arXiv subjects

Amir-massoud Farahmand

Publications and source records attributed to Amir-massoud Farahmand.

35 records · Page 2Linked to original sources

arXiv2023

Value Gradient weighted Model-Based Reinforcement Learning

Model-based reinforcement learning (MBRL) is a sample efficient technique to obtain control policies, yet unavoidable modeling errors often lead performance deterioration. The model in MBRL is often solely fitted to reconstruct dynamics, state observations in particular, while the impact of model error on the policy is not captured by the training objective. This leads to a mismatch between the intended goal of MBRL, enabling good policy and value learning, and the target of the loss function employed in practice, future state prediction. Naive intuition would suggest that value-aware model learning would fix this problem and, indeed, several solutions to this objective mismatch problem have been proposed based on theoretical analysis. However, they tend to be inferior in practice to commonly used maximum likelihood (MLE) based approaches. In this paper we propose the Value-gradient weighted Model Learning (VaGraM), a novel method for value-aware model learning which improves the performance of MBRL in challenging settings, such as small model capacity and the presence of distracting state dimensions. We analyze both MLE and value-aware approaches and demonstrate how they fail to account for exploration and the behavior of function approximation when learning value-aware models and highlight the additional goals that must be met to stabilize optimization in the deep learning setting. We verify our analysis by showing that our loss function is able to achieve high returns on the Mujoco benchmark suite while being more robust than maximum likelihood based approaches.

cs.LG↗

arXiv2022

Operator Splitting Value Iteration

We introduce new planning and reinforcement learning algorithms for discounted MDPs that utilize an approximate model of the environment to accelerate the convergence of the value function. Inspired by the splitting approach in numerical linear algebra, we introduce Operator Splitting Value Iteration (OS-VI) for both Policy Evaluation and Control problems. OS-VI achieves a much faster convergence rate when the model is accurate enough. We also introduce a sample-based version of the algorithm called OS-Dyna. Unlike the traditional Dyna architecture, OS-Dyna still converges to the correct value function in presence of model approximation error.

cs.LG↗

arXiv2022

Understanding and Mitigating the Limitations of Prioritized Experience Replay

Prioritized Experience Replay (ER) has been empirically shown to improve sample efficiency across many domains and attracted great attention; however, there is little theoretical understanding of why such prioritized sampling helps and its limitations. In this work, we take a deep look at the prioritized ER. In a supervised learning setting, we show the equivalence between the error-based prioritized sampling method for mean squared error and uniform sampling for cubic power loss. We then provide theoretical insight into why it improves convergence rate upon uniform sampling during early learning. Based on the insight, we further point out two limitations of the prioritized ER method: 1) outdated priorities and 2) insufficient coverage of the sample space. To mitigate the limitations, we propose our model-based stochastic gradient Langevin dynamics sampling method. We show that our method does provide states distributed close to an ideal prioritized sampling distribution estimated by the brute-force method, which does not suffer from the two limitations. We conduct experiments on both discrete and continuous control problems to show our approach's efficacy and examine the practical implication of our method in an autonomous driving application.

cs.AI↗

arXiv2021

Deep Reinforcement Learning for Online Control of Stochastic Partial Differential Equations

In many areas, such as the physical sciences, life sciences, and finance, control approaches are used to achieve a desired goal in complex dynamical systems governed by differential equations. In this work we formulate the problem of controlling stochastic partial differential equations (SPDE) as a reinforcement learning problem. We present a learning-based, distributed control approach for online control of a system of SPDEs with high dimensional state-action space using deep deterministic policy gradient method. We tested the performance of our method on the problem of controlling the stochastic Burgers' equation, describing a turbulent fluid flow in an infinitely large domain.

cs.LG↗

arXiv2021

SOAR: Second-Order Adversarial Regularization

Adversarial training is a common approach to improving the robustness of deep neural networks against adversarial examples. In this work, we propose a novel regularization approach as an alternative. To derive the regularizer, we formulate the adversarial robustness problem under the robust optimization framework and approximate the loss function using a second-order Taylor series expansion. Our proposed second-order adversarial regularizer (SOAR) is an upper bound based on the Taylor approximation of the inner-max in the robust optimization objective. We empirically show that the proposed method significantly improves the robustness of networks against the $\ell_\infty$ and $\ell_2$ bounded perturbations generated using cross-entropy-based PGD on CIFAR-10 and SVHN.

cs.LG↗

arXiv2021

Policy-Aware Model Learning for Policy Gradient Methods

This paper considers the problem of learning a model in model-based reinforcement learning (MBRL). We examine how the planning module of an MBRL algorithm uses the model, and propose that the model learning module should incorporate the way the planner is going to use the model. This is in contrast to conventional model learning approaches, such as those based on maximum likelihood estimate, that learn a predictive model of the environment without explicitly considering the interaction of the model and the planner. We focus on policy gradient type of planning algorithms and derive new loss functions for model learning that incorporate how the planner uses the model. We call this approach Policy-Aware Model Learning (PAML). We theoretically analyze a generic model-based policy gradient algorithm and provide a convergence guarantee for the optimized policy. We also empirically evaluate PAML on some benchmark problems, showing promising results.

