arXiv subjects

Chelsea Finn

Publications and source records attributed to Chelsea Finn.

At least 181 records · Page 10Linked to original sources

arXiv2023

Diversify and Disambiguate: Learning From Underspecified Data

Many datasets are underspecified: there exist multiple equally viable solutions to a given task. Underspecification can be problematic for methods that learn a single hypothesis because different functions that achieve low training loss can focus on different predictive features and thus produce widely varying predictions on out-of-distribution data. We propose DivDis, a simple two-stage framework that first learns a diverse collection of hypotheses for a task by leveraging unlabeled data from the test distribution. We then disambiguate by selecting one of the discovered hypotheses using minimal additional supervision, in the form of additional labels or inspection of function visualization. We demonstrate the ability of DivDis to find hypotheses that use robust features in image classification and natural language processing problems with underspecification.

cs.LG↗

arXiv2023

NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis

Expert demonstrations are a rich source of supervision for training visual robotic manipulation policies, but imitation learning methods often require either a large number of demonstrations or expensive online expert supervision to learn reactive closed-loop behaviors. In this work, we introduce SPARTN (Synthetic Perturbations for Augmenting Robot Trajectories via NeRF): a fully-offline data augmentation scheme for improving robot policies that use eye-in-hand cameras. Our approach leverages neural radiance fields (NeRFs) to synthetically inject corrective noise into visual demonstrations, using NeRFs to generate perturbed viewpoints while simultaneously calculating the corrective actions. This requires no additional expert supervision or environment interaction, and distills the geometric information in NeRFs into a real-time reactive RGB-only policy. In a simulated 6-DoF visual grasping benchmark, SPARTN improves success rates by 2.8$\times$ over imitation learning without the corrective augmentations and even outperforms some methods that use online supervision. It additionally closes the gap between RGB-only and RGB-D success rates, eliminating the previous need for depth sensors. In real-world 6-DoF robotic grasping experiments from limited human demonstrations, our method improves absolute success rates by $22.5\%$ on average, including objects that are traditionally challenging for depth-based methods. See video results at \url{https://bland.website/spartn}.

cs.LG↗

arXiv2023

Wild-Time: A Benchmark of in-the-Wild Distribution Shift over Time

Distribution shift occurs when the test distribution differs from the training distribution, and it can considerably degrade performance of machine learning models deployed in the real world. Temporal shifts -- distribution shifts arising from the passage of time -- often occur gradually and have the additional structure of timestamp metadata. By leveraging timestamp metadata, models can potentially learn from trends in past distribution shifts and extrapolate into the future. While recent works have studied distribution shifts, temporal shifts remain underexplored. To address this gap, we curate Wild-Time, a benchmark of 5 datasets that reflect temporal distribution shifts arising in a variety of real-world applications, including patient prognosis and news classification. On these datasets, we systematically benchmark 13 prior approaches, including methods in domain generalization, continual learning, self-supervised learning, and ensemble learning. We use two evaluation strategies: evaluation with a fixed time split (Eval-Fix) and evaluation with a data stream (Eval-Stream). Eval-Fix, our primary evaluation strategy, aims to provide a simple evaluation protocol, while Eval-Stream is more realistic for certain real-world applications. Under both evaluation strategies, we observe an average performance drop of 20% from in-distribution to out-of-distribution data. Existing methods are unable to close this gap. Code is available at https://wild-time.github.io/.

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arXiv2022

Learning Options via Compression

Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks. Skill learning offers one way of identifying these regularities by decomposing pre-collected experiences into a sequence of skills. A popular approach to skill learning is maximizing the likelihood of the pre-collected experience with latent variable models, where the latent variables represent the skills. However, there are often many solutions that maximize the likelihood equally well, including degenerate solutions. To address this underspecification, we propose a new objective that combines the maximum likelihood objective with a penalty on the description length of the skills. This penalty incentivizes the skills to maximally extract common structures from the experiences. Empirically, our objective learns skills that solve downstream tasks in fewer samples compared to skills learned from only maximizing likelihood. Further, while most prior works in the offline multi-task setting focus on tasks with low-dimensional observations, our objective can scale to challenging tasks with high-dimensional image observations.

