arXiv subjects

Chao Yu

Publications and source records attributed to Chao Yu.

At least 145 records · Page 8Linked to original sources

arXiv2023

AlphaZero Gomoku

In the past few years, AlphaZero's exceptional capability in mastering intricate board games has garnered considerable interest. Initially designed for the game of Go, this revolutionary algorithm merges deep learning techniques with the Monte Carlo tree search (MCTS) to surpass earlier top-tier methods. In our study, we broaden the use of AlphaZero to Gomoku, an age-old tactical board game also referred to as "Five in a Row." Intriguingly, Gomoku has innate challenges due to a bias towards the initial player, who has a theoretical advantage. To add value, we strive for a balanced game-play. Our tests demonstrate AlphaZero's versatility in adapting to games other than Go. MCTS has become a predominant algorithm for decision processes in intricate scenarios, especially board games. MCTS creates a search tree by examining potential future actions and uses random sampling to predict possible results. By leveraging the best of both worlds, the AlphaZero technique fuses deep learning from Reinforcement Learning with the balancing act of MCTS, establishing a fresh standard in game-playing AI. Its triumph is notably evident in board games such as Go, chess, and shogi.

cs.AI↗

arXiv2023

Creativity of AI: Hierarchical Planning Model Learning for Facilitating Deep Reinforcement Learning

Despite of achieving great success in real-world applications, Deep Reinforcement Learning (DRL) is still suffering from three critical issues, i.e., data efficiency, lack of the interpretability and transferability. Recent research shows that embedding symbolic knowledge into DRL is promising in addressing those challenges. Inspired by this, we introduce a novel deep reinforcement learning framework with symbolic options. Our framework features a loop training procedure, which enables guiding the improvement of policy by planning with planning models (including action models and hierarchical task network models) and symbolic options learned from interactive trajectories automatically. The learned symbolic options alleviate the dense requirement of expert domain knowledge and provide inherent interpretability of policies. Moreover, the transferability and data efficiency can be further improved by planning with the symbolic planning models. To validate the effectiveness of our framework, we conduct experiments on two domains, Montezuma's Revenge and Office World, respectively. The results demonstrate the comparable performance, improved data efficiency, interpretability and transferability.

cs.AI↗

arXiv2023

Ultraviolet photon-counting single-pixel imaging

We demonstrate photon-counting single-pixel imaging in the ultraviolet region. Toward this target, we develop a high-performance compact single-photon detector based on a 4H-SiC single-photon avalanche diode (SPAD), where a tailored readout circuit with active hold-off time is designed to restrain detector noise and operate the SPAD in free-running mode. We use structured illumination to reconstruct 192$\times$192 compressed images at a 4 fps frame rate. To show the superior capability of ultraviolet characteristics, we use our single-pixel imaging system to identify and distinguish different transparent objects under low-intensity irradiation, and image ultraviolet light sources. The results provide a practical solution for general ultraviolet imaging applications.

physics.optics↗

arXiv2023

Automatic Truss Design with Reinforcement Learning

Truss layout design, namely finding a lightweight truss layout satisfying all the physical constraints, is a fundamental problem in the building industry. Generating the optimal layout is a challenging combinatorial optimization problem, which can be extremely expensive to solve by exhaustive search. Directly applying end-to-end reinforcement learning (RL) methods to truss layout design is infeasible either, since only a tiny portion of the entire layout space is valid under the physical constraints, leading to particularly sparse rewards for RL training. In this paper, we develop AutoTruss, a two-stage framework to efficiently generate both lightweight and valid truss layouts. AutoTruss first adopts Monte Carlo tree search to discover a diverse collection of valid layouts. Then RL is applied to iteratively refine the valid solutions. We conduct experiments and ablation studies in popular truss layout design test cases in both 2D and 3D settings. AutoTruss outperforms the best-reported layouts by 25.1% in the most challenging 3D test cases, resulting in the first effective deep-RL-based approach in the truss layout design literature.

