Adaptive and Explainable Deployment of Navigation Skills via Hierarchical Deep Reinforcement Learning

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a hand-engineered curriculum and reward function which are difficult to be deployed in a wide range of real-world scenarios. In this paper, we propose a framework to learn a family of low-level navigation policies and a high-level policy for deploying them. The main idea is that, instead of learning a single navigation policy with a fixed reward function, we simultaneously learn a family of policies that exhibit different behaviors with a wide range of reward functions. We then train the high-level policy which adaptively deploys the most suitable navigation skill. We evaluate our approach in simulation and the real world and demonstrate that our method can learn diverse navigation skills and adaptively deploy them. We also illustrate that our proposed hierarchical learning framework presents explainability by providing semantics for the behavior of an autonomous agent.Comment: ICRA 2023. First two authors contributed equally. Code at https://github.com/leekwoon/hrl-na

Variational Curriculum Reinforcement Learning for Unsupervised Discovery of Skills

Mutual information-based reinforcement learning (RL) has been proposed as a promising framework for retrieving complex skills autonomously without a task-oriented reward function through mutual information (MI) maximization or variational empowerment. However, learning complex skills is still challenging, due to the fact that the order of training skills can largely affect sample efficiency. Inspired by this, we recast variational empowerment as curriculum learning in goal-conditioned RL with an intrinsic reward function, which we name Variational Curriculum RL (VCRL). From this perspective, we propose a novel approach to unsupervised skill discovery based on information theory, called Value Uncertainty Variational Curriculum (VUVC). We prove that, under regularity conditions, VUVC accelerates the increase of entropy in the visited states compared to the uniform curriculum. We validate the effectiveness of our approach on complex navigation and robotic manipulation tasks in terms of sample efficiency and state coverage speed. We also demonstrate that the skills discovered by our method successfully complete a real-world robot navigation task in a zero-shot setup and that incorporating these skills with a global planner further increases the performance.Comment: ICML 2023. First two authors contributed equally. Code at https://github.com/seongun-kim/vcr

Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Plans

Diffusion-based planning has shown promising results in long-horizon, sparse-reward tasks by training trajectory diffusion models and conditioning the sampled trajectories using auxiliary guidance functions. However, due to their nature as generative models, diffusion models are not guaranteed to generate feasible plans, resulting in failed execution and precluding planners from being useful in safety-critical applications. In this work, we propose a novel approach to refine unreliable plans generated by diffusion models by providing refining guidance to error-prone plans. To this end, we suggest a new metric named restoration gap for evaluating the quality of individual plans generated by the diffusion model. A restoration gap is estimated by a gap predictor which produces restoration gap guidance to refine a diffusion planner. We additionally present an attribution map regularizer to prevent adversarial refining guidance that could be generated from the sub-optimal gap predictor, which enables further refinement of infeasible plans. We demonstrate the effectiveness of our approach on three different benchmarks in offline control settings that require long-horizon planning. We also illustrate that our approach presents explainability by presenting the attribution maps of the gap predictor and highlighting error-prone transitions, allowing for a deeper understanding of the generated plans.Comment: NeurIPS 2023. First two authors contributed equally. Code at http://github.com/leekwoon/rg

Deep Reinforcement Learning in Continuous Action Spaces: a Case Study in the Game of Simulated Curling

Many real-world applications of reinforcement learning require an agent to select optimal actions from continuous spaces. Recently, deep neural networks have successfully been applied to games with discrete actions spaces. However, deep neural networks for discrete actions are not suitable for devising strategies for games where a very small change in an action can dramatically affect the outcome. In this paper, we present a new selfplay reinforcement learning framework which equips a continuous search algorithm which enables to search in continuous action spaces with a kernel regression method. Without any handcrafted features, our network is trained by supervised learning followed by self-play reinforcement learning with a high-fidelity simulator for the Olympic sport of curling. The program trained under our framework outperforms existing programs equipped with several hand-crafted features and won an international digital curling competition

Confirmatory Bayesian Online Change Point Detection in the Covariance Structure of Gaussian Processes

In the analysis of sequential data, the detection of abrupt changes is important in predicting future events. In this paper, we propose statistical hypothesis tests for detecting covariance structure changes in locally smooth time series modeled by Gaussian Processes (GPs). We provide theoretically justified thresholds for the tests, and use them to improve Bayesian Online Change Point etection (BOCPD) by confirming statistically signifi-cant changes and non-changes. Our Confirmatory BOCPD (CBOCPD) algorithm finds multiple structural breaks in GPs even when hyperparameters are not tuned precisely. We also provide conditions under which CBOCPD provides the lower prediction error compared to BOCPD. Experimental results on synthetic and real-world datasets show that our proposed algorithm outperforms existing methods for the prediction of nonstationarity in terms of both regression error and log likelihood

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Challenge for Diagnostic Assessment of Deep Learning Algorithm for Metastases Classification in Sentinel Lymph Nodes on Frozen Tissue Section Digital Slides in Women with Breast Cancer

Purpose Assessing the status of metastasis in sentinel lymph nodes (SLNs) by pathologists is an essential task for the accurate staging of breast cancer. However, histopathological evaluation of SLNs by a pathologist is not easy and is a tedious and time-consuming task. The purpose of this study is to review a challenge competition (HeLP 2018) to develop automated solutions for the classification of metastases in hematoxylin and eosin-stained frozen tissue sections of SLNs in breast cancer patients. Materials and Methods A total of 297 digital slides were obtained from frozen SLN sections, which include post-neoadjuvant cases (n=144, 48.5%) in Asan Medical Center, South Korea. The slides were divided into training, development, and validation sets. All of the imaging datasets have been manually segmented by expert pathologists. A total of 10 participants were allowed to use the Kakao challenge platform for 6 weeks with two P40 GPUs. The algorithms were assessed in terms of the area under receiver operating characteristic curve (AUC). Results The top three teams showed 0.986, 0.985, and 0.945 AUCs for the development set and 0.805, 0.776, and 0.765 AUCs for the validation set. Micrometastatic tumors, neoadjuvant systemic therapy, invasive lobular carcinoma, and histologic grade 3 were associated with lower diagnostic accuracy. Conclusion In a challenge competition, accurate deep learning algorithms have been developed, which can be helpful in making frozen diagnosis of intraoperative SLN biopsy. Whether this approach has clinical utility will require evaluation in a clinical setting