arXiv subjects

Shie Mannor

Publications and source records attributed to Shie Mannor.

At least 145 records · Page 8Linked to original sources

arXiv2020

Language is Power: Representing States Using Natural Language in Reinforcement Learning

Recent advances in reinforcement learning have shown its potential to tackle complex real-life tasks. However, as the dimensionality of the task increases, reinforcement learning methods tend to struggle. To overcome this, we explore methods for representing the semantic information embedded in the state. While previous methods focused on information in its raw form (e.g., raw visual input), we propose to represent the state using natural language. Language can represent complex scenarios and concepts, making it a favorable candidate for representation. Empirical evidence, within the domain of ViZDoom, suggests that natural language based agents are more robust, converge faster and perform better than vision based agents, showing the benefit of using natural language representations for reinforcement learning.

cs.CL↗

arXiv2020

An adaptive stochastic optimization algorithm for resource allocation

We consider the classical problem of sequential resource allocation where a decision maker must repeatedly divide a budget between several resources, each with diminishing returns. This can be recast as a specific stochastic optimization problem where the objective is to maximize the cumulative reward, or equivalently to minimize the regret. We construct an algorithm that is {\em adaptive} to the complexity of the problem, expressed in term of the regularity of the returns of the resources, measured by the exponent in the Łojasiewicz inequality (or by their universal concavity parameter). Our parameter-independent algorithm recovers the optimal rates for strongly-concave functions and the classical fast rates of multi-armed bandit (for linear reward functions). Moreover, the algorithm improves existing results on stochastic optimization in this regret minimization setting for intermediate cases.

stat.ML↗

arXiv2019

Adaptive Trust Region Policy Optimization: Global Convergence and Faster Rates for Regularized MDPs

Trust region policy optimization (TRPO) is a popular and empirically successful policy search algorithm in Reinforcement Learning (RL) in which a surrogate problem, that restricts consecutive policies to be 'close' to one another, is iteratively solved. Nevertheless, TRPO has been considered a heuristic algorithm inspired by Conservative Policy Iteration (CPI). We show that the adaptive scaling mechanism used in TRPO is in fact the natural "RL version" of traditional trust-region methods from convex analysis. We first analyze TRPO in the planning setting, in which we have access to the model and the entire state space. Then, we consider sample-based TRPO and establish $\tilde O(1/\sqrt{N})$ convergence rate to the global optimum. Importantly, the adaptive scaling mechanism allows us to analyze TRPO in regularized MDPs for which we prove fast rates of $\tilde O(1/N)$, much like results in convex optimization. This is the first result in RL of better rates when regularizing the instantaneous cost or reward.

cs.LG↗

arXiv2019

Distributional Policy Optimization: An Alternative Approach for Continuous Control

We identify a fundamental problem in policy gradient-based methods in continuous control. As policy gradient methods require the agent's underlying probability distribution, they limit policy representation to parametric distribution classes. We show that optimizing over such sets results in local movement in the action space and thus convergence to sub-optimal solutions. We suggest a novel distributional framework, able to represent arbitrary distribution functions over the continuous action space. Using this framework, we construct a generative scheme, trained using an off-policy actor-critic paradigm, which we call the Generative Actor Critic (GAC). Compared to policy gradient methods, GAC does not require knowledge of the underlying probability distribution, thereby overcoming these limitations. Empirical evaluation shows that our approach is comparable and often surpasses current state-of-the-art baselines in continuous domains.

cs.LG↗

arXiv2019

Off-Policy Evaluation in Partially Observable Environments

This work studies the problem of batch off-policy evaluation for Reinforcement Learning in partially observable environments. Off-policy evaluation under partial observability is inherently prone to bias, with risk of arbitrarily large errors. We define the problem of off-policy evaluation for Partially Observable Markov Decision Processes (POMDPs) and establish what we believe is the first off-policy evaluation result for POMDPs. In addition, we formulate a model in which observed and unobserved variables are decoupled into two dynamic processes, called a Decoupled POMDP. We show how off-policy evaluation can be performed under this new model, mitigating estimation errors inherent to general POMDPs. We demonstrate the pitfalls of off-policy evaluation in POMDPs using a well-known off-policy method, Importance Sampling, and compare it with our result on synthetic medical data.

