arXiv subjects

Riashat Islam

Publications and source records attributed to Riashat Islam.

35 records · Page 2Linked to original sources

arXiv2022

Guaranteed Discovery of Control-Endogenous Latent States with Multi-Step Inverse Models

In many sequential decision-making tasks, the agent is not able to model the full complexity of the world, which consists of multitudes of relevant and irrelevant information. For example, a person walking along a city street who tries to model all aspects of the world would quickly be overwhelmed by a multitude of shops, cars, and people moving in and out of view, each following their own complex and inscrutable dynamics. Is it possible to turn the agent's firehose of sensory information into a minimal latent state that is both necessary and sufficient for an agent to successfully act in the world? We formulate this question concretely, and propose the Agent Control-Endogenous State Discovery algorithm (AC-State), which has theoretical guarantees and is practically demonstrated to discover the minimal control-endogenous latent state which contains all of the information necessary for controlling the agent, while fully discarding all irrelevant information. This algorithm consists of a multi-step inverse model (predicting actions from distant observations) with an information bottleneck. AC-State enables localization, exploration, and navigation without reward or demonstrations. We demonstrate the discovery of the control-endogenous latent state in three domains: localizing a robot arm with distractions (e.g., changing lighting conditions and background), exploring a maze alongside other agents, and navigating in the Matterport house simulator.

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arXiv2022

Discrete Factorial Representations as an Abstraction for Goal Conditioned Reinforcement Learning

Goal-conditioned reinforcement learning (RL) is a promising direction for training agents that are capable of solving multiple tasks and reach a diverse set of objectives. How to \textit{specify} and \textit{ground} these goals in such a way that we can both reliably reach goals during training as well as generalize to new goals during evaluation remains an open area of research. Defining goals in the space of noisy and high-dimensional sensory inputs poses a challenge for training goal-conditioned agents, or even for generalization to novel goals. We propose to address this by learning factorial representations of goals and processing the resulting representation via a discretization bottleneck, for coarser goal specification, through an approach we call DGRL. We show that applying a discretizing bottleneck can improve performance in goal-conditioned RL setups, by experimentally evaluating this method on tasks ranging from maze environments to complex robotic navigation and manipulation. Additionally, we prove a theorem lower-bounding the expected return on out-of-distribution goals, while still allowing for specifying goals with expressive combinatorial structure.

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arXiv2021

Importance of Empirical Sample Complexity Analysis for Offline Reinforcement Learning

We hypothesize that empirically studying the sample complexity of offline reinforcement learning (RL) is crucial for the practical applications of RL in the real world. Several recent works have demonstrated the ability to learn policies directly from offline data. In this work, we ask the question of the dependency on the number of samples for learning from offline data. Our objective is to emphasize that studying sample complexity for offline RL is important, and is an indicator of the usefulness of existing offline algorithms. We propose an evaluation approach for sample complexity analysis of offline RL.

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arXiv2020

Exploring Restart Distributions

We consider the generic approach of using an experience memory to help exploration by adapting a restart distribution. That is, given the capacity to reset the state with those corresponding to the agent's past observations, we help exploration by promoting faster state-space coverage via restarting the agent from a more diverse set of initial states, as well as allowing it to restart in states associated with significant past experiences. This approach is compatible with both on-policy and off-policy methods. However, a caveat is that altering the distribution of initial states could change the optimal policies when searching within a restricted class of policies. To reduce this unsought learning bias, we evaluate our approach in deep reinforcement learning which benefits from the high representational capacity of deep neural networks. We instantiate three variants of our approach, each inspired by an idea in the context of experience replay. Using these variants, we show that performance gains can be achieved, especially in hard exploration problems.

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arXiv2019

Entropy Regularization with Discounted Future State Distribution in Policy Gradient Methods

The policy gradient theorem is defined based on an objective with respect to the initial distribution over states. In the discounted case, this results in policies that are optimal for one distribution over initial states, but may not be uniformly optimal for others, no matter where the agent starts from. Furthermore, to obtain unbiased gradient estimates, the starting point of the policy gradient estimator requires sampling states from a normalized discounted weighting of states. However, the difficulty of estimating the normalized discounted weighting of states, or the stationary state distribution, is quite well-known. Additionally, the large sample complexity of policy gradient methods is often attributed to insufficient exploration, and to remedy this, it is often assumed that the restart distribution provides sufficient exploration in these algorithms. In this work, we propose exploration in policy gradient methods based on maximizing entropy of the discounted future state distribution. The key contribution of our work includes providing a practically feasible algorithm to estimate the normalized discounted weighting of states, i.e, the \textit{discounted future state distribution}. We propose that exploration can be achieved by entropy regularization with the discounted state distribution in policy gradients, where a metric for maximal coverage of the state space can be based on the entropy of the induced state distribution. The proposed approach can be considered as a three time-scale algorithm and under some mild technical conditions, we prove its convergence to a locally optimal policy. Experimentally, we demonstrate usefulness of regularization with the discounted future state distribution in terms of increased state space coverage and faster learning on a range of complex tasks.