cs.AI↗

arXiv2023

SIFTER: A Task-specific Alignment Strategy for Enhancing Sentence Embeddings

The paradigm of pre-training followed by fine-tuning on downstream tasks has become the mainstream method in natural language processing tasks. Although pre-trained models have the advantage of generalization, their performance may still vary significantly across different domain tasks. This is because the data distribution in different domains varies. For example, the different parts of the sentence 'He married Smt. Dipali Ghosh in 1947 and led a very happy married life' may have different impact for downstream tasks. For similarity calculations, words such as 'led' and 'life' are more important. On the other hand, for sentiment analysis, the word 'happy' is crucial. This indicates that different downstream tasks have different levels of sensitivity to sentence components. Our starting point is to scale information of the model and data according to the specifics of downstream tasks, enhancing domain information of relevant parts for these tasks and reducing irrelevant elements for different domain tasks, called SIFTER. In the experimental part, we use the SIFTER to improve SimCSE by constructing positive sample pairs based on enhancing the sentence stem and reducing the unimportant components in the sentence, and maximize the similarity between three sentences. Similarly, SIFTER can improve the gate mechanism of the LSTM model by short-circuiting the input gate of important words so that the LSTM model remembers the important parts of the sentence. Our experiments demonstrate that SIFTER outperforms the SimCSE and LSTM baselines.

cs.CL↗

arXiv2023

Hierarchical Task Network Planning for Facilitating Cooperative Multi-Agent Reinforcement Learning

Exploring sparse reward multi-agent reinforcement learning (MARL) environments with traps in a collaborative manner is a complex task. Agents typically fail to reach the goal state and fall into traps, which affects the overall performance of the system. To overcome this issue, we present SOMARL, a framework that uses prior knowledge to reduce the exploration space and assist learning. In SOMARL, agents are treated as part of the MARL environment, and symbolic knowledge is embedded using a tree structure to build a knowledge hierarchy. The framework has a two-layer hierarchical structure, comprising a hybrid module with a Hierarchical Task Network (HTN) planning and meta-controller at the higher level, and a MARL-based interactive module at the lower level. The HTN module and meta-controller use Hierarchical Domain Definition Language (HDDL) and the option framework to formalize symbolic knowledge and obtain domain knowledge and a symbolic option set, respectively. Moreover, the HTN module leverages domain knowledge to guide low-level agent exploration by assisting the meta-controller in selecting symbolic options. The meta-controller further computes intrinsic rewards of symbolic options to limit exploration behavior and adjust HTN planning solutions as needed. We evaluate SOMARL on two benchmarks, FindTreasure and MoveBox, and report superior performance over state-of-the-art MARL and subgoal-based baselines for MARL environments significantly.

cs.AI↗

arXiv2023

Causal Deep Reinforcement Learning Using Observational Data

Deep reinforcement learning (DRL) requires the collection of interventional data, which is sometimes expensive and even unethical in the real world, such as in the autonomous driving and the medical field. Offline reinforcement learning promises to alleviate this issue by exploiting the vast amount of observational data available in the real world. However, observational data may mislead the learning agent to undesirable outcomes if the behavior policy that generates the data depends on unobserved random variables (i.e., confounders). In this paper, we propose two deconfounding methods in DRL to address this problem. The methods first calculate the importance degree of different samples based on the causal inference technique, and then adjust the impact of different samples on the loss function by reweighting or resampling the offline dataset to ensure its unbiasedness. These deconfounding methods can be flexibly combined with existing model-free DRL algorithms such as soft actor-critic and deep Q-learning, provided that a weak condition can be satisfied by the loss functions of these algorithms. We prove the effectiveness of our deconfounding methods and validate them experimentally.

cs.LG↗

arXiv2023

Asynchronous Multi-Agent Reinforcement Learning for Efficient Real-Time Multi-Robot Cooperative Exploration

We consider the problem of cooperative exploration where multiple robots need to cooperatively explore an unknown region as fast as possible. Multi-agent reinforcement learning (MARL) has recently become a trending paradigm for solving this challenge. However, existing MARL-based methods adopt action-making steps as the metric for exploration efficiency by assuming all the agents are acting in a fully synchronous manner: i.e., every single agent produces an action simultaneously and every single action is executed instantaneously at each time step. Despite its mathematical simplicity, such a synchronous MARL formulation can be problematic for real-world robotic applications. It can be typical that different robots may take slightly different wall-clock times to accomplish an atomic action or even periodically get lost due to hardware issues. Simply waiting for every robot being ready for the next action can be particularly time-inefficient. Therefore, we propose an asynchronous MARL solution, Asynchronous Coordination Explorer (ACE), to tackle this real-world challenge. We first extend a classical MARL algorithm, multi-agent PPO (MAPPO), to the asynchronous setting and additionally apply action-delay randomization to enforce the learned policy to generalize better to varying action delays in the real world. Moreover, each navigation agent is represented as a team-size-invariant CNN-based policy, which greatly benefits real-robot deployment by handling possible robot lost and allows bandwidth-efficient intra-agent communication through low-dimensional CNN features. We first validate our approach in a grid-based scenario. Both simulation and real-robot results show that ACE reduces over 10% actual exploration time compared with classical approaches. We also apply our framework to a high-fidelity visual-based environment, Habitat, achieving 28% improvement in exploration efficiency.

