arXiv subjects

Zhuoran Yang

Publications and source records attributed to Zhuoran Yang.

At least 181 records · Page 10Linked to original sources

arXiv2020

A Theoretical Analysis of Deep Q-Learning

Despite the great empirical success of deep reinforcement learning, its theoretical foundation is less well understood. In this work, we make the first attempt to theoretically understand the deep Q-network (DQN) algorithm (Mnih et al., 2015) from both algorithmic and statistical perspectives. In specific, we focus on a slight simplification of DQN that fully captures its key features. Under mild assumptions, we establish the algorithmic and statistical rates of convergence for the action-value functions of the iterative policy sequence obtained by DQN. In particular, the statistical error characterizes the bias and variance that arise from approximating the action-value function using deep neural network, while the algorithmic error converges to zero at a geometric rate. As a byproduct, our analysis provides justifications for the techniques of experience replay and target network, which are crucial to the empirical success of DQN. Furthermore, as a simple extension of DQN, we propose the Minimax-DQN algorithm for zero-sum Markov game with two players. Borrowing the analysis of DQN, we also quantify the difference between the policies obtained by Minimax-DQN and the Nash equilibrium of the Markov game in terms of both the algorithmic and statistical rates of convergence.

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arXiv2020

On Computation and Generalization of Generative Adversarial Imitation Learning

Generative Adversarial Imitation Learning (GAIL) is a powerful and practical approach for learning sequential decision-making policies. Different from Reinforcement Learning (RL), GAIL takes advantage of demonstration data by experts (e.g., human), and learns both the policy and reward function of the unknown environment. Despite the significant empirical progresses, the theory behind GAIL is still largely unknown. The major difficulty comes from the underlying temporal dependency of the demonstration data and the minimax computational formulation of GAIL without convex-concave structure. To bridge such a gap between theory and practice, this paper investigates the theoretical properties of GAIL. Specifically, we show: (1) For GAIL with general reward parameterization, the generalization can be guaranteed as long as the class of the reward functions is properly controlled; (2) For GAIL, where the reward is parameterized as a reproducing kernel function, GAIL can be efficiently solved by stochastic first order optimization algorithms, which attain sublinear convergence to a stationary solution. To the best of our knowledge, these are the first results on statistical and computational guarantees of imitation learning with reward/policy function approximation. Numerical experiments are provided to support our analysis.

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arXiv2019

Decentralized Multi-Agent Reinforcement Learning with Networked Agents: Recent Advances

Multi-agent reinforcement learning (MARL) has long been a significant and everlasting research topic in both machine learning and control. With the recent development of (single-agent) deep RL, there is a resurgence of interests in developing new MARL algorithms, especially those that are backed by theoretical analysis. In this paper, we review some recent advances a sub-area of this topic: decentralized MARL with networked agents. Specifically, multiple agents perform sequential decision-making in a common environment, without the coordination of any central controller. Instead, the agents are allowed to exchange information with their neighbors over a communication network. Such a setting finds broad applications in the control and operation of robots, unmanned vehicles, mobile sensor networks, and smart grid. This review is built upon several our research endeavors in this direction, together with some progresses made by other researchers along the line. We hope this review to inspire the devotion of more research efforts to this exciting yet challenging area.

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arXiv2019

A Multi-Agent Off-Policy Actor-Critic Algorithm for Distributed Reinforcement Learning

This paper extends off-policy reinforcement learning to the multi-agent case in which a set of networked agents communicating with their neighbors according to a time-varying graph collaboratively evaluates and improves a target policy while following a distinct behavior policy. To this end, the paper develops a multi-agent version of emphatic temporal difference learning for off-policy policy evaluation, and proves convergence under linear function approximation. The paper then leverages this result, in conjunction with a novel multi-agent off-policy policy gradient theorem and recent work in both multi-agent on-policy and single-agent off-policy actor-critic methods, to develop and give convergence guarantees for a new multi-agent off-policy actor-critic algorithm.

