Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userMitigating Covariate Shift in Imitation Learning via Offline Data Without Great Coverage
107
0
0.0
(
0
)
Ask ChatGPT about the research
No Arabic abstract
This paper studies offline Imitation Learning (IL) where an agent learns to imitate an expert demonstrator without additional online environment interactions. Instead, the learner is presented with a static offline dataset of state-action-next state transition triples from a potentially less proficient behavior policy. We introduce Model-based IL from Offline data (MILO): an algorithmic framework that utilizes the static dataset to solve the offline IL problem efficiently both in theory and in practice. In theory, even if the behavior policy is highly sub-optimal compared to the expert, we show that as long as the data from the behavior policy provides sufficient coverage on the expert state-action traces (and with no necessity for a global coverage over the entire state-action space), MILO can provably combat the covariate shift issue in IL. Complementing our theory results, we also demonstrate that a practical implementation of our approach mitigates covariate shift on benchmark MuJoCo continuous control tasks. We demonstrate that with behavior policies whose performances are less than half of that of the expert, MILO still successfully imitates with an extremely low number of expert state-action pairs while traditional offline IL method such as behavior cloning (BC) fails completely. Source code is provided at https://github.com/jdchang1/milo.
rate research
Read More
In many situations, we need to build and deploy separate models in related environments with different data qualities. For example, an environment with strong observation equipments (e.g., intensive care units) often provides high-quality multi-modal data, which are acquired from multiple sensory devices and have rich-feature representations. On the other hand, an environment with poor observation equipment (e.g., at home) only provides low-quality, uni-modal data with poor-feature representations. To deploy a competitive model in a poor-data environment without requiring direct access to multi-modal data acquired from a rich-data environment, this paper develops and presents a knowledge distillation (KD) method (RDPD) to enhance a predictive model trained on poor data using knowledge distilled from a high-complexity model trained on rich, private data. We evaluated RDPD on three real-world datasets and shown that its distilled model consistently outperformed all baselines across all datasets, especially achieving the greatest performance improvement over a model trained only on low-quality data by 24.56% on PR-AUC and 12.21% on ROC-AUC, and over that of a state-of-the-art KD model by 5.91% on PR-AUC and 4.44% on ROC-AUC.
When performing imitation learning from expert demonstrations, distribution matching is a popular approach, in which one alternates between estimating distribution ratios and then using these ratios as rewards in a standard reinforcement learning (RL) algorithm. Traditionally, estimation of the distribution ratio requires on-policy data, which has caused previous work to either be exorbitantly data-inefficient or alter the original objective in a manner that can drastically change its optimum. In this work, we show how the original distribution ratio estimation objective may be transformed in a principled manner to yield a completely off-policy objective. In addition to the data-efficiency that this provides, we are able to show that this objective also renders the use of a separate RL optimization unnecessary.Rather, an imitation policy may be learned directly from this objective without the use of explicit rewards. We call the resulting algorithm ValueDICE and evaluate it on a suite of popular imitation learning benchmarks, finding that it can achieve state-of-the-art sample efficiency and performance.
Approximate Bayesian inference for neural networks is considered a robust alternative to standard training, often providing good performance on out-of-distribution data. However, Bayesian neural networks (BNNs) with high-fidelity approximate inference via full-batch Hamiltonian Monte Carlo achieve poor generalization under covariate shift, even underperforming classical estimation. We explain this surprising result, showing how a Bayesian model average can in fact be problematic under covariate shift, particularly in cases where linear dependencies in the input features cause a lack of posterior contraction. We additionally show why the same issue does not affect many approximate inference procedures, or classical maximum a-posteriori (MAP) training. Finally, we propose novel priors that improve the robustness of BNNs to many sources of covariate shift.
Covariate shift has been shown to sharply degrade both predictive accuracy and the calibration of uncertainty estimates for deep learning models. This is worrying, because covariate shift is prevalent in a wide range of real world deployment settings. However, in this paper, we note that frequently there exists the potential to access small unlabeled batches of the shifted data just before prediction time. This interesting observation enables a simple but surprisingly effective method which we call prediction-time batch normalization, which significantly improves model accuracy and calibration under covariate shift. Using this one line code change, we achieve state-of-the-art on recent covariate shift benchmarks and an mCE of 60.28% on the challenging ImageNet-C dataset; to our knowledge, this is the best result for any model that does not incorporate additional data augmentation or modification of the training pipeline. We show that prediction-time batch normalization provides complementary benefits to existing state-of-the-art approaches for improving robustness (e.g. deep ensembles) and combining the two further improves performance. Our findings are supported by detailed measurements of the effect of this strategy on model behavior across rigorous ablations on various dataset modalities. However, the method has mixed results when used alongside pre-training, and does not seem to perform as well under more natural types of dataset shift, and is therefore worthy of additional study. We include links to the data in our figures to improve reproducibility, including a Python notebooks that can be run to easily modify our analysis at https://colab.research.google.com/drive/11N0wDZnMQQuLrRwRoumDCrhSaIhkqjof.
As methods to create discrimination-aware models develop, they focus on centralized ML, leaving federated learning (FL) unexplored. FL is a rising approach for collaborative ML, in which an aggregator orchestrates multiple parties to train a global model without sharing their training data. In this paper, we discuss causes of bias in FL and propose three pre-processing and in-processing methods to mitigate bias, without compromising data privacy, a key FL requirement. As data heterogeneity among parties is one of the challenging characteristics of FL, we conduct experiments over several data distributions to analyze their effects on model performance, fairness metrics, and bias learning patterns. We conduct a comprehensive analysis of our proposed techniques, the results demonstrating that these methods are effective even when parties have skewed data distributions or as little as 20% of parties employ the methods.
suggested questions
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