cs.RO↗

arXiv2023

Models as Agents: Optimizing Multi-Step Predictions of Interactive Local Models in Model-Based Multi-Agent Reinforcement Learning

Research in model-based reinforcement learning has made significant progress in recent years. Compared to single-agent settings, the exponential dimension growth of the joint state-action space in multi-agent systems dramatically increases the complexity of the environment dynamics, which makes it infeasible to learn an accurate global model and thus necessitates the use of agent-wise local models. However, during multi-step model rollouts, the prediction of one local model can affect the predictions of other local models in the next step. As a result, local prediction errors can be propagated to other localities and eventually give rise to considerably large global errors. Furthermore, since the models are generally used to predict for multiple steps, simply minimizing one-step prediction errors regardless of their long-term effect on other models may further aggravate the propagation of local errors. To this end, we propose Models as AGents (MAG), a multi-agent model optimization framework that reversely treats the local models as multi-step decision making agents and the current policies as the dynamics during the model rollout process. In this way, the local models are able to consider the multi-step mutual affect between each other before making predictions. Theoretically, we show that the objective of MAG is approximately equivalent to maximizing a lower bound of the true environment return. Experiments on the challenging StarCraft II benchmark demonstrate the effectiveness of MAG.

cs.MA↗

arXiv2023

mmAlert: mmWave Link Blockage Prediction via Passive Sensing

In this letter, the mmAlert system, predicting millimeter wave (mmWave) link blockage during data communication, is elaborated and demonstrated. The passive sensing method is adopted for mobile blocker detection, where two receive beams with separated radio frequency (RF) chains are equipped at the data communication receiver. One receive beam is aligned to the direction of line-of-sight (LoS) path, and the other one periodically sweeps the region close to the LoS path. By comparing the signals received by the above two beams, the Doppler frequencies of the signal scattered from the mobile blocker can be detected. Furthermore, by tracking the Doppler frequencies and the angle-of-arrivals (AoAs) of the scattered signals, the trajectory of the mobile blocker can be estimated, such that the potential link blockage can be predicted by assuming consistent mobile velocity. It is demonstrated via experiments that the mmAlert system can always detect the motions of the walking person close to the LoS path, and predict 90\% of the LoS blockage with sensing time of 1.4 seconds.

eess.SP↗

arXiv2023

Free-running 4H-SiC single-photon detector with ultralow afterpulse probability at 266 nm

Ultraviolet single-photon detector (UVSPD) provides a key tool for the applications requiring ultraweak light detection in the wavelength band. Here, we report a 4H-SiC single-photon avalanche diode (SPAD) based free-running UVSPD with ultralow afterpulse probability. We design and fabricate the 4H-SiC SPAD with a beveled mesa structure, which exhibits the characteristic of ultralow dark current. We further develop a readout circuit of passive quenching and active reset with tunable hold-off time setting to considerably suppress the afterpulsing effect. The nonuniformity of photon detection efficiency (PDE) across the SPAD active area with a diameter of $\sim$ 180 $μ$m is investigated for performance optimization. The compact UVSPD is then characterized, exhibiting a typical performance of 10.3% PDE, 133 kcps dark count rate and 0.3% afterpulse probability at 266 nm. Such performance indicates that the compact UVSPD could be used for practical ultraviolet photon-counting applications

