7,995 research outputs found
Reinforcement Learning for Bandit Neural Machine Translation with Simulated Human Feedback
Machine translation is a natural candidate problem for reinforcement learning
from human feedback: users provide quick, dirty ratings on candidate
translations to guide a system to improve. Yet, current neural machine
translation training focuses on expensive human-generated reference
translations. We describe a reinforcement learning algorithm that improves
neural machine translation systems from simulated human feedback. Our algorithm
combines the advantage actor-critic algorithm (Mnih et al., 2016) with the
attention-based neural encoder-decoder architecture (Luong et al., 2015). This
algorithm (a) is well-designed for problems with a large action space and
delayed rewards, (b) effectively optimizes traditional corpus-level machine
translation metrics, and (c) is robust to skewed, high-variance, granular
feedback modeled after actual human behaviors.Comment: 11 pages, 5 figures, In Proceedings of Empirical Methods in Natural
Language Processing (EMNLP) 201
Learning a Unified Control Policy for Safe Falling
Being able to fall safely is a necessary motor skill for humanoids performing
highly dynamic tasks, such as running and jumping. We propose a new method to
learn a policy that minimizes the maximal impulse during the fall. The
optimization solves for both a discrete contact planning problem and a
continuous optimal control problem. Once trained, the policy can compute the
optimal next contacting body part (e.g. left foot, right foot, or hands),
contact location and timing, and the required joint actuation. We represent the
policy as a mixture of actor-critic neural network, which consists of n control
policies and the corresponding value functions. Each pair of actor-critic is
associated with one of the n possible contacting body parts. During execution,
the policy corresponding to the highest value function will be executed while
the associated body part will be the next contact with the ground. With this
mixture of actor-critic architecture, the discrete contact sequence planning is
solved through the selection of the best critics while the continuous control
problem is solved by the optimization of actors. We show that our policy can
achieve comparable, sometimes even higher, rewards than a recursive search of
the action space using dynamic programming, while enjoying 50 to 400 times of
speed gain during online execution
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