cs.LG↗

arXiv2019

Tight Regret Bounds for Model-Based Reinforcement Learning with Greedy Policies

State-of-the-art efficient model-based Reinforcement Learning (RL) algorithms typically act by iteratively solving empirical models, i.e., by performing \emph{full-planning} on Markov Decision Processes (MDPs) built by the gathered experience. In this paper, we focus on model-based RL in the finite-state finite-horizon MDP setting and establish that exploring with \emph{greedy policies} -- act by \emph{1-step planning} -- can achieve tight minimax performance in terms of regret, $\tilde{\mathcal{O}}(\sqrt{HSAT})$. Thus, full-planning in model-based RL can be avoided altogether without any performance degradation, and, by doing so, the computational complexity decreases by a factor of $S$. The results are based on a novel analysis of real-time dynamic programming, then extended to model-based RL. Specifically, we generalize existing algorithms that perform full-planning to such that act by 1-step planning. For these generalizations, we prove regret bounds with the same rate as their full-planning counterparts.

cs.LG↗

arXiv2019

Value Propagation for Decentralized Networked Deep Multi-agent Reinforcement Learning

We consider the networked multi-agent reinforcement learning (MARL) problem in a fully decentralized setting, where agents learn to coordinate to achieve the joint success. This problem is widely encountered in many areas including traffic control, distributed control, and smart grids. We assume that the reward function for each agent can be different and observed only locally by the agent itself. Furthermore, each agent is located at a node of a communication network and can exchanges information only with its neighbors. Using softmax temporal consistency and a decentralized optimization method, we obtain a principled and data-efficient iterative algorithm. In the first step of each iteration, an agent computes its local policy and value gradients and then updates only policy parameters. In the second step, the agent propagates to its neighbors the messages based on its value function and then updates its own value function. Hence we name the algorithm value propagation. We prove a non-asymptotic convergence rate 1/T with the nonlinear function approximation. To the best of our knowledge, it is the first MARL algorithm with convergence guarantee in the control, off-policy and non-linear function approximation setting. We empirically demonstrate the effectiveness of our approach in experiments.

cs.LG↗

arXiv2019

Practical Risk Measures in Reinforcement Learning

Practical application of Reinforcement Learning (RL) often involves risk considerations. We study a generalized approximation scheme for risk measures, based on Monte-Carlo simulations, where the risk measures need not necessarily be \emph{coherent}. We demonstrate that, even in simple problems, measures such as the variance of the reward-to-go do not capture the risk in a satisfactory manner. In addition, we show how a risk measure can be derived from model's realizations. We propose a neural architecture for estimating the risk and suggest the risk critic architecture that can be use to optimize a policy under general risk measures. We conclude our work with experiments that demonstrate the efficacy of our approach.

cs.LG↗

arXiv2019

Deep Neural Linear Bandits: Overcoming Catastrophic Forgetting through Likelihood Matching

We study the neural-linear bandit model for solving sequential decision-making problems with high dimensional side information. Neural-linear bandits leverage the representation power of deep neural networks and combine it with efficient exploration mechanisms, designed for linear contextual bandits, on top of the last hidden layer. Since the representation is being optimized during learning, information regarding exploration with "old" features is lost. Here, we propose the first limited memory neural-linear bandit that is resilient to this phenomenon, which we term catastrophic forgetting. We evaluate our method on a variety of real-world data sets, including regression, classification, and sentiment analysis, and observe that our algorithm is resilient to catastrophic forgetting and achieves superior performance.

cs.LG↗

arXiv2019

Image Matters: Scalable Detection of Offensive and Non-Compliant Content / Logo in Product Images

