This work tackles long-term visual planning by goal-conditioned hierarchical predictors.
problem Current learning approaches fail on long-horizon tasks due to lack of goal information and coarse-to-fine planning.
method Formulate goal-conditioned predictors (GCPs) and hierarchical models to predict trajectories between observations.
result GCPs enable effective long-term planning with much longer horizons than before.
A new EM framework for goal-conditioned RL improves performance on sparse reward tasks.
problem Handling sparse rewards in goal-conditioned reinforcement learning.
method A graphical model framework with an EM algorithm that includes a learning-in-hindsight E-step and a supervised M-step.
result hEM significantly outperforms model-free baselines on goal-conditioned benchmarks with sparse rewards.
A novel approach learns goal-conditioned policies for locomotion using batch RL.
problem Training goal-conditioned policies for rotation invariant locomotion.
method Data augmentation and Siamese framework for invariance.
result Our approach outperforms existing RL algorithms on 3D locomotion agents.
KEMP predicts long-term trajectories for autonomous driving using keyframes.
problem Predicting future trajectories of road agents for autonomous driving.
method Keyframe-based hierarchical end-to-end deep learning framework.
result Ranked 1st on Waymo Open Motion Dataset Leaderboard.
A novel framework uses goal-conditioned reinforcement learning to generate diverse samples.
problem Generating high-quality, diverse samples from generative models.
method Two agents: GC-agent learns to reconstruct the training set, S-agent learns to imitate GC-agent without knowing the goals.
result Empirically, the method generates diverse and high-quality samples in image synthesis.
Generative neural nets learn deep policies conditioned on goals.
problem Learning optimal policies for specific goals in reinforcement learning.
method Goal-conditioned neural nets that generate deep neural policies.
result Single learned policy generator can achieve any desired return.
New method tackles parcel routing with AI.
problem Routing parcels efficiently through a network of hubs.
method Combines graph neural networks with model-free RL.
result Extracts small feature graphs from the environment state.
This work considers two distinct settings: imitation learning and goal-conditioned reinforcement learning. In either case, effective solutions require the agent to reliably reach a specified state (a goal), or set of states (a demonstration). Drawing a connection between probabilistic long-term dynamics and the desired…
Physics-informed GCRL tackles sparse feedback learning with hybrid dynamics.
problem Sparse feedback learning with high-dimensional, hybrid, or contact-dependent dynamics.
method Introduces physics-informed inductive biases into goal-conditioned value learning.
result Contact-rich manipulation tasks degrade existing Pi-GCRL methods.
Goal-conditioned policies are used in order to break down complex reinforcement learning (RL) problems by using subgoals, which can be defined either in state space or in a latent feature space. This can increase the efficiency of learning by using a curriculum, and also enables simultaneous learning and generalization…
Eikonal-Constrained QRL improves goal-reaching in reinforcement learning.
problem Reward design and out-of-distribution generalization in reinforcement learning.
method Eikonal-Constrained Quasimetric Reinforcement Learning (Eik-QRL) using the Eikonal PDE.
result Eik-QRL achieves state-of-the-art performance in offline goal-conditioned navigation and manipulation tasks.
We propose a novel framework for multi-task reinforcement learning (MTRL). Using a variational inference formulation, we learn policies that generalize across both changing dynamics and goals. The resulting policies are parametrized by shared parameters that allow for transfer between different dynamics and goal condit…
The paper introduces an adjacency constraint to improve goal-conditioned HRL.
problem Training inefficiency in goal-conditioned HRL due to large action space.
method Restricting the high-level action space to a k-step adjacent region of the current state.
result The adjacency constraint preserves optimal hierarchical policies and improves HRL performance.
Pre-trained language model boosts RL efficiency.
problem Low sample efficiency in RL, especially in lifelong learning.
method Use a pre-trained task-independent language model for transfer learning.
result Goal-conditional RL agents become more sample efficient.
Causal reasoning has been an indispensable capability for humans and other intelligent animals to interact with the physical world. In this work, we propose to endow an artificial agent with the capability of causal reasoning for completing goal-directed tasks. We develop learning-based approaches to inducing causal kn…
Efficient exploration is necessary to achieve good sample efficiency for reinforcement learning in general. From small, tabular settings such as gridworlds to large, continuous and sparse reward settings such as robotic object manipulation tasks, exploration through adding an uncertainty bonus to the reward function ha…
DFI maps covariates to latent representations for feature importance.
problem Feature importance when predictors are statistically dependent.
method Disentangled Feature Importance (DFI) using entropic optimal transport.
result DFI yields stable, interpretable, uncertainty-quantified attributions of shared predictive signal.