cs.AI↗

arXiv2020

An implicit function learning approach for parametric modal regression

For multi-valued functions---such as when the conditional distribution on targets given the inputs is multi-modal---standard regression approaches are not always desirable because they provide the conditional mean. Modal regression algorithms address this issue by instead finding the conditional mode(s). Most, however, are nonparametric approaches and so can be difficult to scale. Further, parametric approximators, like neural networks, facilitate learning complex relationships between inputs and targets. In this work, we propose a parametric modal regression algorithm. We use the implicit function theorem to develop an objective, for learning a joint function over inputs and targets. We empirically demonstrate on several synthetic problems that our method (i) can learn multi-valued functions and produce the conditional modes, (ii) scales well to high-dimensional inputs, and (iii) can even be more effective for certain uni-modal problems, particularly for high-frequency functions. We demonstrate that our method is competitive in a real-world modal regression problem and two regular regression datasets.

stat.ML↗

arXiv2020

The act of remembering: a study in partially observable reinforcement learning

Reinforcement Learning (RL) agents typically learn memoryless policies---policies that only consider the last observation when selecting actions. Learning memoryless policies is efficient and optimal in fully observable environments. However, some form of memory is necessary when RL agents are faced with partial observability. In this paper, we study a lightweight approach to tackle partial observability in RL. We provide the agent with an external memory and additional actions to control what, if anything, is written to the memory. At every step, the current memory state is part of the agent's observation, and the agent selects a tuple of actions: one action that modifies the environment and another that modifies the memory. When the external memory is sufficiently expressive, optimal memoryless policies yield globally optimal solutions. Unfortunately, previous attempts to use external memory in the form of binary memory have produced poor results in practice. Here, we investigate alternative forms of memory in support of learning effective memoryless policies. Our novel forms of memory outperform binary and LSTM-based memory in well-established partially observable domains.

cs.LG↗

arXiv2020

Frequency-based Search-control in Dyna

Model-based reinforcement learning has been empirically demonstrated as a successful strategy to improve sample efficiency. In particular, Dyna is an elegant model-based architecture integrating learning and planning that provides huge flexibility of using a model. One of the most important components in Dyna is called search-control, which refers to the process of generating state or state-action pairs from which we query the model to acquire simulated experiences. Search-control is critical in improving learning efficiency. In this work, we propose a simple and novel search-control strategy by searching high frequency regions of the value function. Our main intuition is built on Shannon sampling theorem from signal processing, which indicates that a high frequency signal requires more samples to reconstruct. We empirically show that a high frequency function is more difficult to approximate. This suggests a search-control strategy: we should use states from high frequency regions of the value function to query the model to acquire more samples. We develop a simple strategy to locally measure the frequency of a function by gradient and hessian norms, and provide theoretical justification for this approach. We then apply our strategy to search-control in Dyna, and conduct experiments to show its property and effectiveness on benchmark domains.

cs.LG↗

arXiv2019

Improving Skin Condition Classification with a Visual Symptom Checker Trained using Reinforcement Learning

We present a visual symptom checker that combines a pre-trained Convolutional Neural Network (CNN) with a Reinforcement Learning (RL) agent as a Question Answering (QA) model. This method increases the classification confidence and accuracy of the visual symptom checker, and decreases the average number of questions asked to narrow down the differential diagnosis. A Deep Q-Network (DQN)-based RL agent learns how to ask the patient about the presence of symptoms in order to maximize the probability of correctly identifying the underlying condition. The RL agent uses the visual information provided by CNN in addition to the answers to the asked questions to guide the QA system. We demonstrate that the RL-based approach increases the accuracy more than 20% compared to the CNN-only approach, which only uses the visual information to predict the condition. Moreover, the increased accuracy is up to 10% compared to the approach that uses the visual information provided by CNN along with a conventional decision tree-based QA system. We finally show that the RL-based approach not only outperforms the decision tree-based approach, but also narrows down the diagnosis faster in terms of the average number of asked questions.

cs.AI↗

arXiv2019

Hill Climbing on Value Estimates for Search-control in Dyna

Dyna is an architecture for model-based reinforcement learning (RL), where simulated experience from a model is used to update policies or value functions. A key component of Dyna is search-control, the mechanism to generate the state and action from which the agent queries the model, which remains largely unexplored. In this work, we propose to generate such states by using the trajectory obtained from Hill Climbing (HC) the current estimate of the value function. This has the effect of propagating value from high-value regions and of preemptively updating value estimates of the regions that the agent is likely to visit next. We derive a noisy projected natural gradient algorithm for hill climbing, and highlight a connection to Langevin dynamics. We provide an empirical demonstration on four classical domains that our algorithm, HC-Dyna, can obtain significant sample efficiency improvements. We study the properties of different sampling distributions for search-control, and find that there appears to be a benefit specifically from using the samples generated by climbing on current value estimates from low-value to high-value region.

