45 accepted papers
Learning inherently interpretable policies is a central challenge in the path to developing autonomous agents that humans can trust. Linear policies can justify their decisions while interacting in a dynamic environment, but their reduced expressivity prevents them from solving hard tasks. Instead,…
Foundation models are powerful technologies: how they are released publicly directly shapes their societal impact. In this position paper, we focus on *open* foundation models, defined here as those with broadly available model weights (e.g., Llama 3, Stable Diffusion XL). We identify five distincti…
Estimating value functions is a core component of reinforcement learning algorithms. Temporal difference (TD) learning algorithms use bootstrapping, i.e. they update the value function toward a learning target using value estimates at subsequent time-steps. Alternatively, the value function can be u…
We propose a simple and effective re-ranking method for improving passage retrieval in open question answering. The re-ranker re-scores retrieved passages with a zero-shot question generation model, which uses a pre-trained language model to compute the probability of the input question conditioned…
In the online continual learning paradigm, agents must learn from a changing distribution while respecting memory and compute constraints. Experience Replay (ER), where a small subset of past data is stored and replayed alongside new data, has emerged as a simple and effective learning strategy. In…
Reinforcement learning (RL) agents need to be robust to variations in safety-critical environments. While system identification methods provide a way to infer the variation from online experience, they can fail in settings where fast identification is not possible. Another dominant approach is robus…
Transformer language models encode the notion of word order using positional information. Most commonly, this positional information is represented by absolute position embeddings (APEs), that are learned from the pretraining data. However, in natural language, it is not absolute position that matte…
Training an agent to solve control tasks directly from high-dimensional images with model-free reinforcement learning (RL) has proven difficult. A promising approach is to learn a latent representation together with the control policy. However, fitting a high-capacity encoder using a scarce reward s…
Many control tasks exhibit similar dynamics that can be modeled as having common latent structure. Hidden-Parameter Markov Decision Processes (HiP-MDPs) explicitly model this structure to improve sample efficiency in multi-task settings. However, this setting makes strong assumptions on the observab…
A possible explanation for the impressive performance of masked language model (MLM) pre-training is that such models have learned to represent the syntactic structures prevalent in classical NLP pipelines. In this paper, we propose a different explanation: MLMs succeed on downstream tasks almost en…
We study the problem of Safe Policy Improvement (SPI) under constraints in the offline Reinforcement Learning (RL) setting. We consider the scenario where: (i) we have a dataset collected under a known baseline policy, (ii) multiple reward signals are received from the environment inducing as many o…
https://drive.google.com/file/d/1lRV72XaKoxZjgQrLXBJhsM82x54_1Vc4/view?usp=sharing
We consider the offline reinforcement learning (RL) setting where the agent aims to optimize the policy solely from the data without further environment interactions. In offline RL, the distributional shift becomes the primary source of difficulty, which arises from the deviation of the target polic…
Inverse Reinforcement Learning (IRL) aims to facilitate a learner’s ability to imitate expert behavior by acquiring reward functions that explain the expert’s decisions. Regularized IRLapplies strongly convex regularizers to the learner’s policy in order to avoid the expert’s behavior being rational…
Rapid progress in Neural Machine Translation (NMT) systems over the last few years has focused primarily on improving translation quality, and as a secondary focus, improving robustness to perturbations (e.g. spelling). While performance and robustness are important objectives, by over-focusing on t…
Recent investigations into the inner-workings of state-of-the-art large-scale pre-trained Transformer-based Natural Language Understanding (NLU) models indicate that they appear to understand human-like syntax, at least to some extent. We provide novel evidence that complicates this claim: we find t…
Adversarial Imitation Learning alternates between learning a discriminator -- which tells apart expert's demonstrations from generated ones -- and a generator's policy to produce trajectories that can fool this discriminator. This alternated optimization is known to be delicate in practice since it…
Although Reinforcement Learning (RL) algorithms have found tremendous success in simulated domains, they often cannot directly be applied to physical systems, especially in cases where there are hard constraints to satisfy (e.g. on safety or resources). In standard RL, the agent is incentivized to e…
By virtue of their expressive power, neural networks (NNs) are well suited to fitting large, complex datasets, yet they are also known to produce similar predictions for points outside the training distribution. As such, they are, like humans, under the influence of the Black Swan theory: models…
We study the link between generalization and interference in temporal-difference (TD) learning. Interference is defined as the inner product of two different gradients, representing their alignment; this quantity emerges as being of interest from a variety of observations about neural networks, para…
Generalization across environments is critical to the successful application of reinforcement learning (RL) algorithms to real-world challenges. In this work we propose a method for learning state abstractions which generalize to novel observation distributions in the multi-environment RL setting. W…
Traditional natural language generation (NLG) models are trained using maximum likelihood estimation (MLE) which differs from the sample generation inference procedure. During training the ground truth tokens are passed to the model, however, during inference, the model instead reads its previously…