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arXiv2019

Doubly Robust Off-Policy Actor-Critic Algorithms for Reinforcement Learning

We study the problem of off-policy critic evaluation in several variants of value-based off-policy actor-critic algorithms. Off-policy actor-critic algorithms require an off-policy critic evaluation step, to estimate the value of the new policy after every policy gradient update. Despite enormous success of off-policy policy gradients on control tasks, existing general methods suffer from high variance and instability, partly because the policy improvement depends on gradient of the estimated value function. In this work, we present a new way of off-policy policy evaluation in actor-critic, based on the doubly robust estimators. We extend the doubly robust estimator from off-policy policy evaluation (OPE) to actor-critic algorithms that consist of a reward estimator performance model. We find that doubly robust estimation of the critic can significantly improve performance in continuous control tasks. Furthermore, in cases where the reward function is stochastic that can lead to high variance, doubly robust critic estimation can improve performance under corrupted, stochastic reward signals, indicating its usefulness for robust and safe reinforcement learning.

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arXiv2019

Marginalized State Distribution Entropy Regularization in Policy Optimization

Entropy regularization is used to get improved optimization performance in reinforcement learning tasks. A common form of regularization is to maximize policy entropy to avoid premature convergence and lead to more stochastic policies for exploration through action space. However, this does not ensure exploration in the state space. In this work, we instead consider the distribution of discounted weighting of states, and propose to maximize the entropy of a lower bound approximation to the weighting of a state, based on latent space state representation. We propose entropy regularization based on the marginal state distribution, to encourage the policy to have a more uniform distribution over the state space for exploration. Our approach based on marginal state distribution achieves superior state space coverage on complex gridworld domains, that translate into empirical gains in sparse reward 3D maze navigation and continuous control domains compared to entropy regularization with stochastic policies.

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arXiv2019

Off-Policy Policy Gradient Algorithms by Constraining the State Distribution Shift

Off-policy deep reinforcement learning (RL) algorithms are incapable of learning solely from batch offline data without online interactions with the environment, due to the phenomenon known as \textit{extrapolation error}. This is often due to past data available in the replay buffer that may be quite different from the data distribution under the current policy. We argue that most off-policy learning methods fundamentally suffer from a \textit{state distribution shift} due to the mismatch between the state visitation distribution of the data collected by the behavior and target policies. This data distribution shift between current and past samples can significantly impact the performance of most modern off-policy based policy optimization algorithms. In this work, we first do a systematic analysis of state distribution mismatch in off-policy learning, and then develop a novel off-policy policy optimization method to constraint the state distribution shift. To do this, we first estimate the state distribution based on features of the state, using a density estimator and then develop a novel constrained off-policy gradient objective that minimizes the state distribution shift. Our experimental results on continuous control tasks show that minimizing this distribution mismatch can significantly improve performance in most popular practical off-policy policy gradient algorithms.

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arXiv2019

Transfer Learning by Modeling a Distribution over Policies

Exploration and adaptation to new tasks in a transfer learning setup is a central challenge in reinforcement learning. In this work, we build on the idea of modeling a distribution over policies in a Bayesian deep reinforcement learning setup to propose a transfer strategy. Recent works have shown to induce diversity in the learned policies by maximizing the entropy of a distribution of policies (Bachman et al., 2018; Garnelo et al., 2018) and thus, we postulate that our proposed approach leads to faster exploration resulting in improved transfer learning. We support our hypothesis by demonstrating favorable experimental results on a variety of settings on fully-observable GridWorld and partially observable MiniGrid (Chevalier-Boisvert et al., 2018) environments.

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arXiv2019

Deep Reinforcement Learning that Matters

In recent years, significant progress has been made in solving challenging problems across various domains using deep reinforcement learning (RL). Reproducing existing work and accurately judging the improvements offered by novel methods is vital to sustaining this progress. Unfortunately, reproducing results for state-of-the-art deep RL methods is seldom straightforward. In particular, non-determinism in standard benchmark environments, combined with variance intrinsic to the methods, can make reported results tough to interpret. Without significance metrics and tighter standardization of experimental reporting, it is difficult to determine whether improvements over the prior state-of-the-art are meaningful. In this paper, we investigate challenges posed by reproducibility, proper experimental techniques, and reporting procedures. We illustrate the variability in reported metrics and results when comparing against common baselines and suggest guidelines to make future results in deep RL more reproducible. We aim to spur discussion about how to ensure continued progress in the field by minimizing wasted effort stemming from results that are non-reproducible and easily misinterpreted.

