18,268 research outputs found
Coordinated Multi-Agent Imitation Learning
We study the problem of imitation learning from demonstrations of multiple
coordinating agents. One key challenge in this setting is that learning a good
model of coordination can be difficult, since coordination is often implicit in
the demonstrations and must be inferred as a latent variable. We propose a
joint approach that simultaneously learns a latent coordination model along
with the individual policies. In particular, our method integrates unsupervised
structure learning with conventional imitation learning. We illustrate the
power of our approach on a difficult problem of learning multiple policies for
fine-grained behavior modeling in team sports, where different players occupy
different roles in the coordinated team strategy. We show that having a
coordination model to infer the roles of players yields substantially improved
imitation loss compared to conventional baselines.Comment: International Conference on Machine Learning 201
Bethe Projections for Non-Local Inference
Many inference problems in structured prediction are naturally solved by
augmenting a tractable dependency structure with complex, non-local auxiliary
objectives. This includes the mean field family of variational inference
algorithms, soft- or hard-constrained inference using Lagrangian relaxation or
linear programming, collective graphical models, and forms of semi-supervised
learning such as posterior regularization. We present a method to
discriminatively learn broad families of inference objectives, capturing
powerful non-local statistics of the latent variables, while maintaining
tractable and provably fast inference using non-Euclidean projected gradient
descent with a distance-generating function given by the Bethe entropy. We
demonstrate the performance and flexibility of our method by (1) extracting
structured citations from research papers by learning soft global constraints,
(2) achieving state-of-the-art results on a widely-used handwriting recognition
task using a novel learned non-convex inference procedure, and (3) providing a
fast and highly scalable algorithm for the challenging problem of inference in
a collective graphical model applied to bird migration.Comment: minor bug fix to appendix. appeared in UAI 201
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