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arXiv2019

Neural Policy Gradient Methods: Global Optimality and Rates of Convergence

Policy gradient methods with actor-critic schemes demonstrate tremendous empirical successes, especially when the actors and critics are parameterized by neural networks. However, it remains less clear whether such "neural" policy gradient methods converge to globally optimal policies and whether they even converge at all. We answer both the questions affirmatively in the overparameterized regime. In detail, we prove that neural natural policy gradient converges to a globally optimal policy at a sublinear rate. Also, we show that neural vanilla policy gradient converges sublinearly to a stationary point. Meanwhile, by relating the suboptimality of the stationary points to the representation power of neural actor and critic classes, we prove the global optimality of all stationary points under mild regularity conditions. Particularly, we show that a key to the global optimality and convergence is the "compatibility" between the actor and critic, which is ensured by sharing neural architectures and random initializations across the actor and critic. To the best of our knowledge, our analysis establishes the first global optimality and convergence guarantees for neural policy gradient methods.

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arXiv2019

Convergent Policy Optimization for Safe Reinforcement Learning

We study the safe reinforcement learning problem with nonlinear function approximation, where policy optimization is formulated as a constrained optimization problem with both the objective and the constraint being nonconvex functions. For such a problem, we construct a sequence of surrogate convex constrained optimization problems by replacing the nonconvex functions locally with convex quadratic functions obtained from policy gradient estimators. We prove that the solutions to these surrogate problems converge to a stationary point of the original nonconvex problem. Furthermore, to extend our theoretical results, we apply our algorithm to examples of optimal control and multi-agent reinforcement learning with safety constraints.

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arXiv2019

High-dimensional Varying Index Coefficient Models via Stein's Identity

We study the parameter estimation problem for a varying index coefficient model in high dimensions. Unlike the most existing works that iteratively estimate the parameters and link functions, based on the generalized Stein's identity, we propose computationally efficient estimators for the high-dimensional parameters without estimating the link functions. We consider two different setups where we either estimate each sparse parameter vector individually or estimate the parameters simultaneously as a sparse or low-rank matrix. For all these cases, our estimators are shown to achieve optimal statistical rates of convergence (up to logarithmic terms in the low-rank setting). Moreover, throughout our analysis, we only require the covariate to satisfy certain moment conditions, which is significantly weaker than the Gaussian or elliptically symmetric assumptions that are commonly made in the existing literature. Finally, we conduct extensive numerical experiments to corroborate the theoretical results.

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arXiv2019

A Convergence Result for Regularized Actor-Critic Methods

In this paper, we present a probability one convergence proof, under suitable conditions, of a certain class of actor-critic algorithms for finding approximate solutions to entropy-regularized MDPs using the machinery of stochastic approximation. To obtain this overall result, we prove the convergence of policy evaluation with general regularizers when using linear approximation architectures and show convergence of entropy-regularized policy improvement.

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arXiv2019

Actor-Critic Provably Finds Nash Equilibria of Linear-Quadratic Mean-Field Games

We study discrete-time mean-field Markov games with infinite numbers of agents where each agent aims to minimize its ergodic cost. We consider the setting where the agents have identical linear state transitions and quadratic cost functions, while the aggregated effect of the agents is captured by the population mean of their states, namely, the mean-field state. For such a game, based on the Nash certainty equivalence principle, we provide sufficient conditions for the existence and uniqueness of its Nash equilibrium. Moreover, to find the Nash equilibrium, we propose a mean-field actor-critic algorithm with linear function approximation, which does not require knowing the model of dynamics. Specifically, at each iteration of our algorithm, we use the single-agent actor-critic algorithm to approximately obtain the optimal policy of the each agent given the current mean-field state, and then update the mean-field state. In particular, we prove that our algorithm converges to the Nash equilibrium at a linear rate. To the best of our knowledge, this is the first success of applying model-free reinforcement learning with function approximation to discrete-time mean-field Markov games with provable non-asymptotic global convergence guarantees.