In e-commerce, product content, especially product images have a significant influence on a customer's journey from product discovery to evaluation and finally, purchase decision. Since many e-commerce retailers sell items from other third-party marketplace sellers besides their own, the content published by both internal and external content creators needs to be monitored and enriched, wherever possible. Despite guidelines and warnings, product listings that contain offensive and non-compliant images continue to enter catalogs. Offensive and non-compliant content can include a wide range of objects, logos, and banners conveying violent, sexually explicit, racist, or promotional messages. Such images can severely damage the customer experience, lead to legal issues, and erode the company brand. In this paper, we present a computer vision driven offensive and non-compliant image detection system for extremely large image datasets. This paper delves into the unique challenges of applying deep learning to real-world product image data from retail world. We demonstrate how we resolve a number of technical challenges such as lack of training data, severe class imbalance, fine-grained class definitions etc. using a number of practical yet unique technical strategies. Our system combines state-of-the-art image classification and object detection techniques with budgeted crowdsourcing to develop a solution customized for a massive, diverse, and constantly evolving product catalog.

cs.CV↗

arXiv2019

A Bayesian Approach to Robust Reinforcement Learning

Robust Markov Decision Processes (RMDPs) intend to ensure robustness with respect to changing or adversarial system behavior. In this framework, transitions are modeled as arbitrary elements of a known and properly structured uncertainty set and a robust optimal policy can be derived under the worst-case scenario. In this study, we address the issue of learning in RMDPs using a Bayesian approach. We introduce the Uncertainty Robust Bellman Equation (URBE) which encourages safe exploration for adapting the uncertainty set to new observations while preserving robustness. We propose a URBE-based algorithm, DQN-URBE, that scales this method to higher dimensional domains. Our experiments show that the derived URBE-based strategy leads to a better trade-off between less conservative solutions and robustness in the presence of model misspecification. In addition, we show that the DQN-URBE algorithm can adapt significantly faster to changing dynamics online compared to existing robust techniques with fixed uncertainty sets.

cs.LG↗

arXiv2019

The Natural Language of Actions

We introduce Act2Vec, a general framework for learning context-based action representation for Reinforcement Learning. Representing actions in a vector space help reinforcement learning algorithms achieve better performance by grouping similar actions and utilizing relations between different actions. We show how prior knowledge of an environment can be extracted from demonstrations and injected into action vector representations that encode natural compatible behavior. We then use these for augmenting state representations as well as improving function approximation of Q-values. We visualize and test action embeddings in three domains including a drawing task, a high dimensional navigation task, and the large action space domain of StarCraft II.

cs.AI↗

arXiv2019

Exploration Conscious Reinforcement Learning Revisited

The Exploration-Exploitation tradeoff arises in Reinforcement Learning when one cannot tell if a policy is optimal. Then, there is a constant need to explore new actions instead of exploiting past experience. In practice, it is common to resolve the tradeoff by using a fixed exploration mechanism, such as $ε$-greedy exploration or by adding Gaussian noise, while still trying to learn an optimal policy. In this work, we take a different approach and study exploration-conscious criteria, that result in optimal policies with respect to the exploration mechanism. Solving these criteria, as we establish, amounts to solving a surrogate Markov Decision Process. We continue and analyze properties of exploration-conscious optimal policies and characterize two general approaches to solve such criteria. Building on the approaches, we apply simple changes in existing tabular and deep Reinforcement Learning algorithms and empirically demonstrate superior performance relatively to their non-exploration-conscious counterparts, both for discrete and continuous action spaces.

cs.LG↗

arXiv2019

Action Robust Reinforcement Learning and Applications in Continuous Control

A policy is said to be robust if it maximizes the reward while considering a bad, or even adversarial, model. In this work we formalize two new criteria of robustness to action uncertainty. Specifically, we consider two scenarios in which the agent attempts to perform an action $a$, and (i) with probability $α$, an alternative adversarial action $\bar a$ is taken, or (ii) an adversary adds a perturbation to the selected action in the case of continuous action space. We show that our criteria are related to common forms of uncertainty in robotics domains, such as the occurrence of abrupt forces, and suggest algorithms in the tabular case. Building on the suggested algorithms, we generalize our approach to deep reinforcement learning (DRL) and provide extensive experiments in the various MuJoCo domains. Our experiments show that not only does our approach produce robust policies, but it also improves the performance in the absence of perturbations. This generalization indicates that action-robustness can be thought of as implicit regularization in RL problems.