DAGR improves navigation by refining goal representations conditioned on the current state.
problem Goal-conditioned reinforcement learning lacks state awareness, leading to inefficient policy recovery.
method DAGR refines static goal embeddings into state-conditioned ones using gated cross-attention with a state-goal discrepancy map.
result DAGR improves navigation tasks on OGBench, matching or outperforming base methods.
Sparse reward problems are one of the biggest challenges in Reinforcement Learning. Goal-directed tasks are one such sparse reward problems where a reward signal is received only when the goal is reached. One promising way to train an agent to perform goal-directed tasks is to use Hindsight Learning approaches. In thes…
Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states and transitions, which typically need to be designed by hand. In contrast, model-free reinforcement learning (RL) can acquire behaviors from l…
We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage that produces goal-conditioned hierarchical policies, and a reinforcement learni…
In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences. These embeddings capture the structure of the environment's dynamics, enabling e…
Improved exploration algorithm for unknown MDPs with reduced sample complexity.
problem Exploration of unknown environments without reward function.
method Incremental model-based approach that interleaves state discovery and policy improvement.
result Achieves sample complexity scaling as O~(L5SL+εΓL+εAε−2). This study analyzes convergence and stability of reinforcement learning algorithms.
problem Understanding the conditions under which reinforcement learning algorithms converge and remain stable.
method Theoretical analysis of convergence and stability of Episodic Upside-Down Reinforcement Learning, Goal-Conditioned Supervised Learning, and Online Decision Transformers.
result The algorithms can achieve near-optimal behavior if the transition kernel is close to a deterministic kernel.
The problem of forecasting conditional probabilities of the next event given the past is considered in a general probabilistic setting. Given an arbitrary (large, uncountable) set C of predictors, we would like to construct a single predictor that performs asymptotically as well as the best predictor in C, on any data.…
New bounds explain deterministic non-smooth deep nets without large Lipschitz constants.
problem Challenges in explaining generalization of deterministic non-smooth deep nets.
method De-randomized PAC-Bayes margin bounds for deterministic non-convex and non-smooth predictors.
result New bounds avoid large Lipschitz constants, providing generalization guarantees.
This paper proposes a method to reduce complexity in GLMs with categorical predictors.
problem Wasteful, hard-to-interpret, and prone to overfitting of traditional one-hot encoding for high-cardinality categorical predictors.
method Clustering categories of categorical predictors through a numerical method that preserves or improves accuracy while reducing the number of coefficients.
result Clustering categories of categorical predictors reduces complexity substantially without harming accuracy.
The article compares predictor importance in classification problems with categorical outcomes.
problem Comparing predictor importance in classification problems with categorical response variables.
method The approach is based on the categorical Gini correlation (CGC) and tests differences in CGCs across predictor groups.
result The proposed methodology accommodates predictors of arbitrary and unequal dimensions and allows for dependence between predictor groups.
Paper proposes a sparse synthetic control method to select important predictors.
problem Choosing and weighting predictors affects synthetic control estimator performance.
method Sparse synthetic control procedure that penalizes predictors, derived in a linear factor model.
result Sparse synthetic control achieves lower bias and better post-treatment performance.
This paper presents Sparse Partitioning, a Bayesian method for identifying predictors that either individually or in combination with others affect a response variable. The method is designed for regression problems involving binary or tertiary predictors and allows the number of predictors to exceed the size of the sa…
WeakNAS uses a set of weaker predictors to find top architectures with fewer samples.
problem Finding the best neural architecture with heavy computation costs.
method Proposes a paradigm shift from fitting the whole architecture space to progressively fitting a search path through a set of weaker predictors.
result WeakNAS produces coarse-to-fine iteration to gradually refine the ranking of sampling space, requiring fewer samples to find top-performance architectures.
Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve perceptually-specified goals using only a stream of observations and actions. Our agent s…
Proposes a method to create fair, robust predictors that remain consistent across different scenarios.
problem Creating fair and robust machine learning models that behave consistently across different scenarios.
method Graphical criteria and a model-agnostic framework called CIP based on HSCIC.
result Demonstrates the effectiveness of CIP in enforcing counterfactual invariance across various datasets.