We present a new approach for efficient exploration which leverages a low-dimensional encoding of the environment learned with a combination of model-based and model-free objectives. Our approach uses intrinsic rewards that are based on the distance of nearest neighbors in the low dimensional repre…
When an agent has limited information on its environment, the suboptimality of an RL algorithm can be decomposed into the sum of two terms: a term related to an asymptotic bias (suboptimality with unlimited data) and a term due to overfitting (additional suboptimality due to limited data). In the co…
A promising approach for teaching artificial agents to use natural language involves using human-in-the-loop training. However, recent work suggests that current machine learning methods are too data inefficient to be trained in this way from scratch. In this paper, we investigate the relationship b…
We introduce and study the problem of Online Continual Compression, where one attempts to simultaneously learn to compress and store a representative dataset from a non i.i.d data stream, while only observing each sample once. A naive application of auto-encoder in this setting encounters a major ch…
Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO) are among the most successful policy gradient approaches in deep reinforcement learning (RL). While these methods achieve state-of-the-art performance across a wide range of challenging tasks, there is room for improvemen…
Building models capable of generating structured output is a key challenge for AI and robotics. While generative models have been explored on many types of data, little work has been done on synthesizing lidar scans, which play a key role in robot mapping and localization. In this work, we show that…
Multi-simulator training has contributed to the recent success of Deep Reinforcement Learning (Deep RL) by stabilizing learning and allowing for higher training throughputs. In this work, we propose Gossip-based Actor-Learner Architectures (GALA) where several actor-learners (such as A2C agents) are…
The ability to discover approximately optimal policies in domains with sparse rewards is crucial to applying reinforcement learning (RL) in many real-world scenarios. Approaches such as neural density models and continuous exploration (e.g., Go-Explore) have been proposed to maintain the high explor
In this paper, we study the problem of multitask metric learning (mtML). We first examine the generalization bound of the regularized mtML formulation based on the notion of algorithmic stability, proving the convergence rate of mtML and revealing the trade-off between the tasks. Moreover, we also e…
Diplomacy is a seven-player non-stochastic, non-cooperative game, where agents acquire resources through a mix of teamwork and betrayal. Reliance on trust and coordination makes Diplomacy the first non-cooperative multi-agent benchmark for complex sequential social dilemmas in a rich environment. In…
Randomized value functions offer a promising approach towards the challenge of efficient exploration in complex environments with high dimensional state and action spaces. Unlike traditional point estimate methods, randomized value functions maintain a posterior distribution over action-space values…
In many finite horizon episodic reinforcement learning (RL) settings, it is desirable to optimize for the undiscounted return - in settings like Atari, for instance, the goal is to collect the most points while staying alive in the long run. Yet, it may be difficult (or even intractable) mathematica…
We propose a targeted communication architecture for multi-agent reinforcement learning, where agents learn both
In the pursuit of increasingly intelligent learning systems, abstraction plays a vital role in enabling sophisticated decisions to be made in complex environments. The options framework provides formalism for such abstraction over sequences of decisions. However most models require that options be g…
Recurrent Neural Networks (RNNs) with attention mechanisms have obtained state-of-the-art results for many sequence processing tasks. Most of these models use a simple form of encoder with attention that looks over the entire sequence and assigns a weight to each token independently. We present a me…
Reinforcement Learning (RL) agents require the specification of a reward signal for learning behaviours. However, introduction of corrupt or stochastic rewards can yield high variance in learning. Such corruption may be a direct result of goal misspecification, randomness in the reward signal, or co
Several applications of Reinforcement Learning suffer from instability due to high variance. This is especially prevalent in high dimensional domains. Regularization is a commonly used technique in machine learning to reduce variance, at the cost of introducing some bias. Most existing regularizatio…
We present an approach to training neural networks to generate sequences using actor-critic methods from reinforcement learning (RL). Current log-likelihood training methods are limited by the discrepancy between their training and testing modes, as models must generate tokens conditioned on their p…
We consider the problem of estimating multiple related functions computed by weighted automata~(WFA). We first present a natural notion of relatedness between WFAs by considering to which extent several WFAs can share a common underlying representation. We then introduce the model of vector-valued…
Automatically evaluating the quality of dialogue responses for unstructured domains is a challenging problem. Unfortunately, existing automatic evaluation metrics are biased and correlate very poorly with human judgements of response quality (Liu et al., 2016). Yet having an accurate automatic evalu…
Robot systems deployed in real-world environments often need to interact with other dynamic objects, such as pedestrians, cars, bicycles or other vehicles. In such cases, it is useful to have a good predictive model of the object's motion to factor in when optimizing the robot's own behaviour. In th
Wheelchairs play an important role for people living with locomotor impairments. However, power wheelchair users frequently report both minor and major accidents. The goal of this paper is to advocate for the use of robotic technology, in particular sensor-based detection and automatic classificatio…
Having accurate knowledge of the positions of people around a robot provides rich, objective and quantitative data that can be highly useful for a wide range of tasks, including autonomous person following. The primary objective of this research is to promote the development of robust, repeatable an…