18,129 research outputs found
Local and Global Explanations of Agent Behavior: Integrating Strategy Summaries with Saliency Maps
With advances in reinforcement learning (RL), agents are now being developed
in high-stakes application domains such as healthcare and transportation.
Explaining the behavior of these agents is challenging, as the environments in
which they act have large state spaces, and their decision-making can be
affected by delayed rewards, making it difficult to analyze their behavior. To
address this problem, several approaches have been developed. Some approaches
attempt to convey the behavior of the agent, describing the
actions it takes in different states. Other approaches devised
explanations which provide information regarding the agent's decision-making in
a particular state. In this paper, we combine global and local explanation
methods, and evaluate their joint and separate contributions, providing (to the
best of our knowledge) the first user study of combined local and global
explanations for RL agents. Specifically, we augment strategy summaries that
extract important trajectories of states from simulations of the agent with
saliency maps which show what information the agent attends to. Our results
show that the choice of what states to include in the summary (global
information) strongly affects people's understanding of agents: participants
shown summaries that included important states significantly outperformed
participants who were presented with agent behavior in a randomly set of chosen
world-states. We find mixed results with respect to augmenting demonstrations
with saliency maps (local information), as the addition of saliency maps did
not significantly improve performance in most cases. However, we do find some
evidence that saliency maps can help users better understand what information
the agent relies on in its decision making, suggesting avenues for future work
that can further improve explanations of RL agents
Certified Reinforcement Learning with Logic Guidance
This paper proposes the first model-free Reinforcement Learning (RL)
framework to synthesise policies for unknown, and continuous-state Markov
Decision Processes (MDPs), such that a given linear temporal property is
satisfied. We convert the given property into a Limit Deterministic Buchi
Automaton (LDBA), namely a finite-state machine expressing the property.
Exploiting the structure of the LDBA, we shape a synchronous reward function
on-the-fly, so that an RL algorithm can synthesise a policy resulting in traces
that probabilistically satisfy the linear temporal property. This probability
(certificate) is also calculated in parallel with policy learning when the
state space of the MDP is finite: as such, the RL algorithm produces a policy
that is certified with respect to the property. Under the assumption of finite
state space, theoretical guarantees are provided on the convergence of the RL
algorithm to an optimal policy, maximising the above probability. We also show
that our method produces ''best available'' control policies when the logical
property cannot be satisfied. In the general case of a continuous state space,
we propose a neural network architecture for RL and we empirically show that
the algorithm finds satisfying policies, if there exist such policies. The
performance of the proposed framework is evaluated via a set of numerical
examples and benchmarks, where we observe an improvement of one order of
magnitude in the number of iterations required for the policy synthesis,
compared to existing approaches whenever available.Comment: This article draws from arXiv:1801.08099, arXiv:1809.0782
Quranic education and technology : reinforcement learning system for non-native Arabic children
We built a simulator based on reinforcement learning to improve teaching experience in Quranic and Islamic education for non-native Arabic speakers to evaluate their strength and weaknesses and allow the system to help improving the child in one hand, and provide an accurate actual report for each child on the other hand
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
Learning to detect chest radiographs containing lung nodules using visual attention networks
Machine learning approaches hold great potential for the automated detection
of lung nodules in chest radiographs, but training the algorithms requires vary
large amounts of manually annotated images, which are difficult to obtain. Weak
labels indicating whether a radiograph is likely to contain pulmonary nodules
are typically easier to obtain at scale by parsing historical free-text
radiological reports associated to the radiographs. Using a repositotory of
over 700,000 chest radiographs, in this study we demonstrate that promising
nodule detection performance can be achieved using weak labels through
convolutional neural networks for radiograph classification. We propose two
network architectures for the classification of images likely to contain
pulmonary nodules using both weak labels and manually-delineated bounding
boxes, when these are available. Annotated nodules are used at training time to
deliver a visual attention mechanism informing the model about its localisation
performance. The first architecture extracts saliency maps from high-level
convolutional layers and compares the estimated position of a nodule against
the ground truth, when this is available. A corresponding localisation error is
then back-propagated along with the softmax classification error. The second
approach consists of a recurrent attention model that learns to observe a short
sequence of smaller image portions through reinforcement learning. When a
nodule annotation is available at training time, the reward function is
modified accordingly so that exploring portions of the radiographs away from a
nodule incurs a larger penalty. Our empirical results demonstrate the potential
advantages of these architectures in comparison to competing methodologies
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