331 research outputs found
Collective Robot Reinforcement Learning with Distributed Asynchronous Guided Policy Search
In principle, reinforcement learning and policy search methods can enable
robots to learn highly complex and general skills that may allow them to
function amid the complexity and diversity of the real world. However, training
a policy that generalizes well across a wide range of real-world conditions
requires far greater quantity and diversity of experience than is practical to
collect with a single robot. Fortunately, it is possible for multiple robots to
share their experience with one another, and thereby, learn a policy
collectively. In this work, we explore distributed and asynchronous policy
learning as a means to achieve generalization and improved training times on
challenging, real-world manipulation tasks. We propose a distributed and
asynchronous version of Guided Policy Search and use it to demonstrate
collective policy learning on a vision-based door opening task using four
robots. We show that it achieves better generalization, utilization, and
training times than the single robot alternative.Comment: Submitted to the IEEE International Conference on Robotics and
Automation 201
Petuum: A New Platform for Distributed Machine Learning on Big Data
What is a systematic way to efficiently apply a wide spectrum of advanced ML
programs to industrial scale problems, using Big Models (up to 100s of billions
of parameters) on Big Data (up to terabytes or petabytes)? Modern
parallelization strategies employ fine-grained operations and scheduling beyond
the classic bulk-synchronous processing paradigm popularized by MapReduce, or
even specialized graph-based execution that relies on graph representations of
ML programs. The variety of approaches tends to pull systems and algorithms
design in different directions, and it remains difficult to find a universal
platform applicable to a wide range of ML programs at scale. We propose a
general-purpose framework that systematically addresses data- and
model-parallel challenges in large-scale ML, by observing that many ML programs
are fundamentally optimization-centric and admit error-tolerant,
iterative-convergent algorithmic solutions. This presents unique opportunities
for an integrative system design, such as bounded-error network synchronization
and dynamic scheduling based on ML program structure. We demonstrate the
efficacy of these system designs versus well-known implementations of modern ML
algorithms, allowing ML programs to run in much less time and at considerably
larger model sizes, even on modestly-sized compute clusters.Comment: 15 pages, 10 figures, final version in KDD 2015 under the same titl
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