cs.LG↗

arXiv2018

Improving Skin Condition Classification with a Question Answering Model

We present a skin condition classification methodology based on a sequential pipeline of a pre-trained Convolutional Neural Network (CNN) and a Question Answering (QA) model. This method enables us to not only increase the classification confidence and accuracy of the deployed CNN system, but also enables the emulation of the conventional approach of doctors asking the relevant questions in refining the ultimate diagnosis and differential. By combining the CNN output in the form of classification probabilities as a prior to the QA model and the image textual description, we greedily ask the best symptom that maximizes the information gain over symptoms. We demonstrate that combining the QA model with the CNN increases the accuracy up to 10% as compared to the CNN alone, and more than 30% as compared to the QA model alone.

cs.CV↗

arXiv2018

Reinforcement Learning with Function-Valued Action Spaces for Partial Differential Equation Control

Recent work has shown that reinforcement learning (RL) is a promising approach to control dynamical systems described by partial differential equations (PDE). This paper shows how to use RL to tackle more general PDE control problems that have continuous high-dimensional action spaces with spatial relationship among action dimensions. In particular, we propose the concept of action descriptors, which encode regularities among spatially-extended action dimensions and enable the agent to control high-dimensional action PDEs. We provide theoretical evidence suggesting that this approach can be more sample efficient compared to a conventional approach that treats each action dimension separately and does not explicitly exploit the spatial regularity of the action space. The action descriptor approach is then used within the deep deterministic policy gradient algorithm. Experiments on two PDE control problems, with up to 256-dimensional continuous actions, show the advantage of the proposed approach over the conventional one.

cs.LG↗

arXiv2017

Attentional Network for Visual Object Detection

We propose augmenting deep neural networks with an attention mechanism for the visual object detection task. As perceiving a scene, humans have the capability of multiple fixation points, each attended to scene content at different locations and scales. However, such a mechanism is missing in the current state-of-the-art visual object detection methods. Inspired by the human vision system, we propose a novel deep network architecture that imitates this attention mechanism. As detecting objects in an image, the network adaptively places a sequence of glimpses of different shapes at different locations in the image. Evidences of the presence of an object and its location are extracted from these glimpses, which are then fused for estimating the object class and bounding box coordinates. Due to lacks of ground truth annotations of the visual attention mechanism, we train our network using a reinforcement learning algorithm with policy gradients. Experiment results on standard object detection benchmarks show that the proposed network consistently outperforms the baseline networks that does not model the attention mechanism.

cs.CV↗

arXiv2015

Learning-Based Modular Indirect Adaptive Control for a Class of Nonlinear Systems

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which renders the closed loop input-to-state stable (ISS), where the input is considered to be the estimation error of the uncertain parameters, and the state is considered to be the closed-loop output tracking error. Next, we augment this robust ISS controller with a model-free learning algorithm to estimate the model uncertainties. We implement this method with two different learning approaches. The first one is a model-free multi-parametric extremum seeking (MES) method and the second is a Bayesian optimization-based method called Gaussian Process Upper Confidence Bound (GP-UCB). The combination of the ISS feedback and the learning algorithms gives a learning-based modular indirect adaptive controller. We show the efficiency of this approach on a two-link robot manipulator example.

eess.SY↗

arXiv2014

Classification-based Approximate Policy Iteration: Experiments and Extended Discussions

Tackling large approximate dynamic programming or reinforcement learning problems requires methods that can exploit regularities, or intrinsic structure, of the problem in hand. Most current methods are geared towards exploiting the regularities of either the value function or the policy. We introduce a general classification-based approximate policy iteration (CAPI) framework, which encompasses a large class of algorithms that can exploit regularities of both the value function and the policy space, depending on what is advantageous. This framework has two main components: a generic value function estimator and a classifier that learns a policy based on the estimated value function. We establish theoretical guarantees for the sample complexity of CAPI-style algorithms, which allow the policy evaluation step to be performed by a wide variety of algorithms (including temporal-difference-style methods), and can handle nonparametric representations of policies. Our bounds on the estimation error of the performance loss are tighter than existing results. We also illustrate this approach empirically on several problems, including a large HIV control task.

cs.LG↗

arXiv2012

Bellman Error Based Feature Generation using Random Projections on Sparse Spaces

We address the problem of automatic generation of features for value function approximation. Bellman Error Basis Functions (BEBFs) have been shown to improve the error of policy evaluation with function approximation, with a convergence rate similar to that of value iteration. We propose a simple, fast and robust algorithm based on random projections to generate BEBFs for sparse feature spaces. We provide a finite sample analysis of the proposed method, and prove that projections logarithmic in the dimension of the original space are enough to guarantee contraction in the error. Empirical results demonstrate the strength of this method.

cs.LG↗