A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
Generically learns movement control policies from exploration data.
We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a set of diverse policies that are parameterized in a way that makes them easily reusable. This diversity and p…
Music FaderNets learns high-level musical qualities from low-level attributes.
The paper provides theoretical guarantees for behavior cloning using generative models.
Paper introduces SALE for better state-action learning in RL.
A drone catches another agile drone using competitive reinforcement learning.
In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision module based on reinforcement learning, and a low-level planning module based on mod…
Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating prior knowledge. This results in prohibitively long training times for use on rea…
User behavior data in recommender systems are driven by the complex interactions of many latent factors behind the users' decision making processes. The factors are highly entangled, and may range from high-level ones that govern user intentions, to low-level ones that characterize a user's preference when executing an…
We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is achieved by explicitly separating the state-action spaces across the hierarchy, which…
We introduce agents that use object-oriented reasoning to consider alternate states of the world in order to more quickly find solutions to problems. Specifically, a hierarchical controller directs a low-level agent to behave as if objects in the scene were added, deleted, or modified. The actions taken by the controll…
In the NeurIPS 2018 Artificial Intelligence for Prosthetics challenge, participants were tasked with building a controller for a musculoskeletal model with a goal of matching a given time-varying velocity vector. Top participants were invited to describe their algorithms. In this work, we describe the challenge and pre…
We propose a novel data-dependent structured gradient regularizer to increase the robustness of neural networks vis-a-vis adversarial perturbations. Our regularizer can be derived as a controlled approximation from first principles, leveraging the fundamental link between training with noise and regularization. It adds…
What is the role of real-time control and learning in the formation of social conventions? To answer this question, we propose a computational model that matches human behavioral data in a social decision-making game that was analyzed both in discrete-time and continuous-time setups. Furthermore, unlike previous approa…
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained in a physics simulator with realistic setting of robot model and low-level impeda…
Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure modes. Dealing with such unpredictability requires the use of executive and cognitive…
Hierarchical decoupling improves sample efficiency for complex robots.
H-ReIL learns to drive safely in near-accident scenarios.
We propose an actor-critic, model-free, and online Reinforcement Learning (RL) framework for continuous-state continuous-action Markov Decision Processes (MDPs) when the reward is highly sparse but encompasses a high-level temporal structure. We represent this temporal structure by a finite-state machine and construct …
Nonlinear optimal control problems are often solved with numerical methods that require knowledge of system's dynamics which may be difficult to infer, and that carry a large computational cost associated with iterative calculations. We present a novel neurobiologically inspired hierarchical learning framework, Reinfor…
Support vector regression (SVR) has been widely used to reduce the high computational cost of computer simulation. SVR assumes the input parameters have equal sample sizes, but unequal sample sizes are often encountered in engineering practices. To solve this issue, a new prediction approach based on SVR, namely as hig…
EigenGAN discovers interpretable dimensions in GAN layers for semantic control.
Unsupervised feature learning has shown impressive results for a wide range of input modalities, in particular for object classification tasks in computer vision. Using a large amount of unlabeled data, unsupervised feature learning methods are utilized to construct high-level representations that are discriminative en…
We study a generalized setup for learning from demonstration to build an agent that can manipulate novel objects in unseen scenarios by looking at only a single video of human demonstration from a third-person perspective. To accomplish this goal, our agent should not only learn to understand the intent of the demonstr…
Human players in professional team sports achieve high level coordination by dynamically choosing complementary skills and executing primitive actions to perform these skills. As a step toward creating intelligent agents with this capability for fully cooperative multi-agent settings, we propose a two-level hierarchica…
Study improves queue length estimation from connected vehicles by filtering parameters.
Within a supervised classification framework, labeled data are used to learn classifier parameters. Prior to that, it is generally required to perform dimensionality reduction via feature extraction. These preprocessing steps have motivated numerous research works aiming at recovering latent variables in an unsupervise…
The paper learns robot skills from demonstrations without supervision.
Hierarchical VAEs detect out-of-distribution data by identifying low-level in-distribution features.
Programmatic Motion Concepts learn human actions from paired videos.
Framework uses expert intervention to solve long-horizon reinforcement learning tasks.
Google's multilingual speech recognition system combines low-level acoustic signals with language-specific recognizer signals to better predict the language of an utterance. This paper presents our experience with different signal combination methods to improve overall language identification accuracy. We compare the p…
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well as low-level tasks, like motion control, which are critical components for missi…
The data processing inequality doesn't always hold in practice, showing benefits in low-level tasks.
In hierarchical reinforcement learning a major challenge is determining appropriate low-level policies. We propose an unsupervised learning scheme, based on asymmetric self-play from Sukhbaatar et al. (2018), that automatically learns a good representation of sub-goals in the environment and a low-level policy that can…
Recently, GAIL framework and various variants have shown remarkable possibilities for solving practical MDP problems. However, detailed researches of low-level, and high-dimensional state input in this framework, such as image sequences, has not been conducted. Furthermore, the cost function learned in the traditional …
Solving tasks with sparse rewards is one of the most important challenges in reinforcement learning. In the single-agent setting, this challenge is addressed by introducing intrinsic rewards that motivate agents to explore unseen regions of their state spaces; however, applying these techniques naively to the multi-age…
Deep reinforcement learning (DRL) has shown incredible performance in learning various tasks to the human level. However, unlike human perception, current DRL models connect the entire low-level sensory input to the state-action values rather than exploiting the relationship between and among entities that constitute t…
Study identifies latent variables and models from spacecraft data.
This paper presents a new neural architecture that combines a modulated Hebbian network (MOHN) with DQN, which we call modulated Hebbian plus Q network architecture (MOHQA). The hypothesis is that such a combination allows MOHQA to solve difficult partially observable Markov decision process (POMDP) problems which impa…
The successful application of general reinforcement learning algorithms to real-world robotics applications is often limited by their high data requirements. We introduce Regularized Hierarchical Policy Optimization (RHPO) to improve data-efficiency for domains with multiple dominant tasks and ultimately reduce require…
Program synthesis of general-purpose source code from natural language specifications is challenging due to the need to reason about high-level patterns in the target program and low-level implementation details at the same time. In this work, we present PATOIS, a system that allows a neural program synthesizer to expl…
Have you ever wondered how your feature space is impacting the prediction of a specific sample in your dataset? In this paper, we introduce Single Sample Feature Importance (SSFI), which is an interpretable feature importance algorithm that allows for the identification of the most important features that contribute to…
Hierarchical Reinforcement Learning (HRL) exploits temporally extended actions, or options, to make decisions from a higher-dimensional perspective to alleviate the sparse reward problem, one of the most challenging problems in reinforcement learning. The majority of existing HRL algorithms require either significant m…
Low level features like edges and textures play an important role in accurately localizing instances in neural networks. In this paper, we propose an architecture which improves feature pyramid networks commonly used instance segmentation networks by incorporating low level features in all layers of the pyramid in an o…
Paper analyzes how present-bias affects carbon emissions and proposes a method to mitigate it.
We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. CompILE uses a novel unsupervised, fully-differentiable sequence segmentation module to learn latent encodings of sequential d…
SUPE combines unlabeled data with RL to efficiently explore tasks.