

In this work, a Bayesian approximate message passing algorithm is proposed for solving the multiple measurement vector (MMV) problem in compressive sensing, in which a collection of sparse signal vectors that share a common support are recovered from undersampled noisy measurements. The algorithm, AMP-MMV, is capable of exploiting temporal correlations in the amplitudes of non-zero coefficients, and provides soft estimates of the signal vectors as well as the underlying support. Central to the proposed approach is an extension of recently developed approximate message passing techniques to the amplitude-correlated MMV setting. Aided by these techniques, AMP-MMV offers a computational complexity that is linear in all problem dimensions. In order to allow for automatic parameter tuning, an expectation-maximization algorithm that complements AMP-MMV is described. Finally, a detailed numerical study demonstrates the power of the proposed approach and its particular suitability for application to high-dimensional problems.Comment: 28 pages, 9 figure