cs.LG↗

arXiv2022

Learning to Reason With Relational Abstractions

Large language models have recently shown promising progress in mathematical reasoning when fine-tuned with human-generated sequences walking through a sequence of solution steps. However, the solution sequences are not formally structured and the resulting model-generated sequences may not reflect the kind of systematic reasoning we might expect an expert human to produce. In this paper, we study how to build stronger reasoning capability in language models using the idea of relational abstractions. We introduce new types of sequences that more explicitly provide an abstract characterization of the transitions through intermediate solution steps to the goal state. We find that models that are supplied with such sequences as prompts can solve tasks with a significantly higher accuracy, and models that are trained to produce such sequences solve problems better than those that are trained with previously used human-generated sequences and other baselines. Our work thus takes several steps toward elucidating and improving how language models perform on tasks requiring multi-step mathematical reasoning.

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arXiv2022

Enhancing Self-Consistency and Performance of Pre-Trained Language Models through Natural Language Inference

While large pre-trained language models are powerful, their predictions often lack logical consistency across test inputs. For example, a state-of-the-art Macaw question-answering (QA) model answers 'Yes' to 'Is a sparrow a bird?' and 'Does a bird have feet?' but answers 'No' to 'Does a sparrow have feet?'. To address this failure mode, we propose a framework, Consistency Correction through Relation Detection, or ConCoRD, for boosting the consistency and accuracy of pre-trained NLP models using pre-trained natural language inference (NLI) models without fine-tuning or re-training. Given a batch of test inputs, ConCoRD samples several candidate outputs for each input and instantiates a factor graph that accounts for both the model's belief about the likelihood of each answer choice in isolation and the NLI model's beliefs about pair-wise answer choice compatibility. We show that a weighted MaxSAT solver can efficiently compute high-quality answer choices under this factor graph, improving over the raw model's predictions. Our experiments demonstrate that ConCoRD consistently boosts accuracy and consistency of off-the-shelf closed-book QA and VQA models using off-the-shelf NLI models, notably increasing accuracy of LXMERT on ConVQA by 5% absolute. See https://ericmitchell.ai/emnlp-2022-concord/ for code and data.

cs.CL↗

arXiv2022

R3M: A Universal Visual Representation for Robot Manipulation

We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks. Concretely, we pre-train a visual representation using the Ego4D human video dataset using a combination of time-contrastive learning, video-language alignment, and an L1 penalty to encourage sparse and compact representations. The resulting representation, R3M, can be used as a frozen perception module for downstream policy learning. Across a suite of 12 simulated robot manipulation tasks, we find that R3M improves task success by over 20% compared to training from scratch and by over 10% compared to state-of-the-art visual representations like CLIP and MoCo. Furthermore, R3M enables a Franka Emika Panda arm to learn a range of manipulation tasks in a real, cluttered apartment given just 20 demonstrations. Code and pre-trained models are available at https://tinyurl.com/robotr3m.

cs.RO↗

arXiv2022

Giving Feedback on Interactive Student Programs with Meta-Exploration

Developing interactive software, such as websites or games, is a particularly engaging way to learn computer science. However, teaching and giving feedback on such software is time-consuming -- standard approaches require instructors to manually grade student-implemented interactive programs. As a result, online platforms that serve millions, like Code.org, are unable to provide any feedback on assignments for implementing interactive programs, which critically hinders students' ability to learn. One approach toward automatic grading is to learn an agent that interacts with a student's program and explores states indicative of errors via reinforcement learning. However, existing work on this approach only provides binary feedback of whether a program is correct or not, while students require finer-grained feedback on the specific errors in their programs to understand their mistakes. In this work, we show that exploring to discover errors can be cast as a meta-exploration problem. This enables us to construct a principled objective for discovering errors and an algorithm for optimizing this objective, which provides fine-grained feedback. We evaluate our approach on a set of over 700K real anonymized student programs from a Code.org interactive assignment. Our approach provides feedback with 94.3% accuracy, improving over existing approaches by 17.7% and coming within 1.5% of human-level accuracy. Project web page: https://ezliu.github.io/dreamgrader.

