Task Transfer by Preference-Based Cost Learning

The goal of task transfer in reinforcement learning is migrating the action policy of an agent to the target task from the source task. Given their successes on robotic action planning, current methods mostly rely on two requirements: exactly-relevant expert demonstrations or the explicitly-coded cost function on target task, both of which, however, are inconvenient to obtain in practice. In this paper, we relax these two strong conditions by developing a novel task transfer framework where the expert preference is applied as a guidance. In particular, we alternate the following two steps: Firstly, letting experts apply pre-defined preference rules to select related expert demonstrates for the target task. Secondly, based on the selection result, we learn the target cost function and trajectory distribution simultaneously via enhanced Adversarial MaxEnt IRL and generate more trajectories by the learned target distribution for the next preference selection. The theoretical analysis on the distribution learning and convergence of the proposed algorithm are provided. Extensive simulations on several benchmarks have been conducted for further verifying the effectiveness of the proposed method.Comment: Accepted to AAAI 2019. Mingxuan Jing and Xiaojian Ma contributed equally to this wor

Subequivariant Graph Reinforcement Learning in 3D Environments

Learning a shared policy that guides the locomotion of different agents is of core interest in Reinforcement Learning (RL), which leads to the study of morphology-agnostic RL. However, existing benchmarks are highly restrictive in the choice of starting point and target point, constraining the movement of the agents within 2D space. In this work, we propose a novel setup for morphology-agnostic RL, dubbed Subequivariant Graph RL in 3D environments (3D-SGRL). Specifically, we first introduce a new set of more practical yet challenging benchmarks in 3D space that allows the agent to have full Degree-of-Freedoms to explore in arbitrary directions starting from arbitrary configurations. Moreover, to optimize the policy over the enlarged state-action space, we propose to inject geometric symmetry, i.e., subequivariance, into the modeling of the policy and Q-function such that the policy can generalize to all directions, improving exploration efficiency. This goal is achieved by a novel SubEquivariant Transformer (SET) that permits expressive message exchange. Finally, we evaluate the proposed method on the proposed benchmarks, where our method consistently and significantly outperforms existing approaches on single-task, multi-task, and zero-shot generalization scenarios. Extensive ablations are also conducted to verify our design. Code and videos are available on our project page: https://alpc91.github.io/SGRL/.Comment: ICML 2023 Ora

A Hilbert-Type Integral Inequality with Multiparameters and a Nonhomogeneous Kernel

We first introduce Γ-function and Riemann ζ-function to characterize the constant factor jointly. A Hilbert-type integral inequality with multiparameters and a nonhomogeneous kernel is given using the way of weight function and the technique of real analysis. The equivalent form is considered and its constant factors are proved to be the best possible. Some meaningful results are obtained by taking the special parameter values

Channel Exchanging Networks for Multimodal and Multitask Dense Image Prediction

Multimodal fusion and multitask learning are two vital topics in machine learning. Despite the fruitful progress, existing methods for both problems are still brittle to the same challenge -- it remains dilemmatic to integrate the common information across modalities (resp. tasks) meanwhile preserving the specific patterns of each modality (resp. task). Besides, while they are actually closely related to each other, multimodal fusion and multitask learning are rarely explored within the same methodological framework before. In this paper, we propose Channel-Exchanging-Network (CEN) which is self-adaptive, parameter-free, and more importantly, applicable for both multimodal fusion and multitask learning. At its core, CEN dynamically exchanges channels between subnetworks of different modalities. Specifically, the channel exchanging process is self-guided by individual channel importance that is measured by the magnitude of Batch-Normalization (BN) scaling factor during training. For the application of dense image prediction, the validity of CEN is tested by four different scenarios: multimodal fusion, cycle multimodal fusion, multitask learning, and multimodal multitask learning. Extensive experiments on semantic segmentation via RGB-D data and image translation through multi-domain input verify the effectiveness of our CEN compared to current state-of-the-art methods. Detailed ablation studies have also been carried out, which provably affirm the advantage of each component we propose.Comment: 18 pages. arXiv admin note: substantial text overlap with arXiv:2011.0500

Tackling Over-Smoothing for General Graph Convolutional Networks

Increasing the depth of GCN, which is expected to permit more expressivity, is shown to incur performance detriment especially on node classification. The main cause of this lies in over-smoothing. The over-smoothing issue drives the output of GCN towards a space that contains limited distinguished information among nodes, leading to poor expressivity. Several works on refining the architecture of deep GCN have been proposed, but it is still unknown in theory whether or not these refinements are able to relieve over-smoothing. In this paper, we first theoretically analyze how general GCNs act with the increase in depth, including generic GCN, GCN with bias, ResGCN, and APPNP. We find that all these models are characterized by a universal process: all nodes converging to a cuboid. Upon this theorem, we propose DropEdge to alleviate over-smoothing by randomly removing a certain number of edges at each training epoch. Theoretically, DropEdge either reduces the convergence speed of over-smoothing or relieves the information loss caused by dimension collapse. Experimental evaluations on simulated dataset have visualized the difference in over-smoothing between different GCNs. Moreover, extensive experiments on several real benchmarks support that DropEdge consistently improves the performance on a variety of both shallow and deep GCNs.Comment: Submitted to TPAMI, 15 page