arXiv subjects

Peter Henderson

Publications and source records attributed to Peter Henderson.

86 records · Page 5Linked to original sources

arXiv2018

Reward Estimation for Variance Reduction in Deep Reinforcement Learning

Reinforcement Learning (RL) agents require the specification of a reward signal for learning behaviours. However, introduction of corrupt or stochastic rewards can yield high variance in learning. Such corruption may be a direct result of goal misspecification, randomness in the reward signal, or correlation of the reward with external factors that are not known to the agent. Corruption or stochasticity of the reward signal can be especially problematic in robotics, where goal specification can be particularly difficult for complex tasks. While many variance reduction techniques have been studied to improve the robustness of the RL process, handling such stochastic or corrupted reward structures remains difficult. As an alternative for handling this scenario in model-free RL methods, we suggest using an estimator for both rewards and value functions. We demonstrate that this improves performance under corrupted stochastic rewards in both the tabular and non-linear function approximation settings for a variety of noise types and environments. The use of reward estimation is a robust and easy-to-implement improvement for handling corrupted reward signals in model-free RL.

cs.LG↗

arXiv2018

Adversarial Gain

Adversarial examples can be defined as inputs to a model which induce a mistake - where the model output is different than that of an oracle, perhaps in surprising or malicious ways. Original models of adversarial attacks are primarily studied in the context of classification and computer vision tasks. While several attacks have been proposed in natural language processing (NLP) settings, they often vary in defining the parameters of an attack and what a successful attack would look like. The goal of this work is to propose a unifying model of adversarial examples suitable for NLP tasks in both generative and classification settings. We define the notion of adversarial gain: based in control theory, it is a measure of the change in the output of a system relative to the perturbation of the input (caused by the so-called adversary) presented to the learner. This definition, as we show, can be used under different feature spaces and distance conditions to determine attack or defense effectiveness across different intuitive manifolds. This notion of adversarial gain not only provides a useful way for evaluating adversaries and defenses, but can act as a building block for future work in robustness under adversaries due to its rooted nature in stability and manifold theory.

cs.LG↗

arXiv2018

Where Did My Optimum Go?: An Empirical Analysis of Gradient Descent Optimization in Policy Gradient Methods

Recent analyses of certain gradient descent optimization methods have shown that performance can degrade in some settings - such as with stochasticity or implicit momentum. In deep reinforcement learning (Deep RL), such optimization methods are often used for training neural networks via the temporal difference error or policy gradient. As an agent improves over time, the optimization target changes and thus the loss landscape (and local optima) change. Due to the failure modes of those methods, the ideal choice of optimizer for Deep RL remains unclear. As such, we provide an empirical analysis of the effects that a wide range of gradient descent optimizers and their hyperparameters have on policy gradient methods, a subset of Deep RL algorithms, for benchmark continuous control tasks. We find that adaptive optimizers have a narrow window of effective learning rates, diverging in other cases, and that the effectiveness of momentum varies depending on the properties of the environment. Our analysis suggests that there is significant interplay between the dynamics of the environment and Deep RL algorithm properties which aren't necessarily accounted for by traditional adaptive gradient methods. We provide suggestions for optimal settings of current methods and further lines of research based on our findings.

cs.LG↗

arXiv2018

Cost Adaptation for Robust Decentralized Swarm Behaviour

Decentralized receding horizon control (D-RHC) provides a mechanism for coordination in multi-agent settings without a centralized command center. However, combining a set of different goals, costs, and constraints to form an efficient optimization objective for D-RHC can be difficult. To allay this problem, we use a meta-learning process -- cost adaptation -- which generates the optimization objective for D-RHC to solve based on a set of human-generated priors (cost and constraint functions) and an auxiliary heuristic. We use this adaptive D-RHC method for control of mesh-networked swarm agents. This formulation allows a wide range of tasks to be encoded and can account for network delays, heterogeneous capabilities, and increasingly large swarms through the adaptation mechanism. We leverage the Unity3D game engine to build a simulator capable of introducing artificial networking failures and delays in the swarm. Using the simulator we validate our method on an example coordinated exploration task. We demonstrate that cost adaptation allows for more efficient and safer task completion under varying environment conditions and increasingly large swarm sizes. We release our simulator and code to the community for future work.

