In inverse reinforcement learning (IRL), an agent seeks to replicate expert demonstrations through interactions with the environment. Traditionally, IRL is treated as an adversarial game, where an adversary searches over reward models, and a learner optimizes the reward through repeated RL procedures. This game-solving approach is both computationally expensive and difficult to stabilize. In this work, we propose a novel approach to IRL by _direct policy search_: by exploiting a linear factorization of the return as the inner product of successor features and a reward vector, we design an IRL algorithm by policy gradient descent on the gap between the learner and expert features. Our non-adversarial method does not require learning an explicit reward function and can be solved seamlessly with existing RL algorithms. Remarkably, our approach works in state-only settings without expert action labels, a setting which behavior cloning (BC) cannot solve. Empirical results demonstrate that our method learns from as few as a single expert demonstration and achieves improved performance on various control tasks.

We address the problem of code generation from multi-turn execution feedback. Existing methods either generate code without feedback or use complex, hierarchical reinforcement learning to optimize multi-turn rewards. We propose a simple yet scalable approach, $\mu$CODE, that solves multi-turn code generation using only single-step rewards. Our key insight is that code generation is a one-step recoverable MDP, where the correct code can be recovered from any intermediate code state in a single turn. $\mu$CODE iteratively trains both a generator to provide code solutions conditioned on multi-turn execution feedback and a verifier to score the newly generated code. Experimental evaluations show that our approach achieves significant improvements over state-of-the-art baselines. We provide analysis of the design choices of the reward models and policy, and show the efficacy of $\mu$CODE at utilizing the execution feedback.

The fundamental limitation of the behavioral cloning (BC) approach to imitation learning is that it only teaches an agent what the expert did at states the expert visited. This means that when a BC agent makes a mistake which takes them out of the support of the demonstrations, they often don't know how to recover from it. In this sense, BC is akin to *giving the agent the fish* -- giving them dense supervision across a narrow set of states -- rather than teaching them *to fish*: to be able to reason independently about achieving the expert's outcome even when faced with unseen situations at test-time. In response, we explore *learning to search* (L2S) from expert demonstrations, i.e. learning the components required to, at test time, plan to match expert outcomes, even after making a mistake. These include *(1)* a world model and *(2)* a reward model. We carefully ablate the set of algorithmic and design decisions required to combine these and other components for stable and sample/interaction-efficient learning of recovery behavior without additional human corrections. Across a dozen visual manipulation tasks from three benchmarks, our approach SAILOR consistently out-performs state-of-the-art Diffusion Policies trained via BC on the same data. Furthermore, scaling up the amount of demonstrations used for BC by 5-10x still leaves a performance gap. We find that SAILOR can identify nuanced failures and is robust to reward hacking. Our code is available at [https://github.com/arnavkj1995/SAILOR](https://github.com/arnavkj1995/SAILOR).

Animals have a developed ability to explore that aids them in important tasks such as locating food, exploring for shelter, and finding misplaced items. These exploration skills necessarily track where they have been so that they can plan for finding items with relative efficiency. Contemporary exploration algorithms often learn a less efficient exploration strategy because they either condition only on the current state or simply rely on making random open-loop exploratory moves. In this work, we propose $\eta\psi$-Learning, a method to learn efficient exploratory policies by conditioning on past episodic experience to make the next exploratory move. Specifically, $\eta\psi$-Learning learns an exploration policy that maximizes the entropy of the state visitation distribution of a single trajectory. Furthermore, we demonstrate how variants of the predecessor representation and successor representations can be combined to predict the state visitation entropy. Our experiments demonstrate the efficacy of $\eta\psi$-Learning to strategically explore the environment and maximize the state coverage with limited samples.

Learning world models from their sensory inputs enables agents to plan for actions by imagining their future outcomes. World models have previously been shown to improve sample-efficiency in simulated environments with few objects, but have not yet been applied successfully to environments with many objects. In environments with many objects, often only a small number of them are moving or interacting at the same time. In this paper, we investigate integrating this inductive bias of sparse interactions into the latent dynamics of world models trained from pixels. First, we introduce Variational Sparse Gating (VSG), a latent dynamics model that updates its feature dimensions sparsely through stochastic binary gates. Moreover, we propose a simplified architecture Simple Variational Sparse Gating (SVSG) that removes the deterministic pathway of previous models, resulting in a fully stochastic transition function that leverages the VSG mechanism. We evaluate the two model architectures in the BringBackShapes (BBS) environment that features a large number of moving objects and partial observability, demonstrating clear improvements over prior models.

