Model Learning for Look-ahead Exploration in Continuous Control

We propose an exploration method that incorporates look-ahead search over basic learnt skills and their dynamics, and use it for reinforcement learning (RL) of manipulation policies . Our skills are multi-goal policies learned in isolation in simpler environments using existing multigoal RL formulations, analogous to options or macroactions. Coarse skill dynamics, i.e., the state transition caused by a (complete) skill execution, are learnt and are unrolled forward during lookahead search. Policy search benefits from temporal abstraction during exploration, though itself operates over low-level primitive actions, and thus the resulting policies does not suffer from suboptimality and inflexibility caused by coarse skill chaining. We show that the proposed exploration strategy results in effective learning of complex manipulation policies faster than current state-of-the-art RL methods, and converges to better policies than methods that use options or parametrized skills as building blocks of the policy itself, as opposed to guiding exploration. We show that the proposed exploration strategy results in effective learning of complex manipulation policies faster than current state-of-the-art RL methods, and converges to better policies than methods that use options or parameterized skills as building blocks of the policy itself, as opposed to guiding exploration.Comment: This is a pre-print of our paper which is accepted in AAAI 201

Hierarchical Visualization of Materials Space with Graph Convolutional Neural Networks

The combination of high throughput computation and machine learning has led to a new paradigm in materials design by allowing for the direct screening of vast portions of structural, chemical, and property space. The use of these powerful techniques leads to the generation of enormous amounts of data, which in turn calls for new techniques to efficiently explore and visualize the materials space to help identify underlying patterns. In this work, we develop a unified framework to hierarchically visualize the compositional and structural similarities between materials in an arbitrary material space with representations learned from different layers of graph convolutional neural networks. We demonstrate the potential for such a visualization approach by showing that patterns emerge automatically that reflect similarities at different scales in three representative classes of materials: perovskites, elemental boron, and general inorganic crystals, covering material spaces of different compositions, structures, and both. For perovskites, elemental similarities are learned that reflects multiple aspects of atom properties. For elemental boron, structural motifs emerge automatically showing characteristic boron local environments. For inorganic crystals, the similarity and stability of local coordination environments are shown combining different center and neighbor atoms. The method could help transition to a data-centered exploration of materials space in automated materials design.Comment: 22 + 7 pages, 6 + 5 figure

Learning and Transfer of Modulated Locomotor Controllers

We study a novel architecture and training procedure for locomotion tasks. A high-frequency, low-level "spinal" network with access to proprioceptive sensors learns sensorimotor primitives by training on simple tasks. This pre-trained module is fixed and connected to a low-frequency, high-level "cortical" network, with access to all sensors, which drives behavior by modulating the inputs to the spinal network. Where a monolithic end-to-end architecture fails completely, learning with a pre-trained spinal module succeeds at multiple high-level tasks, and enables the effective exploration required to learn from sparse rewards. We test our proposed architecture on three simulated bodies: a 16-dimensional swimming snake, a 20-dimensional quadruped, and a 54-dimensional humanoid. Our results are illustrated in the accompanying video at https://youtu.be/sboPYvhpraQComment: Supplemental video available at https://youtu.be/sboPYvhpra