21,591 research outputs found
Multi-task Deep Reinforcement Learning with PopArt
The reinforcement learning community has made great strides in designing
algorithms capable of exceeding human performance on specific tasks. These
algorithms are mostly trained one task at the time, each new task requiring to
train a brand new agent instance. This means the learning algorithm is general,
but each solution is not; each agent can only solve the one task it was trained
on. In this work, we study the problem of learning to master not one but
multiple sequential-decision tasks at once. A general issue in multi-task
learning is that a balance must be found between the needs of multiple tasks
competing for the limited resources of a single learning system. Many learning
algorithms can get distracted by certain tasks in the set of tasks to solve.
Such tasks appear more salient to the learning process, for instance because of
the density or magnitude of the in-task rewards. This causes the algorithm to
focus on those salient tasks at the expense of generality. We propose to
automatically adapt the contribution of each task to the agent's updates, so
that all tasks have a similar impact on the learning dynamics. This resulted in
state of the art performance on learning to play all games in a set of 57
diverse Atari games. Excitingly, our method learned a single trained policy -
with a single set of weights - that exceeds median human performance. To our
knowledge, this was the first time a single agent surpassed human-level
performance on this multi-task domain. The same approach also demonstrated
state of the art performance on a set of 30 tasks in the 3D reinforcement
learning platform DeepMind Lab
Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks
Future wireless networks have a substantial potential in terms of supporting
a broad range of complex compelling applications both in military and civilian
fields, where the users are able to enjoy high-rate, low-latency, low-cost and
reliable information services. Achieving this ambitious goal requires new radio
techniques for adaptive learning and intelligent decision making because of the
complex heterogeneous nature of the network structures and wireless services.
Machine learning (ML) algorithms have great success in supporting big data
analytics, efficient parameter estimation and interactive decision making.
Hence, in this article, we review the thirty-year history of ML by elaborating
on supervised learning, unsupervised learning, reinforcement learning and deep
learning. Furthermore, we investigate their employment in the compelling
applications of wireless networks, including heterogeneous networks (HetNets),
cognitive radios (CR), Internet of things (IoT), machine to machine networks
(M2M), and so on. This article aims for assisting the readers in clarifying the
motivation and methodology of the various ML algorithms, so as to invoke them
for hitherto unexplored services as well as scenarios of future wireless
networks.Comment: 46 pages, 22 fig
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
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