This paper develops the GalaXC algorithm for Extreme Classification, where the task is to annotate a document with the most relevant subset of labels from an extremely large label set. Extreme classification has been successfully applied to several real world web-scale applications such as web search, product recommendation, query rewriting, etc. GalaXC identifies two critical deficiencies in leading extreme classification algorithms. First, existing approaches generally assume that documents and labels reside in disjoint sets, even though in several applications, labels and documents cohabit the same space. Second, several approaches, albeit scalable, do not utilize various forms of metadata offered by applications, such as label text and label correlations. To remedy these, GalaXC presents a framework that enables collaborative learning over joint document-label graphs at massive scales, in a way that naturally allows various auxiliary sources of information, including label metadata, to be incorporated. GalaXC also introduces a novel label-wise attention mechanism to meld high-capacity extreme classifiers with its framework. An efficient end-to-end implementation of GalaXC is presented that could be trained on a dataset with 50M labels and 97M training documents in less than 100 hours on 4 × V100 GPUs. This allowed GalaXC to not only scale to applications with several millions of labels, but also be up to 18% more accurate than leading deep extreme classifiers, while being upto 2-50 × faster to train and 10 × faster to predict on benchmark datasets. GalaXC is particularly well-suited to warm-start scenarios where predictions need to be made on data points with partially revealed label sets, and was found to be up to 25% more accurate than extreme classification algorithms specifically designed for warm start settings. In A/B tests conducted on the Bing search engine, GalaXC could improve the Click Yield (CY) and coverage by 1.52% and 1.11% respectively. Code for GalaXC is available at https://github.com/Extreme-classification/GalaXC

Contemporary deep learning based semantic inpainting can be approached from two directions. First, and the more explored, approach is to train an offline deep regression network over the masked pixels with an additional refinement by adversarial training. This approach requires a single feed-forward pass for inpainting at inference. Another promising, yet unexplored approach is to first train a generative model to map a latent prior distribution to natural image manifold and during inference time search for the best-matching prior to reconstruct the signal. The primary aversion towards the latter genre is due to its inference time iterative optimization and difficulty to scale to higher resolution. In this paper, going against the general trend, we focus on the second paradigm of inpainting and address both of its mentioned problems. Most importantly, we learn a data driven parametric network to directly predict a matching prior for a given masked image. This converts an iterative paradigm to a single feed forward inference pipeline with around 800X speedup. We also regularize our network with structural prior (computed from the masked image itself) which helps in better preservation of pose and size of the object to be inpainted. Moreover, to extend our model for sequence reconstruction, we propose a recurrent net based grouped latent prior learning. Finally, we leverage recent advancements in high resolution GAN training to scale our inpainting network to 256X256. Experiments (spanning across resolutions from 64X64 to 256X256) conducted on SVHN, Standford Cars, CelebA, CelebA-HQ and ImageNet image datasets, and FaceForensics video datasets reveal that we consistently improve upon contemporary benchmarks from both schools of approaches.

Unsupervised multi-lingual language modeling has gained attraction in the last few years and poly-lingual topic models provide a mechanism to learn aligned document representations. However, training such models require translation-aligned data across languages, which is not always available. Also, in case of short texts like tweets, search queries, etc, the training of topic models continues to be a challenge. In this work, we present a novel strategy of creating a pseudo-parallel dataset followed by training topic models for sponsored search retrieval, that also mitigates the short text challenge. Our data augmentation strategy leverages easily available bipartite click-though graph that allows us to draw similar documents in different languages. The proposed methodology is evaluated on sponsored search system whose performance is measured on correctly matching the user intent, presented via the query, with ads provided by the advertiser. Our experiments substantiate the goodness of the method on EuroParl dataset and live search-engine traffic.

In this paper, we propose to improve the inference speed and visual quality of contemporary baseline of Generative Adversarial Networks (GAN) based unsupervised semantic inpainting. This is made possible with better initialization of the core iterative optimization involved in the framework. To our best knowledge, this is also the first attempt of GAN based video inpainting with consideration to temporal cues. On single image inpainting, we achieve about 4.5-5× speedup and 80 × on videos compared to baseline. Simultaneously, our method has better spatial and temporal reconstruction qualities as found on three image and one video dataset.