cs.LG↗

arXiv2022

When to Ask for Help: Proactive Interventions in Autonomous Reinforcement Learning

A long-term goal of reinforcement learning is to design agents that can autonomously interact and learn in the world. A critical challenge to such autonomy is the presence of irreversible states which require external assistance to recover from, such as when a robot arm has pushed an object off of a table. While standard agents require constant monitoring to decide when to intervene, we aim to design proactive agents that can request human intervention only when needed. To this end, we propose an algorithm that efficiently learns to detect and avoid states that are irreversible, and proactively asks for help in case the agent does enter them. On a suite of continuous control environments with unknown irreversible states, we find that our algorithm exhibits better sample- and intervention-efficiency compared to existing methods. Our code is publicly available at https://sites.google.com/view/proactive-interventions

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arXiv2022

You Only Live Once: Single-Life Reinforcement Learning

Reinforcement learning algorithms are typically designed to learn a performant policy that can repeatedly and autonomously complete a task, usually starting from scratch. However, in many real-world situations, the goal might not be to learn a policy that can do the task repeatedly, but simply to perform a new task successfully once in a single trial. For example, imagine a disaster relief robot tasked with retrieving an item from a fallen building, where it cannot get direct supervision from humans. It must retrieve this object within one test-time trial, and must do so while tackling unknown obstacles, though it may leverage knowledge it has of the building before the disaster. We formalize this problem setting, which we call single-life reinforcement learning (SLRL), where an agent must complete a task within a single episode without interventions, utilizing its prior experience while contending with some form of novelty. SLRL provides a natural setting to study the challenge of autonomously adapting to unfamiliar situations, and we find that algorithms designed for standard episodic reinforcement learning often struggle to recover from out-of-distribution states in this setting. Motivated by this observation, we propose an algorithm, $Q$-weighted adversarial learning (QWALE), which employs a distribution matching strategy that leverages the agent's prior experience as guidance in novel situations. Our experiments on several single-life continuous control problems indicate that methods based on our distribution matching formulation are 20-60% more successful because they can more quickly recover from novel states.

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arXiv2022

Knowledge-Driven New Drug Recommendation

Drug recommendation assists doctors in prescribing personalized medications to patients based on their health conditions. Existing drug recommendation solutions adopt the supervised multi-label classification setup and only work with existing drugs with sufficient prescription data from many patients. However, newly approved drugs do not have much historical prescription data and cannot leverage existing drug recommendation methods. To address this, we formulate the new drug recommendation as a few-shot learning problem. Yet, directly applying existing few-shot learning algorithms faces two challenges: (1) complex relations among diseases and drugs and (2) numerous false-negative patients who were eligible but did not yet use the new drugs. To tackle these challenges, we propose EDGE, which can quickly adapt to the recommendation for a new drug with limited prescription data from a few support patients. EDGE maintains a drug-dependent multi-phenotype few-shot learner to bridge the gap between existing and new drugs. Specifically, EDGE leverages the drug ontology to link new drugs to existing drugs with similar treatment effects and learns ontology-based drug representations. Such drug representations are used to customize the metric space of the phenotype-driven patient representations, which are composed of a set of phenotypes capturing complex patient health status. Lastly, EDGE eliminates the false-negative supervision signal using an external drug-disease knowledge base. We evaluate EDGE on two real-world datasets: the public EHR data (MIMIC-IV) and private industrial claims data. Results show that EDGE achieves 7.3% improvement on the ROC-AUC score over the best baseline.

