There is broad interest in creating RL agents that can solve many (related) tasks and adapt to new tasks and environments after initial training. Model-based RL leverages learned surrogate models that describe dynamics and rewards of individual tasks, such that planning in a good surrogate can lead to good control of the true system. Rather than solving each task individually from scratch, hierarchical models can exploit the fact that tasks are often related by (unobserved) causal factors of variation in order to achieve efficient generalization, as in learning how the mass of an item affects the force required to lift it can generalize to previously unobserved masses. We propose Generalized Hidden Parameter MDPs (GHP-MDPs) that describe a family of MDPs where both dynamics and reward can change as a function of hidden parameters that vary across tasks. The GHP-MDP augments model-based RL with latent variables that capture these hidden parameters, facilitating transfer across tasks. We also explore a variant of the model that incorporates explicit latent structure mirroring the causal factors of variation across tasks (for instance: agent properties, environmental factors, and goals). We experimentally demonstrate state-of-the-art performance and sample-efficiency on a new challenging MuJoCo task using reward and dynamics latent spaces, while beating a previous state-of-the-art baseline with > 10× less data. Using test-time inference of the latent variables, our approach generalizes in a single episode to novel combinations of dynamics and reward, and to novel rewards.

This paper investigates the intriguing question of whether we can create learning algorithms that automatically generate training data, learning environments, and curricula in order to help AI agents rapidly learn. We show that such algorithms are possible via Generative Teaching Networks (GTNs), a general approach that is, in theory, applicable to supervised, unsupervised, and reinforcement learning, although our experiments only focus on the supervised case. GTNs are deep neural networks that generate data and/or training environments that a learner (e.g. a freshly initialized neural network) trains on for a few SGD steps before being tested on a target task. We then differentiate \emph{through the entire learning process} via meta-gradients to update the GTN parameters to improve performance on the target task. This paper introduces GTNs, discusses their potential, and showcases that they can substantially accelerate learning. We also demonstrate a practical and exciting application of GTNs: accelerating the evaluation of candidate architectures for neural architecture search (NAS). GTN-NAS improves the NAS state of the art, finding higher performing architectures when controlling for the search proposal mechanism. GTN-NAS also is competitive with the overall state of the art approaches, which achieve top performance while using orders of magnitude less computation than typical NAS methods. Speculating forward, GTNs may represent a first step toward the ambitious goal of algorithms that generate their own training data and, in doing so, open a variety of interesting new research questions and directions.

Much human and computational effort has aimed to improve how deep reinforcement learning (DRL) algorithms perform on benchmarks such as the Atari Learning Environment. Comparatively less effort has focused on understanding what has been learned by such methods, and investigating and comparing the representations learned by different families of DRL algorithms. Sources of friction include the onerous computational requirements, and general logistical and architectural complications for running DRL algorithms at scale. We lessen this friction, by (1) training several algorithms at scale and releasing trained models, (2) integrating with a previous DRL model release, and (3) releasing code that makes it easy for anyone to load, visualize, and analyze such models. This paper introduces the Atari Zoo framework, which contains models trained across benchmark Atari games, in an easy-to-use format, as well as code that implements common modes of analysis and connects such models to a popular neural network visualization library. Further, to demonstrate the potential of this dataset and software package, we show initial quantitative and qualitative comparisons between the performance and representations of several DRL algorithms, highlighting interesting and previously unknown distinctions between them.

Handwritten text recognition is challenging because of the virtually infinite ways a human can write the same message. Our fully convolutional handwriting model takes in a handwriting sample of unknown length and outputs an arbitrary stream of symbols. Our dual stream architecture uses both local and global context and mitigates the need for heavy preprocessing steps such as symbol alignment correction as well as complex post processing steps such as connectionist temporal classification, dictionary matching or language models. Using over 100 unique symbols, our model is agnostic to Latin-based languages, and is shown to be quite competitive with state of the art dictionary based methods on the popular IAM and RIMES datasets. When a dictionary is known, we further allow a probabilistic character error rate to correct errant word blocks. Finally, we introduce an attention based mechanism which can automatically target variants of handwriting, such as slant, stroke width, or noise.

Evolution strategies (ES) are a family of black-box optimization algorithms able to train deep neural networks roughly as well as Q-learning and policy gradient methods on challenging deep reinforcement learning (RL) problems, but are much faster (e.g. hours vs. days) because they parallelize better. However, many RL problems require directed exploration because they have reward functions that are sparse or deceptive (i.e. contain local optima), and it is unknown how to encourage such exploration with ES. Here we show that algorithms that have been invented to promote directed exploration in small-scale evolved neural networks via populations of exploring agents, specifically novelty search (NS) and quality diversity (QD) algorithms, can be hybridized with ES to improve its performance on sparse or deceptive deep RL tasks, while retaining scalability. Our experiments confirm that the resultant new algorithms, NS-ES and two QD algorithms, NSR-ES and NSRA-ES, avoid local optima encountered by ES to achieve higher performance on Atari and simulated robots learning to walk around a deceptive trap. This paper thus introduces a family of fast, scalable algorithms for reinforcement learning that are capable of directed exploration. It also adds this new family of exploration algorithms to the RL toolbox and raises the interesting possibility that analogous algorithms with multiple simultaneous paths of exploration might also combine well with existing RL algorithms outside ES.

Few ideas have enjoyed as large an impact on deep learning as convolution. For any problem involving pixels or spatial representations, common intuition holds that convolutional neural networks may be appropriate. In this paper we show a striking counterexample to this intuition via the seemingly trivial coordinate transform problem, which simply requires learning a mapping between coordinates in (x,y) Cartesian space and coordinates in one-hot pixel space. Although convolutional networks would seem appropriate for this task, we show that they fail spectacularly. We demonstrate and carefully analyze the failure first on a toy problem, at which point a simple fix becomes obvious. We call this solution CoordConv, which works by giving convolution access to its own input coordinates through the use of extra coordinate channels. Without sacrificing the computational and parametric efficiency of ordinary convolution, CoordConv allows networks to learn either complete translation invariance or varying degrees of translation dependence, as required by the end task. CoordConv solves the coordinate transform problem with perfect generalization and 150 times faster with 10--100 times fewer parameters than convolution. This stark contrast raises the question: to what extent has this inability of convolution persisted insidiously inside other tasks, subtly hampering performance from within? A complete answer to this question will require further investigation, but we show preliminary evidence that swapping convolution for CoordConv can improve models on a diverse set of tasks. Using CoordConv in a GAN produced less mode collapse as the transform between high-level spatial latents and pixels becomes easier to learn. A Faster R-CNN detection model trained on MNIST detection showed 24% better IOU when using CoordConv, and in the Reinforcement Learning (RL) domain agents playing Atari games benefit significantly from the use of CoordConv layers.

Voxels are an effective approach to 3D mesh and point cloud classification because they build upon mature Convolutional Neural Network concepts. We show however that their cubic increase in dimensionality is unsuitable for more challenging problems such as object detection in a complex point cloud scene. We observe that 3D meshes are analogous to graph data and can thus be treated with graph signal processing techniques. We propose a Graph Convolutional Neural Network (Graph-CNN), which enables mesh data to be represented exactly (not approximately as with voxels) with quadratic growth as the number of vertices increases. We apply Graph-CNN to the ModelNet10 classification dataset and demonstrate improved results over a previous graph convolution method.