cs.AI↗

arXiv2017

Learning Robust Dialog Policies in Noisy Environments

Modern virtual personal assistants provide a convenient interface for completing daily tasks via voice commands. An important consideration for these assistants is the ability to recover from automatic speech recognition (ASR) and natural language understanding (NLU) errors. In this paper, we focus on learning robust dialog policies to recover from these errors. To this end, we develop a user simulator which interacts with the assistant through voice commands in realistic scenarios with noisy audio, and use it to learn dialog policies through deep reinforcement learning. We show that dialogs generated by our simulator are indistinguishable from human generated dialogs, as determined by human evaluators. Furthermore, preliminary experimental results show that the learned policies in noisy environments achieve the same execution success rate with fewer dialog turns compared to fixed rule-based policies.

cs.CL↗

arXiv2017

Bayesian Policy Gradients via Alpha Divergence Dropout Inference

Policy gradient methods have had great success in solving continuous control tasks, yet the stochastic nature of such problems makes deterministic value estimation difficult. We propose an approach which instead estimates a distribution by fitting the value function with a Bayesian Neural Network. We optimize an $α$-divergence objective with Bayesian dropout approximation to learn and estimate this distribution. We show that using the Monte Carlo posterior mean of the Bayesian value function distribution, rather than a deterministic network, improves stability and performance of policy gradient methods in continuous control MuJoCo simulations.

cs.LG↗

arXiv2017

OptionGAN: Learning Joint Reward-Policy Options using Generative Adversarial Inverse Reinforcement Learning

Reinforcement learning has shown promise in learning policies that can solve complex problems. However, manually specifying a good reward function can be difficult, especially for intricate tasks. Inverse reinforcement learning offers a useful paradigm to learn the underlying reward function directly from expert demonstrations. Yet in reality, the corpus of demonstrations may contain trajectories arising from a diverse set of underlying reward functions rather than a single one. Thus, in inverse reinforcement learning, it is useful to consider such a decomposition. The options framework in reinforcement learning is specifically designed to decompose policies in a similar light. We therefore extend the options framework and propose a method to simultaneously recover reward options in addition to policy options. We leverage adversarial methods to learn joint reward-policy options using only observed expert states. We show that this approach works well in both simple and complex continuous control tasks and shows significant performance increases in one-shot transfer learning.

cs.LG↗

arXiv2017

Ethical Challenges in Data-Driven Dialogue Systems

The use of dialogue systems as a medium for human-machine interaction is an increasingly prevalent paradigm. A growing number of dialogue systems use conversation strategies that are learned from large datasets. There are well documented instances where interactions with these system have resulted in biased or even offensive conversations due to the data-driven training process. Here, we highlight potential ethical issues that arise in dialogue systems research, including: implicit biases in data-driven systems, the rise of adversarial examples, potential sources of privacy violations, safety concerns, special considerations for reinforcement learning systems, and reproducibility concerns. We also suggest areas stemming from these issues that deserve further investigation. Through this initial survey, we hope to spur research leading to robust, safe, and ethically sound dialogue systems.

cs.CL↗

arXiv2017

Underwater Multi-Robot Convoying using Visual Tracking by Detection

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which interleaves efficient model-based object detection with temporal filtering of image-based bounding box estimation. This approach has the important advantage of mitigating tracking drift (i.e. drifting away from the target object), which is a common symptom of model-free trackers and is detrimental to sustained convoying in practice. To illustrate our solution, we collected extensive footage of an underwater robot in ocean settings, and hand-annotated its location in each frame. Based on this dataset, we present an empirical comparison of multiple tracker variants, including the use of several convolutional neural networks, both with and without recurrent connections, as well as frequency-based model-free trackers. We also demonstrate the practicality of this tracking-by-detection strategy in real-world scenarios by successfully controlling a legged underwater robot in five degrees of freedom to follow another robot's independent motion.