cs.LG↗

arXiv2022

C-Mixup: Improving Generalization in Regression

Improving the generalization of deep networks is an important open challenge, particularly in domains without plentiful data. The mixup algorithm improves generalization by linearly interpolating a pair of examples and their corresponding labels. These interpolated examples augment the original training set. Mixup has shown promising results in various classification tasks, but systematic analysis of mixup in regression remains underexplored. Using mixup directly on regression labels can result in arbitrarily incorrect labels. In this paper, we propose a simple yet powerful algorithm, C-Mixup, to improve generalization on regression tasks. In contrast with vanilla mixup, which picks training examples for mixing with uniform probability, C-Mixup adjusts the sampling probability based on the similarity of the labels. Our theoretical analysis confirms that C-Mixup with label similarity obtains a smaller mean square error in supervised regression and meta-regression than vanilla mixup and using feature similarity. Another benefit of C-Mixup is that it can improve out-of-distribution robustness, where the test distribution is different from the training distribution. By selectively interpolating examples with similar labels, it mitigates the effects of domain-associated information and yields domain-invariant representations. We evaluate C-Mixup on eleven datasets, ranging from tabular to video data. Compared to the best prior approach, C-Mixup achieves 6.56%, 4.76%, 5.82% improvements in in-distribution generalization, task generalization, and out-of-distribution robustness, respectively. Code is released at https://github.com/huaxiuyao/C-Mixup.

cs.LG↗

arXiv2022

MEMO: Test Time Robustness via Adaptation and Augmentation

While deep neural networks can attain good accuracy on in-distribution test points, many applications require robustness even in the face of unexpected perturbations in the input, changes in the domain, or other sources of distribution shift. We study the problem of test time robustification, i.e., using the test input to improve model robustness. Recent prior works have proposed methods for test time adaptation, however, they each introduce additional assumptions, such as access to multiple test points, that prevent widespread adoption. In this work, we aim to study and devise methods that make no assumptions about the model training process and are broadly applicable at test time. We propose a simple approach that can be used in any test setting where the model is probabilistic and adaptable: when presented with a test example, perform different data augmentations on the data point, and then adapt (all of) the model parameters by minimizing the entropy of the model's average, or marginal, output distribution across the augmentations. Intuitively, this objective encourages the model to make the same prediction across different augmentations, thus enforcing the invariances encoded in these augmentations, while also maintaining confidence in its predictions. In our experiments, we evaluate two baseline ResNet models, two robust ResNet-50 models, and a robust vision transformer model, and we demonstrate that this approach achieves accuracy gains of 1-8\% over standard model evaluation and also generally outperforms prior augmentation and adaptation strategies. For the setting in which only one test point is available, we achieve state-of-the-art results on the ImageNet-C, ImageNet-R, and, among ResNet-50 models, ImageNet-A distribution shift benchmarks.

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arXiv2022

Bayesian Embeddings for Few-Shot Open World Recognition

As autonomous decision-making agents move from narrow operating environments to unstructured worlds, learning systems must move from a closed-world formulation to an open-world and few-shot setting in which agents continuously learn new classes from small amounts of information. This stands in stark contrast to modern machine learning systems that are typically designed with a known set of classes and a large number of examples for each class. In this work we extend embedding-based few-shot learning algorithms to the open-world recognition setting. We combine Bayesian non-parametric class priors with an embedding-based pre-training scheme to yield a highly flexible framework which we refer to as few-shot learning for open world recognition (FLOWR). We benchmark our framework on open-world extensions of the common MiniImageNet and TieredImageNet few-shot learning datasets. Our results show, compared to prior methods, strong classification accuracy performance and up to a 12% improvement in H-measure (a measure of novel class detection) from our non-parametric open-world few-shot learning scheme.

