1,099 research outputs found
Resampled Priors for Variational Autoencoders
We propose Learned Accept/Reject Sampling (LARS), a method for constructing
richer priors using rejection sampling with a learned acceptance function. This
work is motivated by recent analyses of the VAE objective, which pointed out
that commonly used simple priors can lead to underfitting. As the distribution
induced by LARS involves an intractable normalizing constant, we show how to
estimate it and its gradients efficiently. We demonstrate that LARS priors
improve VAE performance on several standard datasets both when they are learned
jointly with the rest of the model and when they are fitted to a pretrained
model. Finally, we show that LARS can be combined with existing methods for
defining flexible priors for an additional boost in performance
Conditional Restricted Boltzmann Machines for Structured Output Prediction
Conditional Restricted Boltzmann Machines (CRBMs) are rich probabilistic
models that have recently been applied to a wide range of problems, including
collaborative filtering, classification, and modeling motion capture data.
While much progress has been made in training non-conditional RBMs, these
algorithms are not applicable to conditional models and there has been almost
no work on training and generating predictions from conditional RBMs for
structured output problems. We first argue that standard Contrastive
Divergence-based learning may not be suitable for training CRBMs. We then
identify two distinct types of structured output prediction problems and
propose an improved learning algorithm for each. The first problem type is one
where the output space has arbitrary structure but the set of likely output
configurations is relatively small, such as in multi-label classification. The
second problem is one where the output space is arbitrarily structured but
where the output space variability is much greater, such as in image denoising
or pixel labeling. We show that the new learning algorithms can work much
better than Contrastive Divergence on both types of problems
A Policy Search Method For Temporal Logic Specified Reinforcement Learning Tasks
Reward engineering is an important aspect of reinforcement learning. Whether
or not the user's intentions can be correctly encapsulated in the reward
function can significantly impact the learning outcome. Current methods rely on
manually crafted reward functions that often require parameter tuning to obtain
the desired behavior. This operation can be expensive when exploration requires
systems to interact with the physical world. In this paper, we explore the use
of temporal logic (TL) to specify tasks in reinforcement learning. TL formula
can be translated to a real-valued function that measures its level of
satisfaction against a trajectory. We take advantage of this function and
propose temporal logic policy search (TLPS), a model-free learning technique
that finds a policy that satisfies the TL specification. A set of simulated
experiments are conducted to evaluate the proposed approach
Deep Ordinal Reinforcement Learning
Reinforcement learning usually makes use of numerical rewards, which have
nice properties but also come with drawbacks and difficulties. Using rewards on
an ordinal scale (ordinal rewards) is an alternative to numerical rewards that
has received more attention in recent years. In this paper, a general approach
to adapting reinforcement learning problems to the use of ordinal rewards is
presented and motivated. We show how to convert common reinforcement learning
algorithms to an ordinal variation by the example of Q-learning and introduce
Ordinal Deep Q-Networks, which adapt deep reinforcement learning to ordinal
rewards. Additionally, we run evaluations on problems provided by the OpenAI
Gym framework, showing that our ordinal variants exhibit a performance that is
comparable to the numerical variations for a number of problems. We also give
first evidence that our ordinal variant is able to produce better results for
problems with less engineered and simpler-to-design reward signals.Comment: replaced figures for better visibility, added github repository, more
details about source of experimental results, updated target value
calculation for standard and ordinal Deep Q-Networ
Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies
RoboCup soccer competitions are considered among the most challenging
multi-robot adversarial environments, due to their high dynamism and the
partial observability of the environment. In this paper we introduce a method
based on a combination of Monte Carlo search and data aggregation (MCSDA) to
adapt discrete-action soccer policies for a defender robot to the strategy of
the opponent team. By exploiting a simple representation of the domain, a
supervised learning algorithm is trained over an initial collection of data
consisting of several simulations of human expert policies. Monte Carlo policy
rollouts are then generated and aggregated to previous data to improve the
learned policy over multiple epochs and games. The proposed approach has been
extensively tested both on a soccer-dedicated simulator and on real robots.
Using this method, our learning robot soccer team achieves an improvement in
ball interceptions, as well as a reduction in the number of opponents' goals.
Together with a better performance, an overall more efficient positioning of
the whole team within the field is achieved
Measuring collaborative emergent behavior in multi-agent reinforcement learning
Multi-agent reinforcement learning (RL) has important implications for the
future of human-agent teaming. We show that improved performance with
multi-agent RL is not a guarantee of the collaborative behavior thought to be
important for solving multi-agent tasks. To address this, we present a novel
approach for quantitatively assessing collaboration in continuous spatial tasks
with multi-agent RL. Such a metric is useful for measuring collaboration
between computational agents and may serve as a training signal for
collaboration in future RL paradigms involving humans.Comment: 1st International Conference on Human Systems Engineering and Design,
6 pages, 2 figures, 1 tabl
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