This paper continues study, both theoretical and empirical, of the method of Venn prediction, concentrating on binary prediction problems. Venn predictors produce probability-type predictions for the labels of test objects which are guaranteed to be well calibrated under the standard assumption that the observations ar…
Derives bounds for deterministic predictors using smooth loss functions.
problem Generalizing probabilistic predictors to deterministic ones.
method Exploits smoothness properties of loss and predictor classes, controlling the Jensen gap class through Rademacher complexity.
result Derives bounds for deterministic predictors involving flatness quantities from Jacobians and Hessians.
Study shows competition feedback can make ML predictors biased towards specific user groups.
problem How competition affects machine learning predictors and user prediction quality.
method Flexible model of competing ML predictors, empirical and mathematical analysis.
result Competition causes predictors to specialize for specific sub-populations at the cost of general performance.
Study on merging predictors in causal and anticausal directions using CMAXENT.
problem Comparing merging predictors in causal and anticausal directions.
method Using CMAXENT as inductive bias, study differences in merging predictors.
result CMAXENT solution reduces to logistic regression in causal direction and LDA in anticausal direction.
Paper introduces SUEL model for integrating predictors without labeled data.
problem Combining predictors with unknown accuracy and high correlation.
method Structured unsupervised ensemble learning (SUEL) with correlation-based decomposition algorithms.
result Efficient integration of dependent predictors without labeled data.
Plan2Vec learns image representations without labels, improving control tasks.
problem Learning image representations without labeled data.
method Constructs a weighted graph using near-neighbor distances and extrapolates to global embedding.
result Plan2Vec achieves accurate long-term value estimates in control tasks with reduced computational and memory costs.
The paper develops predictors for functional data on manifolds.
problem Functional data prediction on time-varying manifolds.
method Least-squares local linear Fréchet curve predictor and weighted Fréchet mean approach.
result Asymptotical optimality of the proposed predictors.
Adaptive kernels from neural networks improve model performance.
problem Improving neural network performance through adaptive kernels.
method Deriving adaptive kernels from infinite-width neural networks using feature learning and gradient flow training.
result Adaptive kernels achieve lower test loss compared to traditional kernels.
Random Feature (RF) models are used as efficient parametric approximations of kernel methods. We investigate, by means of random matrix theory, the connection between Gaussian RF models and Kernel Ridge Regression (KRR). For a Gaussian RF model with P features, N data points, and a ridge λ, we show that the avera…
Scaffolding sets improve predictor correctness across subsets.
problem Ensuring predictor correctness across multiple subsets.
method Inspired by neural nets, constructing scaffolding sets to ensure correctness.
result Scaffolding sets ensure predictor correctness, not just calibration.
LESS combines local predictors for subsets to learn from heterogeneous input-output pairs.
problem Learning from heterogeneous input-output pairs in populations with varied behavior.
method LESS algorithm: generates subsets, trains local predictors, combines them.
result LESS is highly competitive compared to state-of-the-art methods.
Paper proposes SDDP for improving time series forecasting with high-dimensional predictors.
problem Improving time series forecasting with high-dimensional predictors.
method SDDP framework that incorporates target variable and lagged observations into factor extraction process.
result SDDP improves predictive accuracy in time series forecasting.
Novel strategy for federated learning with privacy-preserving predictors and nonvacuous generalization bounds.
problem Privacy-preserving federated learning with nonvacuous generalization bounds.
method Randomized predictors, PAC-Bayesian generalization bound, synchronous and heterogeneous/homogenous cases.
result Achieves comparable predictive performance to batch approach while preserving privacy.
Neurosymbolic predictors fail to model uncertainty under independence assumption.
problem Neurosymbolic predictors' reliance on independence assumption limits their ability to model uncertainty.
method Formal analysis of NeSy predictors under independence assumption.
result Assuming independence among symbolic concepts prevents NeSy predictors from representing uncertainty.
GATES improves neural architecture search by modeling operations as information transformation.
problem Improving predictor-based neural architecture search efficiency.
method GATES models operations as information transformation, covering both node and edge cell search spaces.
result GATES boosts sample efficiency and improves predictor performance.