Accelerating learning processes for complex tasks by leveraging previously learned tasks has been one of the most challenging problems in reinforcement learning, especially when the similarity between source and target tasks is low. This work proposes REPresentation And INstance Transfer (REPAINT) algorithm for knowledge transfer in deep reinforcement learning. REPAINT not only transfers the representation of a pre-trained teacher policy in the on-policy learning, but also uses an advantage-based experience selection approach to transfer useful samples collected following the teacher policy in the off-policy learning. Our experimental results on several benchmark tasks show that REPAINT significantly reduces the total training time in generic cases of task similarity. In particular, when the source tasks are dissimilar to, or sub-tasks of, the target tasks, REPAINT outperforms other baselines in both training-time reduction and asymptotic performance of return scores.

DeepRacer is a platform for end-to-end experimentation with RL and can be used to systematically investigate the key challenges in developing intelligent control systems. Using the platform, we demonstrate how a 1/18th scale car can learn to drive autonomously using RL with a monocular camera. It is trained in simulation with no additional tuning in the physical world and demonstrates: 1) formulation and solution of a robust reinforcement learning algorithm, 2) narrowing the reality gap through joint perception and dynamics, 3) distributed on-demand compute architecture for training optimal policies, and 4) a robust evaluation method to identify when to stop training. It is the first successful large-scale deployment of deep reinforcement learning on a robotic control agent that uses only raw camera images as observations and a model-free learning method to perform robust path planning. We open source our code and video demo on GitHub2.

In this work, we study the problem of multi-agent reinforcement learning (MARL) with model uncertainty, which is referred to as robust MARL. This is naturally motivated by some multi-agent applications where each agent may not have perfectly accurate knowledge of the model, e.g., all the reward functions of other agents. Little a priori work on MARL has accounted for such uncertainties, neither in problem formulation nor in algorithm design. In contrast, we model the problem as a robust Markov game, where the goal of all agents is to find policies such that no agent has the incentive to deviate, i.e., reach some equilibrium point, which is also robust to the possible uncertainty of the MARL model. We first introduce the solution concept of robust Nash equilibrium in our setting, and develop a Q-learning algorithm to find such equilibrium policies, with convergence guarantees under certain conditions. In order to handle possibly enormous state-action spaces in practice, we then derive the policy gradients for robust MARL, and develop an actor-critic algorithm with function approximation. Our experiments demonstrate that the proposed algorithm outperforms several baseline MARL methods that do not account for the model uncertainty, in several standard but uncertain cooperative and competitive MARL environments.

Many ecological studies and conservation policies are based on field observations of species, which can be affected by systematic variability introduced by the observation process. A recently introduced causal modeling technique called 'half-sibling regression' can detect and correct for systematic errors in measurements of multiple independent random variables. However, it will remove intrinsic variability if the variables are dependent, and therefore does not apply to many situations, including modeling of species counts that are controlled by common causes. We present a technique called 'three-quarter sibling regression' to partially overcome this limitation. It can filter the effect of systematic noise when the latent variables have observed common causes. We provide theoretical justification of this approach, demonstrate its effectiveness on synthetic data, and show that it reduces systematic detection variability due to moon brightness in moth surveys.

Ecological inference (EI) is a classical problem from political science to model voting behavior of individuals given only aggregate election results. Flaxman et al. recently formulated EI as machine learning problem using distribution regression, and applied it to analyze US presidential elections. However, distribution regression unnecessarily aggregates individual-level covariates available from census microdata, and ignores known structure of the aggregation mechanism. We instead formulate the problem as learning with label proportions (LLP), and develop a new, probabilistic, LLP method to solve it. Our model is the straightforward one where individual votes are latent variables. We use cardinality potentials to efficiently perform exact inference over latent variables during learning, and introduce a novel message-passing algorithm to extend cardinality potentials to multivariate probability models for use within multiclass LLP problems. We show experimentally that LLP outperforms distribution regression for predicting individual-level attributes, and that our method is as good as or better than existing state-of-the-art LLP methods.

We investigate the problem of learning discrete graphical models in a differentially private way. Approaches to this problem range from privileged algorithms that conduct learning completely behind the privacy barrier to schemes that release private summary statistics paired with algorithms to learn parameters from those statistics. We show that the approach of releasing noisy sufficient statistics using the Laplace mechanism achieves a good trade-off between privacy, utility, and practicality. A naive learning algorithm that uses the noisy sufficient statistics “as is” outperforms general-purpose differentially private learning algorithms. However, it has three limitations: it ignores knowledge about the data generating process, rests on uncertain theoretical foundations, and exhibits certain pathologies. We develop a more principled approach that applies the formalism of collective graphical models to perform inference over the true sufficient statistics within an expectation-maximization framework. We show that this learns better models than competing approaches on both synthetic data and on real human mobility data used as a case study.

Collective graphical models (CGMs) are a formalism for inference and learning about a population of independent and identically distributed individuals when only noisy aggregate data are available. We highlight a close connection between approximate MAP inference in CGMs and marginal inference in standard graphical models. The connection leads us to derive a novel Belief Propagation (BP) style algorithm for collective graphical models. Mathematically, the algorithm is a strict generalization of BP—it can be viewed as an extension to minimize the Bethe free energy plus additional energy terms that are non-linear functions of the marginals. For CGMs, the algorithm is much more efficient than previous approaches to inference. We demonstrate its performance on two synthetic experiments concerning bird migration and collective human mobility.

We study the problem of approximate inference in collective graphical models (CGMs), which were recently introduced to model the problem of learning and inference with noisy aggregate observations. We first analyze the complexity of inference in CGMs: unlike inference in conventional graphical models, exact inference in CGMs is NP-hard even for tree-structured models. We then develop a tractable convex approximation to the NP-hard MAP inference problem in CGMs, and show how to use MAP inference for approximate marginal inference within the EM framework. We demonstrate empirically that these approximation techniques can reduce the computational cost of inference by two orders of magnitude and the cost of learning by at least an order of magnitude while providing solutions of equal or better quality.