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arXiv2018

An Introduction to Deep Reinforcement Learning

Deep reinforcement learning is the combination of reinforcement learning (RL) and deep learning. This field of research has been able to solve a wide range of complex decision-making tasks that were previously out of reach for a machine. Thus, deep RL opens up many new applications in domains such as healthcare, robotics, smart grids, finance, and many more. This manuscript provides an introduction to deep reinforcement learning models, algorithms and techniques. Particular focus is on the aspects related to generalization and how deep RL can be used for practical applications. We assume the reader is familiar with basic machine learning concepts.

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arXiv2018

VFunc: a Deep Generative Model for Functions

We introduce a deep generative model for functions. Our model provides a joint distribution p(f, z) over functions f and latent variables z which lets us efficiently sample from the marginal p(f) and maximize a variational lower bound on the entropy H(f). We can thus maximize objectives of the form E_{f~p(f)}[R(f)] + c*H(f), where R(f) denotes, e.g., a data log-likelihood term or an expected reward. Such objectives encompass Bayesian deep learning in function space, rather than parameter space, and Bayesian deep RL with representations of uncertainty that offer benefits over bootstrapping and parameter noise. In this short paper we describe our model, situate it in the context of prior work, and present proof-of-concept experiments for regression and RL.

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arXiv2018

Bayesian Hypernetworks

We study Bayesian hypernetworks: a framework for approximate Bayesian inference in neural networks. A Bayesian hypernetwork $\h$ is a neural network which learns to transform a simple noise distribution, $p(\vecε) = \N(\vec 0,\mat I)$, to a distribution $q(\pp) := q(h(\vecε))$ over the parameters $\pp$ of another neural network (the "primary network")\@. We train $q$ with variational inference, using an invertible $\h$ to enable efficient estimation of the variational lower bound on the posterior $p(\pp | \D)$ via sampling. In contrast to most methods for Bayesian deep learning, Bayesian hypernets can represent a complex multimodal approximate posterior with correlations between parameters, while enabling cheap iid sampling of~$q(\pp)$. In practice, Bayesian hypernets can provide a better defense against adversarial examples than dropout, and also exhibit competitive performance on a suite of tasks which evaluate model uncertainty, including regularization, active learning, and anomaly detection.

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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.

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arXiv2017

Alpha-Divergences in Variational Dropout

We investigate the use of alternative divergences to Kullback-Leibler (KL) in variational inference(VI), based on the Variational Dropout \cite{kingma2015}. Stochastic gradient variational Bayes (SGVB) \cite{aevb} is a general framework for estimating the evidence lower bound (ELBO) in Variational Bayes. In this work, we extend the SGVB estimator with using Alpha-Divergences, which are alternative to divergences to VI' KL objective. The Gaussian dropout can be seen as a local reparametrization trick of the SGVB objective. We extend the Variational Dropout to use alpha divergences for variational inference. Our results compare $α$-divergence variational dropout with standard variational dropout with correlated and uncorrelated weight noise. We show that the $α$-divergence with $α\rightarrow 1$ (or KL divergence) is still a good measure for use in variational inference, in spite of the efficient use of Alpha-divergences for Dropout VI \cite{Li17}. $α\rightarrow 1$ can yield the lowest training error, and optimizes a good lower bound for the evidence lower bound (ELBO) among all values of the parameter $α\in [0,\infty)$.

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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.

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arXiv2017

Deep Bayesian Active Learning with Image Data

Even though active learning forms an important pillar of machine learning, deep learning tools are not prevalent within it. Deep learning poses several difficulties when used in an active learning setting. First, active learning (AL) methods generally rely on being able to learn and update models from small amounts of data. Recent advances in deep learning, on the other hand, are notorious for their dependence on large amounts of data. Second, many AL acquisition functions rely on model uncertainty, yet deep learning methods rarely represent such model uncertainty. In this paper we combine recent advances in Bayesian deep learning into the active learning framework in a practical way. We develop an active learning framework for high dimensional data, a task which has been extremely challenging so far, with very sparse existing literature. Taking advantage of specialised models such as Bayesian convolutional neural networks, we demonstrate our active learning techniques with image data, obtaining a significant improvement on existing active learning approaches. We demonstrate this on both the MNIST dataset, as well as for skin cancer diagnosis from lesion images (ISIC2016 task).

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