cs.CV↗

arXiv2022

Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks

In this paper, we study the problem of learning a repertoire of low-level skills from raw images that can be sequenced to complete long-horizon visuomotor tasks. Reinforcement learning (RL) is a promising approach for acquiring short-horizon skills autonomously. However, the focus of RL algorithms has largely been on the success of those individual skills, more so than learning and grounding a large repertoire of skills that can be sequenced to complete extended multi-stage tasks. The latter demands robustness and persistence, as errors in skills can compound over time, and may require the robot to have a number of primitive skills in its repertoire, rather than just one. To this end, we introduce EMBER, a model-based RL method for learning primitive skills that are suitable for completing long-horizon visuomotor tasks. EMBER learns and plans using a learned model, critic, and success classifier, where the success classifier serves both as a reward function for RL and as a grounding mechanism to continuously detect if the robot should retry a skill when unsuccessful or under perturbations. Further, the learned model is task-agnostic and trained using data from all skills, enabling the robot to efficiently learn a number of distinct primitives. These visuomotor primitive skills and their associated pre- and post-conditions can then be directly combined with off-the-shelf symbolic planners to complete long-horizon tasks. On a Franka Emika robot arm, we find that EMBER enables the robot to complete three long-horizon visuomotor tasks at 85% success rate, such as organizing an office desk, a file cabinet, and drawers, which require sequencing up to 12 skills, involve 14 unique learned primitives, and demand generalization to novel objects.

cs.RO↗

arXiv2022

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a significant weakness of language models is that they lack real-world experience, which makes it difficult to leverage them for decision making within a given embodiment. For example, asking a language model to describe how to clean a spill might result in a reasonable narrative, but it may not be applicable to a particular agent, such as a robot, that needs to perform this task in a particular environment. We propose to provide real-world grounding by means of pretrained skills, which are used to constrain the model to propose natural language actions that are both feasible and contextually appropriate. The robot can act as the language model's "hands and eyes," while the language model supplies high-level semantic knowledge about the task. We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment. We evaluate our method on a number of real-world robotic tasks, where we show the need for real-world grounding and that this approach is capable of completing long-horizon, abstract, natural language instructions on a mobile manipulator. The project's website and the video can be found at https://say-can.github.io/.

cs.RO↗

arXiv2022

Autonomous Reinforcement Learning: Formalism and Benchmarking

Reinforcement learning (RL) provides a naturalistic framing for learning through trial and error, which is appealing both because of its simplicity and effectiveness and because of its resemblance to how humans and animals acquire skills through experience. However, real-world embodied learning, such as that performed by humans and animals, is situated in a continual, non-episodic world, whereas common benchmark tasks in RL are episodic, with the environment resetting between trials to provide the agent with multiple attempts. This discrepancy presents a major challenge when attempting to take RL algorithms developed for episodic simulated environments and run them on real-world platforms, such as robots. In this paper, we aim to address this discrepancy by laying out a framework for Autonomous Reinforcement Learning (ARL): reinforcement learning where the agent not only learns through its own experience, but also contends with lack of human supervision to reset between trials. We introduce a simulated benchmark EARL around this framework, containing a set of diverse and challenging simulated tasks reflective of the hurdles introduced to learning when only a minimal reliance on extrinsic intervention can be assumed. We show that standard approaches to episodic RL and existing approaches struggle as interventions are minimized, underscoring the need for developing new algorithms for reinforcement learning with a greater focus on autonomy.

cs.LG↗

arXiv2022

Offline Reinforcement Learning at Multiple Frequencies

Leveraging many sources of offline robot data requires grappling with the heterogeneity of such data. In this paper, we focus on one particular aspect of heterogeneity: learning from offline data collected at different control frequencies. Across labs, the discretization of controllers, sampling rates of sensors, and demands of a task of interest may differ, giving rise to a mixture of frequencies in an aggregated dataset. We study how well offline reinforcement learning (RL) algorithms can accommodate data with a mixture of frequencies during training. We observe that the $Q$-value propagates at different rates for different discretizations, leading to a number of learning challenges for off-the-shelf offline RL. We present a simple yet effective solution that enforces consistency in the rate of $Q$-value updates to stabilize learning. By scaling the value of $N$ in $N$-step returns with the discretization size, we effectively balance $Q$-value propagation, leading to more stable convergence. On three simulated robotic control problems, we empirically find that this simple approach outperforms naïve mixing by 50% on average.

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