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Register a new userLearning Algorithmic Solutions to Symbolic Planning Tasks with a Neural Computer Architecture
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Added by
Daniel Tanneberg
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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A key feature of intelligent behavior is the ability to learn abstract strategies that transfer to unfamiliar problems. Therefore, we present a novel architecture, based on memory-augmented networks, that is inspired by the von Neumann and Harvard architectures of modern computers. This architecture enables the learning of abstract algorithmic solutions via Evolution Strategies in a reinforcement learning setting. Applied to Sokoban, sliding block puzzle and robotic manipulation tasks, we show that the architecture can learn algorithmic solutions with strong generalization and abstraction: scaling to arbitrary task configurations and complexities, and being independent of both the data representation and the task domain.
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We present a neural architecture search algorithm to construct compact reinforcement learning (RL) policies, by combining ENAS and ES in a highly scalable and intuitive way. By defining the combinatorial search space of NAS to be the set of different edge-partitionings (colorings) into same-weight classes, we represent compact architectures via efficient learned edge-partitionings. For several RL tasks, we manage to learn colorings translating to effective policies parameterized by as few as $17$ weight parameters, providing >90% compression over vanilla policies and 6x compression over state-of-the-art compact policies based on Toeplitz matrices, while still maintaining good reward. We believe that our work is one of the first attempts to propose a rigorous approach to training structured neural network architectures for RL problems that are of interest especially in mobile robotics with limited storage and computational resources.
A key feature of intelligent behaviour is the ability to learn abstract strategies that scale and transfer to unfamiliar problems. An abstract strategy solves every sample from a problem class, no matter its representation or complexity -- like algorithms in computer science. Neural networks are powerful models for processing sensory data, discovering hidden patterns, and learning complex functions, but they struggle to learn such iterative, sequential or hierarchical algorithmic strategies. Extending neural networks with external memories has increased their capacities in learning such strategies, but they are still prone to data variations, struggle to learn scalable and transferable solutions, and require massive training data. We present the Neural Harvard Computer (NHC), a memory-augmented network based architecture, that employs abstraction by decoupling algorithmic operations from data manipulations, realized by splitting the information flow and separated modules. This abstraction mechanism and evolutionary training enable the learning of robust and scalable algorithmic solutions. On a diverse set of 11 algorithms with varying complexities, we show that the NHC reliably learns algorithmic solutions with strong generalization and abstraction: perfect generalization and scaling to arbitrary task configurations and complexities far beyond seen during training, and being independent of the data representation and the task domain.
Robotic planning problems in hybrid state and action spaces can be solved by integrated task and motion planners (TAMP) that handle the complex interaction between motion-level decisions and task-level plan feasibility. TAMP approaches rely on domain-specific symbolic operators to guide the task-level search, making planning efficient. In this work, we formalize and study the problem of operator learning for TAMP. Central to this study is the view that operators define a lossy abstraction of the transition model of a domain. We then propose a bottom-up relational learning method for operator learning and show how the learned operators can be used for planning in a TAMP system. Experimentally, we provide results in three domains, including long-horizon robotic planning tasks. We find our approach to substantially outperform several baselines, including three graph neural network-based model-free approaches from the recent literature. Video: https://youtu.be/iVfpX9BpBRo Code: https://git.io/JCT0g
A key problem in deep multi-attribute learning is to effectively discover the inter-attribute correlation structures. Typically, the conventional deep multi-attribute learning approaches follow the pipeline of manually designing the network architectures based on task-specific expertise prior knowledge and careful network tunings, leading to the inflexibility for various complicated scenarios in practice. Motivated by addressing this problem, we propose an efficient greedy neural architecture search approach (GNAS) to automatically discover the optimal tree-like deep architecture for multi-attribute learning. In a greedy manner, GNAS divides the optimization of global architecture into the optimizations of individual connections step by step. By iteratively updating the local architectures, the global tree-like architecture gets converged where the bottom layers are shared across relevant attributes and the branches in top layers more encode attribute-specific features. Experiments on three benchmark multi-attribute datasets show the effectiveness and compactness of neural architectures derived by GNAS, and also demonstrate the efficiency of GNAS in searching neural architectures.
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning and deep learning in a principled manner, and thus combine the benefits of model-free and model-based methods. We apply the proposed approach to a challenging partially observable robot navigation task. The robot must navigate to a goal in a previously unseen 3-D environment without knowing its initial location, and instead relying on a 2-D floor map and visual observations from an onboard camera. We introduce the Navigation Networks (NavNets) that encode state estimation, planning and acting in a single, end-to-end trainable recurrent neural network. In preliminary simulation experiments we successfully trained navigation networks to solve the challenging partially observable navigation task.
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