physics.ins-det↗

arXiv2023

Learning Graph-Enhanced Commander-Executor for Multi-Agent Navigation

This paper investigates the multi-agent navigation problem, which requires multiple agents to reach the target goals in a limited time. Multi-agent reinforcement learning (MARL) has shown promising results for solving this issue. However, it is inefficient for MARL to directly explore the (nearly) optimal policy in the large search space, which is exacerbated as the agent number increases (e.g., 10+ agents) or the environment is more complex (e.g., 3D simulator). Goal-conditioned hierarchical reinforcement learning (HRL) provides a promising direction to tackle this challenge by introducing a hierarchical structure to decompose the search space, where the low-level policy predicts primitive actions in the guidance of the goals derived from the high-level policy. In this paper, we propose Multi-Agent Graph-Enhanced Commander-Executor (MAGE-X), a graph-based goal-conditioned hierarchical method for multi-agent navigation tasks. MAGE-X comprises a high-level Goal Commander and a low-level Action Executor. The Goal Commander predicts the probability distribution of goals and leverages them to assign each agent the most appropriate final target. The Action Executor utilizes graph neural networks (GNN) to construct a subgraph for each agent that only contains crucial partners to improve cooperation. Additionally, the Goal Encoder in the Action Executor captures the relationship between the agent and the designated goal to encourage the agent to reach the final target. The results show that MAGE-X outperforms the state-of-the-art MARL baselines with a 100% success rate with only 3 million training steps in multi-agent particle environments (MPE) with 50 agents, and at least a 12% higher success rate and 2x higher data efficiency in a more complicated quadrotor 3D navigation task.

cs.RO↗

arXiv2023

Learning Zero-Shot Cooperation with Humans, Assuming Humans Are Biased

There is a recent trend of applying multi-agent reinforcement learning (MARL) to train an agent that can cooperate with humans in a zero-shot fashion without using any human data. The typical workflow is to first repeatedly run self-play (SP) to build a policy pool and then train the final adaptive policy against this pool. A crucial limitation of this framework is that every policy in the pool is optimized w.r.t. the environment reward function, which implicitly assumes that the testing partners of the adaptive policy will be precisely optimizing the same reward function as well. However, human objectives are often substantially biased according to their own preferences, which can differ greatly from the environment reward. We propose a more general framework, Hidden-Utility Self-Play (HSP), which explicitly models human biases as hidden reward functions in the self-play objective. By approximating the reward space as linear functions, HSP adopts an effective technique to generate an augmented policy pool with biased policies. We evaluate HSP on the Overcooked benchmark. Empirical results show that our HSP method produces higher rewards than baselines when cooperating with learned human models, manually scripted policies, and real humans. The HSP policy is also rated as the most assistive policy based on human feedback.

cs.AI↗

arXiv2023

Plan To Predict: Learning an Uncertainty-Foreseeing Model for Model-Based Reinforcement Learning

In Model-based Reinforcement Learning (MBRL), model learning is critical since an inaccurate model can bias policy learning via generating misleading samples. However, learning an accurate model can be difficult since the policy is continually updated and the induced distribution over visited states used for model learning shifts accordingly. Prior methods alleviate this issue by quantifying the uncertainty of model-generated samples. However, these methods only quantify the uncertainty passively after the samples were generated, rather than foreseeing the uncertainty before model trajectories fall into those highly uncertain regions. The resulting low-quality samples can induce unstable learning targets and hinder the optimization of the policy. Moreover, while being learned to minimize one-step prediction errors, the model is generally used to predict for multiple steps, leading to a mismatch between the objectives of model learning and model usage. To this end, we propose \emph{Plan To Predict} (P2P), an MBRL framework that treats the model rollout process as a sequential decision making problem by reversely considering the model as a decision maker and the current policy as the dynamics. In this way, the model can quickly adapt to the current policy and foresee the multi-step future uncertainty when generating trajectories. Theoretically, we show that the performance of P2P can be guaranteed by approximately optimizing a lower bound of the true environment return. Empirical results demonstrate that P2P achieves state-of-the-art performance on several challenging benchmark tasks.

cs.LG↗

arXiv2022

Learning Efficient Multi-Agent Cooperative Visual Exploration

We tackle the problem of cooperative visual exploration where multiple agents need to jointly explore unseen regions as fast as possible based on visual signals. Classical planning-based methods often suffer from expensive computation overhead at each step and a limited expressiveness of complex cooperation strategy. By contrast, reinforcement learning (RL) has recently become a popular paradigm for tackling this challenge due to its modeling capability of arbitrarily complex strategies and minimal inference overhead. In this paper, we extend the state-of-the-art single-agent visual navigation method, Active Neural SLAM (ANS), to the multi-agent setting by introducing a novel RL-based planning module, Multi-agent Spatial Planner (MSP).MSP leverages a transformer-based architecture, Spatial-TeamFormer, which effectively captures spatial relations and intra-agent interactions via hierarchical spatial self-attentions. In addition, we also implement a few multi-agent enhancements to process local information from each agent for an aligned spatial representation and more precise planning. Finally, we perform policy distillation to extract a meta policy to significantly improve the generalization capability of final policy. We call this overall solution, Multi-Agent Active Neural SLAM (MAANS). MAANS substantially outperforms classical planning-based baselines for the first time in a photo-realistic 3D simulator, Habitat. Code and videos can be found at https://sites.google.com/view/maans.

