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Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics. However, a major challenge in training agents from learned reward models is that the agent can learn to exploit errors in the reward model to achieve high reward behaviors that do not correspond to the intended task. These reward delusions can lead to unintended and even dangerous behaviors. On the other hand, adversarial imitation learning frameworks tend to suffer the opposite problem, where the discriminator learns to trivially distinguish agent and expert behavior, resulting in reward models that produce low reward signal regardless of the input state. In this paper, we connect these two classes of reward learning methods to positive-unlabeled (PU) learning, and we show that by applying a large-scale PU learning algorithm to the reward learning problem, we can address both the reward under- and over-estimation problems simultaneously. Our approach drastically improves both GAIL and supervised reward learning, without any additional assumptions.
Positive-Unlabeled (PU) learning is an analog to supervised binary classification for the case when only the positive sample is clean, while the negative sample is contaminated with latent instances of positive class and hence can be considered as an
Learning from positive and unlabeled data (PU learning) is prevalent in practical applications where only a couple of examples are positively labeled. Previous PU learning studies typically rely on existing samples such that the data distribution is
This paper defines a positive and unlabeled classification problem for standard GANs, which then leads to a novel technique to stabilize the training of the discriminator in GANs. Traditionally, real data are taken as positive while generated data ar
Understanding the relationships between biomedical terms like viruses, drugs, and symptoms is essential in the fight against diseases. Many attempts have been made to introduce the use of machine learning to the scientific process of hypothesis gener
Positive-unlabeled learning refers to the process of training a binary classifier using only positive and unlabeled data. Although unlabeled data can contain positive data, all unlabeled data are regarded as negative data in existing positive-unlabel