cs.RO↗

arXiv2017

Benchmark Environments for Multitask Learning in Continuous Domains

As demand drives systems to generalize to various domains and problems, the study of multitask, transfer and lifelong learning has become an increasingly important pursuit. In discrete domains, performance on the Atari game suite has emerged as the de facto benchmark for assessing multitask learning. However, in continuous domains there is a lack of agreement on standard multitask evaluation environments which makes it difficult to compare different approaches fairly. In this work, we describe a benchmark set of tasks that we have developed in an extendable framework based on OpenAI Gym. We run a simple baseline using Trust Region Policy Optimization and release the framework publicly to be expanded and used for the systematic comparison of multitask, transfer, and lifelong learning in continuous domains.

cs.AI↗

arXiv2017

Reproducibility of Benchmarked Deep Reinforcement Learning Tasks for Continuous Control

Policy gradient methods in reinforcement learning have become increasingly prevalent for state-of-the-art performance in continuous control tasks. Novel methods typically benchmark against a few key algorithms such as deep deterministic policy gradients and trust region policy optimization. As such, it is important to present and use consistent baselines experiments. However, this can be difficult due to general variance in the algorithms, hyper-parameter tuning, and environment stochasticity. We investigate and discuss: the significance of hyper-parameters in policy gradients for continuous control, general variance in the algorithms, and reproducibility of reported results. We provide guidelines on reporting novel results as comparisons against baseline methods such that future researchers can make informed decisions when investigating novel methods.

cs.LG↗

arXiv2017

A Survey of Available Corpora for Building Data-Driven Dialogue Systems

During the past decade, several areas of speech and language understanding have witnessed substantial breakthroughs from the use of data-driven models. In the area of dialogue systems, the trend is less obvious, and most practical systems are still built through significant engineering and expert knowledge. Nevertheless, several recent results suggest that data-driven approaches are feasible and quite promising. To facilitate research in this area, we have carried out a wide survey of publicly available datasets suitable for data-driven learning of dialogue systems. We discuss important characteristics of these datasets, how they can be used to learn diverse dialogue strategies, and their other potential uses. We also examine methods for transfer learning between datasets and the use of external knowledge. Finally, we discuss appropriate choice of evaluation metrics for the learning objective.

cs.CL↗

arXiv2017

An Analysis of Parallelized Motion Masking Using Dual-Mode Single Gaussian Models

Motion detection in video is important for a number of applications and fields. In video surveillance, motion detection is an essential accompaniment to activity recognition for early warning systems. Robotics also has much to gain from motion detection and segmentation, particularly in high speed motion tracking for tactile systems. There are a myriad of techniques for detecting and masking motion in an image. Successful systems have used Gaussian Models to discern background from foreground in an image (motion from static imagery). However, particularly in the case of a moving camera or frame of reference, it is necessary to compensate for the motion of the camera when attempting to discern objects moving in the foreground. For example, it is possible to estimate motion of the camera through optical flow methods or temporal differencing and then compensate for this motion in a background subtraction model. We selection a method by Yi et al. using Dual-Mode Single Gaussian Models which does just this. We implement the technique in Intel's Thread Building Blocks (TBB) and NVIDIA's CUDA libraries. We then compare parallelization improvements with a theoretical analysis of speedups based on the characteristics of our selected model and attributes of both TBB and CUDA. We make our implementation available to the public.

cs.CV↗

arXiv2016

Chaotic Memory Randomization for Securing Embedded Systems

Embedded systems permeate through nearly all aspects of modern society. From cars to refrigerators to nuclear refineries, securing these systems has never been more important. Intrusions, such as the Stuxnet malware which broke the centrifuges in Iran's Natanz refinery, can be catastrophic to not only the infected systems, but even to the wellbeing of the surrounding population. Modern day protection mechanisms for these embedded systems generally look only at protecting the network layer, and those that try to discover malware already existing on a system typically aren't efficient enough to run on a standalone embedded system. As such, we present a novel way to ensure that no malware has been inserted into an embedded system. We chaotically randomize the entire memory space of the application, interspersing watchdog-monitor programs throughout, to monitor that the core application hasn't been infiltrated. By validating the original program through conventional methods and creating a clean reset, we can ensure that any inserted malware is purged from the system with minimal effect on the given system. We also present a software prototype to validate the possibility of this approach, but given the limitations and vulnerabilities of the prototype, we also suggest a hardware alternative to the system.

cs.CR↗