cs.CV↗

arXiv2022

The Surprising Effectiveness of PPO in Cooperative, Multi-Agent Games

Proximal Policy Optimization (PPO) is a ubiquitous on-policy reinforcement learning algorithm but is significantly less utilized than off-policy learning algorithms in multi-agent settings. This is often due to the belief that PPO is significantly less sample efficient than off-policy methods in multi-agent systems. In this work, we carefully study the performance of PPO in cooperative multi-agent settings. We show that PPO-based multi-agent algorithms achieve surprisingly strong performance in four popular multi-agent testbeds: the particle-world environments, the StarCraft multi-agent challenge, Google Research Football, and the Hanabi challenge, with minimal hyperparameter tuning and without any domain-specific algorithmic modifications or architectures. Importantly, compared to competitive off-policy methods, PPO often achieves competitive or superior results in both final returns and sample efficiency. Finally, through ablation studies, we analyze implementation and hyperparameter factors that are critical to PPO's empirical performance, and give concrete practical suggestions regarding these factors. Our results show that when using these practices, simple PPO-based methods can be a strong baseline in cooperative multi-agent reinforcement learning. Source code is released at \url{https://github.com/marlbenchmark/on-policy}.

cs.LG↗

arXiv2022

DeltaFS: Pursuing Zero Update Overhead via Metadata-Enabled Delta Compression for Log-structured File System on Mobile Devices

Data compression has been widely adopted to release mobile devices from intensive write pressure. Delta compression is particularly promising for its high compression efficacy over conventional compression methods. However, this method suffers from non-trivial system overheads incurred by delta maintenance and read penalty, which prevents its applicability on mobile devices. To this end, this paper proposes DeltaFS, a metadata-enabled Delta compression on log-structured File System for mobile devices, to achieve utmost compressing efficiency and zero hardware costs. DeltaFS smartly exploits the out-of-place updating ability of Log-structured File System (LFS) to alleviate the problems of write amplification, which is the key bottleneck for delta compression implementation. Specifically, DeltaFS utilizes the inline area in file inodes for delta maintenance with zero hardware cost, and integrates an inline area manage strategy to improve the utilization of constrained inline area. Moreover, a complimentary delta maintenance strategy is incorporated, which selectively maintains delta chunks in the main data area to break through the limitation of constrained inline area. Experimental results show that DeltaFS substantially reduces write traffics by up to 64.8\%, and improves the I/O performance by up to 37.3\%.

cs.DC↗

arXiv2022

Revisiting Some Common Practices in Cooperative Multi-Agent Reinforcement Learning

Many advances in cooperative multi-agent reinforcement learning (MARL) are based on two common design principles: value decomposition and parameter sharing. A typical MARL algorithm of this fashion decomposes a centralized Q-function into local Q-networks with parameters shared across agents. Such an algorithmic paradigm enables centralized training and decentralized execution (CTDE) and leads to efficient learning in practice. Despite all the advantages, we revisit these two principles and show that in certain scenarios, e.g., environments with a highly multi-modal reward landscape, value decomposition, and parameter sharing can be problematic and lead to undesired outcomes. In contrast, policy gradient (PG) methods with individual policies provably converge to an optimal solution in these cases, which partially supports some recent empirical observations that PG can be effective in many MARL testbeds. Inspired by our theoretical analysis, we present practical suggestions on implementing multi-agent PG algorithms for either high rewards or diverse emergent behaviors and empirically validate our findings on a variety of domains, ranging from the simplified matrix and grid-world games to complex benchmarks such as StarCraft Multi-Agent Challenge and Google Research Football. We hope our insights could benefit the community towards developing more general and more powerful MARL algorithms. Check our project website at https://sites.google.com/view/revisiting-marl.

cs.AI↗