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arXiv2019

Provably Efficient Reinforcement Learning with Linear Function Approximation

Modern Reinforcement Learning (RL) is commonly applied to practical problems with an enormous number of states, where function approximation must be deployed to approximate either the value function or the policy. The introduction of function approximation raises a fundamental set of challenges involving computational and statistical efficiency, especially given the need to manage the exploration/exploitation tradeoff. As a result, a core RL question remains open: how can we design provably efficient RL algorithms that incorporate function approximation? This question persists even in a basic setting with linear dynamics and linear rewards, for which only linear function approximation is needed. This paper presents the first provable RL algorithm with both polynomial runtime and polynomial sample complexity in this linear setting, without requiring a "simulator" or additional assumptions. Concretely, we prove that an optimistic modification of Least-Squares Value Iteration (LSVI)---a classical algorithm frequently studied in the linear setting---achieves $\tilde{\mathcal{O}}(\sqrt{d^3H^3T})$ regret, where $d$ is the ambient dimension of feature space, $H$ is the length of each episode, and $T$ is the total number of steps. Importantly, such regret is independent of the number of states and actions.

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arXiv2019

On the Global Convergence of Actor-Critic: A Case for Linear Quadratic Regulator with Ergodic Cost

Despite the empirical success of the actor-critic algorithm, its theoretical understanding lags behind. In a broader context, actor-critic can be viewed as an online alternating update algorithm for bilevel optimization, whose convergence is known to be fragile. To understand the instability of actor-critic, we focus on its application to linear quadratic regulators, a simple yet fundamental setting of reinforcement learning. We establish a nonasymptotic convergence analysis of actor-critic in this setting. In particular, we prove that actor-critic finds a globally optimal pair of actor (policy) and critic (action-value function) at a linear rate of convergence. Our analysis may serve as a preliminary step towards a complete theoretical understanding of bilevel optimization with nonconvex subproblems, which is NP-hard in the worst case and is often solved using heuristics.

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arXiv2019

More Supervision, Less Computation: Statistical-Computational Tradeoffs in Weakly Supervised Learning

We consider the weakly supervised binary classification problem where the labels are randomly flipped with probability $1- α$. Although there exist numerous algorithms for this problem, it remains theoretically unexplored how the statistical accuracies and computational efficiency of these algorithms depend on the degree of supervision, which is quantified by $α$. In this paper, we characterize the effect of $α$ by establishing the information-theoretic and computational boundaries, namely, the minimax-optimal statistical accuracy that can be achieved by all algorithms, and polynomial-time algorithms under an oracle computational model. For small $α$, our result shows a gap between these two boundaries, which represents the computational price of achieving the information-theoretic boundary due to the lack of supervision. Interestingly, we also show that this gap narrows as $α$ increases. In other words, having more supervision, i.e., more correct labels, not only improves the optimal statistical accuracy as expected, but also enhances the computational efficiency for achieving such accuracy.

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arXiv2019

A Communication-Efficient Multi-Agent Actor-Critic Algorithm for Distributed Reinforcement Learning

This paper considers a distributed reinforcement learning problem in which a network of multiple agents aim to cooperatively maximize the globally averaged return through communication with only local neighbors. A randomized communication-efficient multi-agent actor-critic algorithm is proposed for possibly unidirectional communication relationships depicted by a directed graph. It is shown that the algorithm can solve the problem for strongly connected graphs by allowing each agent to transmit only two scalar-valued variables at one time.

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arXiv2019

Multi-Agent Reinforcement Learning via Double Averaging Primal-Dual Optimization

Despite the success of single-agent reinforcement learning, multi-agent reinforcement learning (MARL) remains challenging due to complex interactions between agents. Motivated by decentralized applications such as sensor networks, swarm robotics, and power grids, we study policy evaluation in MARL, where agents with jointly observed state-action pairs and private local rewards collaborate to learn the value of a given policy. In this paper, we propose a double averaging scheme, where each agent iteratively performs averaging over both space and time to incorporate neighboring gradient information and local reward information, respectively. We prove that the proposed algorithm converges to the optimal solution at a global geometric rate. In particular, such an algorithm is built upon a primal-dual reformulation of the mean squared projected Bellman error minimization problem, which gives rise to a decentralized convex-concave saddle-point problem. To the best of our knowledge, the proposed double averaging primal-dual optimization algorithm is the first to achieve fast finite-time convergence on decentralized convex-concave saddle-point problems.