cs.LG↗

arXiv2019

Nonlinear Distributional Gradient Temporal-Difference Learning

We devise a distributional variant of gradient temporal-difference (TD) learning. Distributional reinforcement learning has been demonstrated to outperform the regular one in the recent study \citep{bellemare2017distributional}. In the policy evaluation setting, we design two new algorithms called distributional GTD2 and distributional TDC using the Cram{é}r distance on the distributional version of the Bellman error objective function, which inherits advantages of both the nonlinear gradient TD algorithms and the distributional RL approach. In the control setting, we propose the distributional Greedy-GQ using the similar derivation. We prove the asymptotic almost-sure convergence of distributional GTD2 and TDC to a local optimal solution for general smooth function approximators, which includes neural networks that have been widely used in recent study to solve the real-life RL problems. In each step, the computational complexities of above three algorithms are linear w.r.t.\ the number of the parameters of the function approximator, thus can be implemented efficiently for neural networks.

cs.LG↗

arXiv2019

Learn What Not to Learn: Action Elimination with Deep Reinforcement Learning

Learning how to act when there are many available actions in each state is a challenging task for Reinforcement Learning (RL) agents, especially when many of the actions are redundant or irrelevant. In such cases, it is sometimes easier to learn which actions not to take. In this work, we propose the Action-Elimination Deep Q-Network (AE-DQN) architecture that combines a Deep RL algorithm with an Action Elimination Network (AEN) that eliminates sub-optimal actions. The AEN is trained to predict invalid actions, supervised by an external elimination signal provided by the environment. Simulations demonstrate a considerable speedup and added robustness over vanilla DQN in text-based games with over a thousand discrete actions.

cs.LG↗

arXiv2019

How to Combine Tree-Search Methods in Reinforcement Learning

Finite-horizon lookahead policies are abundantly used in Reinforcement Learning and demonstrate impressive empirical success. Usually, the lookahead policies are implemented with specific planning methods such as Monte Carlo Tree Search (e.g. in AlphaZero). Referring to the planning problem as tree search, a reasonable practice in these implementations is to back up the value only at the leaves while the information obtained at the root is not leveraged other than for updating the policy. Here, we question the potency of this approach. Namely, the latter procedure is non-contractive in general, and its convergence is not guaranteed. Our proposed enhancement is straightforward and simple: use the return from the optimal tree path to back up the values at the descendants of the root. This leads to a $γ^h$-contracting procedure, where $γ$ is the discount factor and $h$ is the tree depth. To establish our results, we first introduce a notion called \emph{multiple-step greedy consistency}. We then provide convergence rates for two algorithmic instantiations of the above enhancement in the presence of noise injected to both the tree search stage and value estimation stage.

cs.LG↗

arXiv2019

Trust Region Value Optimization using Kalman Filtering

Policy evaluation is a key process in reinforcement learning. It assesses a given policy using estimation of the corresponding value function. When using a parameterized function to approximate the value, it is common to optimize the set of parameters by minimizing the sum of squared Bellman Temporal Differences errors. However, this approach ignores certain distributional properties of both the errors and value parameters. Taking these distributions into account in the optimization process can provide useful information on the amount of confidence in value estimation. In this work we propose to optimize the value by minimizing a regularized objective function which forms a trust region over its parameters. We present a novel optimization method, the Kalman Optimization for Value Approximation (KOVA), based on the Extended Kalman Filter. KOVA minimizes the regularized objective function by adopting a Bayesian perspective over both the value parameters and noisy observed returns. This distributional property provides information on parameter uncertainty in addition to value estimates. We provide theoretical results of our approach and analyze the performance of our proposed optimizer on domains with large state and action spaces.

cs.LG↗