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Register a new userTowards robust and domain agnostic reinforcement learning competitions
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William Guss
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Reinforcement learning competitions have formed the basis for standard research benchmarks, galvanized advances in the state-of-the-art, and shaped the direction of the field. Despite this, a majority of challenges suffer from the same fundamental problems: participant solutions to the posed challenge are usually domain-specific, biased to maximally exploit compute resources, and not guaranteed to be reproducible. In this paper, we present a new framework of competition design that promotes the development of algorithms that overcome these barriers. We propose four central mechanisms for achieving this end: submission retraining, domain randomization, desemantization through domain obfuscation, and the limitation of competition compute and environment-sample budget. To demonstrate the efficacy of this design, we proposed, organized, and ran the MineRL 2020 Competition on Sample-Efficient Reinforcement Learning. In this work, we describe the organizational outcomes of the competition and show that the resulting participant submissions are reproducible, non-specific to the competition environment, and sample/resource efficient, despite the difficult competition task.
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Producing agents that can generalize to a wide range of visually different environments is a significant challenge in reinforcement learning. One method for overcoming this issue is visual domain randomization, whereby at the start of each training episode some visual aspects of the environment are randomized so that the agent is exposed to many possible variations. However, domain randomization is highly inefficient and may lead to policies with high variance across domains. Instead, we propose a regularization method whereby the agent is only trained on one variation of the environment, and its learned state representations are regularized during training to be invariant across domains. We conduct experiments that demonstrate that our technique leads to more efficient and robust learning than standard domain randomization, while achieving equal generalization scores.
Big progress has been achieved in domain adaptation in decades. Existing works are always based on an ideal assumption that testing target domain are i.i.d. with training target domains. However, due to unpredictable corruptions (e.g., noise and blur) in real data like web images, domain adaptation methods are increasingly required to be corruption robust on target domains. In this paper, we investigate a new task, Corruption-agnostic Robust Domain Adaptation (CRDA): to be accurate on original data and robust against unavailable-for-training corruptions on target domains. This task is non-trivial due to large domain discrepancy and unsupervised target domains. We observe that simple combinations of popular methods of domain adaptation and corruption robustness have sub-optimal CRDA results. We propose a new approach based on two technical insights into CRDA: 1) an easy-to-plug module called Domain Discrepancy Generator (DDG) that generates samples that enlarge domain discrepancy to mimic unpredictable corruptions; 2) a simple but effective teacher-student scheme with contrastive loss to enhance the constraints on target domains. Experiments verify that DDG keeps or even improves performance on original data and achieves better corruption robustness that baselines.
Reinforcement learning agents often forget details of the past, especially after delays or distractor tasks. Agents with common memory architectures struggle to recall and integrate across multiple timesteps of a past event, or even to recall the details of a single timestep that is followed by distractor tasks. To address these limitations, we propose a Hierarchical Transformer Memory (HTM), which helps agents to remember the past in detail. HTM stores memories by dividing the past into chunks, and recalls by first performing high-level attention over coarse summaries of the chunks, and then performing detailed attention within only the most relevant chunks. An agent with HTM can therefore mentally time-travel -- remember past events in detail without attending to all intervening events. We show that agents with HTM substantially outperform agents with other memory architectures at tasks requiring long-term recall, retention, or reasoning over memory. These include recalling where an object is hidden in a 3D environment, rapidly learning to navigate efficiently in a new neighborhood, and rapidly learning and retaining new object names. Agents with HTM can extrapolate to task sequences an order of magnitude longer than they were trained on, and can even generalize zero-shot from a meta-learning setting to maintaining knowledge across episodes. HTM improves agent sample efficiency, generalization, and generality (by solving tasks that previously required specialized architectures). Our work is a step towards agents that can learn, interact, and adapt in complex and temporally-extended environments.
In this paper, we propose Domain Agnostic Meta Score-based Learning (DAMSL), a novel, versatile and highly effective solution that delivers significant out-performance over state-of-the-art methods for cross-domain few-shot learning. We identify key problems in previous meta-learning methods over-fitting to the source domain, and previous transfer-learning methods under-utilizing the structure of the support set. The core idea behind our method is that instead of directly using the scores from a fine-tuned feature encoder, we use these scores to create input coordinates for a domain agnostic metric space. A graph neural network is applied to learn an embedding and relation function over these coordinates to process all information contained in the score distribution of the support set. We test our model on both established CD-FSL benchmarks and new domains and show that our method overcomes the limitations of previous meta-learning and transfer-learning methods to deliver substantial improvements in accuracy across both smaller and larger domain shifts.
Providing Reinforcement Learning agents with expert advice can dramatically improve various aspects of learning. Prior work has developed teaching protocols that enable agents to learn efficiently in complex environments; many of these methods tailor the teachers guidance to agents with a particular representation or underlying learning scheme, offering effective but specialized teaching procedures. In this work, we explore protocol programs, an agent-agnostic schema for Human-in-the-Loop Reinforcement Learning. Our goal is to incorporate the beneficial properties of a human teacher into Reinforcement Learning without making strong assumptions about the inner workings of the agent. We show how to represent existing approaches such as action pruning, reward shaping, and training in simulation as special cases of our schema and conduct preliminary experiments on simple domains.
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