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arXiv2018

Provable Gaussian Embedding with One Observation

The success of machine learning methods heavily relies on having an appropriate representation for data at hand. Traditionally, machine learning approaches relied on user-defined heuristics to extract features encoding structural information about data. However, recently there has been a surge in approaches that learn how to encode the data automatically in a low dimensional space. Exponential family embedding provides a probabilistic framework for learning low-dimensional representation for various types of high-dimensional data. Though successful in practice, theoretical underpinnings for exponential family embeddings have not been established. In this paper, we study the Gaussian embedding model and develop the first theoretical results for exponential family embedding models. First, we show that, under mild condition, the embedding structure can be learned from one observation by leveraging the parameter sharing between different contexts even though the data are dependent with each other. Second, we study properties of two algorithms used for learning the embedding structure and establish convergence results for each of them. The first algorithm is based on a convex relaxation, while the other solved the non-convex formulation of the problem directly. Experiments demonstrate the effectiveness of our approach.

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arXiv2018

Parametrized Deep Q-Networks Learning: Reinforcement Learning with Discrete-Continuous Hybrid Action Space

Most existing deep reinforcement learning (DRL) frameworks consider either discrete action space or continuous action space solely. Motivated by applications in computer games, we consider the scenario with discrete-continuous hybrid action space. To handle hybrid action space, previous works either approximate the hybrid space by discretization, or relax it into a continuous set. In this paper, we propose a parametrized deep Q-network (P- DQN) framework for the hybrid action space without approximation or relaxation. Our algorithm combines the spirits of both DQN (dealing with discrete action space) and DDPG (dealing with continuous action space) by seamlessly integrating them. Empirical results on a simulation example, scoring a goal in simulated RoboCup soccer and the solo mode in game King of Glory (KOG) validate the efficiency and effectiveness of our method.

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arXiv2018

Curse of Heterogeneity: Computational Barriers in Sparse Mixture Models and Phase Retrieval

We study the fundamental tradeoffs between statistical accuracy and computational tractability in the analysis of high dimensional heterogeneous data. As examples, we study sparse Gaussian mixture model, mixture of sparse linear regressions, and sparse phase retrieval model. For these models, we exploit an oracle-based computational model to establish conjecture-free computationally feasible minimax lower bounds, which quantify the minimum signal strength required for the existence of any algorithm that is both computationally tractable and statistically accurate. Our analysis shows that there exist significant gaps between computationally feasible minimax risks and classical ones. These gaps quantify the statistical price we must pay to achieve computational tractability in the presence of data heterogeneity. Our results cover the problems of detection, estimation, support recovery, and clustering, and moreover, resolve several conjectures of Azizyan et al. (2013, 2015); Verzelen and Arias-Castro (2017); Cai et al. (2016). Interestingly, our results reveal a new but counter-intuitive phenomenon in heterogeneous data analysis that more data might lead to less computation complexity.

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arXiv2018

On Stein's Identity and Near-Optimal Estimation in High-dimensional Index Models

We consider estimating the parametric components of semi-parametric multiple index models in a high-dimensional and non-Gaussian setting. Such models form a rich class of non-linear models with applications to signal processing, machine learning and statistics. Our estimators leverage the score function based first and second-order Stein's identities and do not require the covariates to satisfy Gaussian or elliptical symmetry assumptions common in the literature. Moreover, to handle score functions and responses that are heavy-tailed, our estimators are constructed via carefully thresholding their empirical counterparts. We show that our estimator achieves near-optimal statistical rate of convergence in several settings. We supplement our theoretical results via simulation experiments that confirm the theory.

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