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Deep reinforcement learning suggests the promise of fully automated learning of robotic control policies that directly map sensory inputs to low-level actions. However, applying deep reinforcement learning methods on real-world robots is exceptionally difficult, due both to the sample complexity and, just as importantly, the sensitivity of such methods to hyperparameters. While hyperparameter tuning can be performed in parallel in simulated domains, it is usually impractical to tune hyperparameters directly on real-world robotic platforms, especially legged platforms like quadrupedal robots that can be damaged through extensive trial-and-error learning. In this paper, we develop a stable variant of the soft actor-critic deep reinforcement learning algorithm that requires minimal hyperparameter tuning, while also requiring only a modest number of trials to learn multilayer neural network policies. This algorithm is based on the framework of maximum entropy reinforcement learning, and automatically trades off exploration against exploitation by dynamically and automatically tuning a temperature parameter that determines the stochasticity of the policy. We show that this method achieves state-of-the-art performance on four standard benchmark environments. We then demonstrate that it can be used to learn quadrupedal locomotion gaits on a real-world Minitaur robot, learning to walk from scratch directly in the real world in two hours of training.

Deep learning has been shown successful in a number of domains, ranging from acoustics, images to natural language processing. However, applying deep learning to the ubiquitous graph data is non-trivial because of the unique characteristics of graphs. Recently, a significant amount of research efforts have been devoted to this area, greatly advancing graph analyzing techniques. In this survey, we comprehensively review different kinds of deep learning methods applied to graphs. We divide existing methods into three main categories: semi-supervised methods including Graph Neural Networks and Graph Convolutional Networks, unsupervised methods including Graph Autoencoders, and recent advancements including Graph Recurrent Neural Networks and Graph Reinforcement Learning. We then provide a comprehensive overview of these methods in a systematic manner following their history of developments. We also analyze the differences of these methods and how to composite different architectures. Finally, we briefly outline their applications and discuss potential future directions.

Recently it has shown that the policy-gradient methods for reinforcement learning have been utilized to train deep end-to-end systems on natural language processing tasks. What's more, with the complexity of understanding image content and diverse ways of describing image content in natural language, image captioning has been a challenging problem to deal with. To the best of our knowledge, most state-of-the-art methods follow a pattern of sequential model, such as recurrent neural networks (RNN). However, in this paper, we propose a novel architecture for image captioning with deep reinforcement learning to optimize image captioning tasks. We utilize two networks called "policy network" and "value network" to collaboratively generate the captions of images. The experiments are conducted on Microsoft COCO dataset, and the experimental results have verified the effectiveness of the proposed method.

Most existing video summarisation methods are based on either supervised or unsupervised learning. In this paper, we propose a reinforcement learning-based weakly supervised method that exploits easy-to-obtain, video-level category labels and encourages summaries to contain category-related information and maintain category recognisability. Specifically, We formulate video summarisation as a sequential decision-making process and train a summarisation network with deep Q-learning (DQSN). A companion classification network is also trained to provide rewards for training the DQSN. With the classification network, we develop a global recognisability reward based on the classification result. Critically, a novel dense ranking-based reward is also proposed in order to cope with the temporally delayed and sparse reward problems for long sequence reinforcement learning. Extensive experiments on two benchmark datasets show that the proposed approach achieves state-of-the-art performance.

In recent years, a specific machine learning method called deep learning has gained huge attraction, as it has obtained astonishing results in broad applications such as pattern recognition, speech recognition, computer vision, and natural language processing. Recent research has also been shown that deep learning techniques can be combined with reinforcement learning methods to learn useful representations for the problems with high dimensional raw data input. This chapter reviews the recent advances in deep reinforcement learning with a focus on the most used deep architectures such as autoencoders, convolutional neural networks and recurrent neural networks which have successfully been come together with the reinforcement learning framework.

Meta-learning is a powerful tool that builds on multi-task learning to learn how to quickly adapt a model to new tasks. In the context of reinforcement learning, meta-learning algorithms can acquire reinforcement learning procedures to solve new problems more efficiently by meta-learning prior tasks. The performance of meta-learning algorithms critically depends on the tasks available for meta-training: in the same way that supervised learning algorithms generalize best to test points drawn from the same distribution as the training points, meta-learning methods generalize best to tasks from the same distribution as the meta-training tasks. In effect, meta-reinforcement learning offloads the design burden from algorithm design to task design. If we can automate the process of task design as well, we can devise a meta-learning algorithm that is truly automated. In this work, we take a step in this direction, proposing a family of unsupervised meta-learning algorithms for reinforcement learning. We describe a general recipe for unsupervised meta-reinforcement learning, and describe an effective instantiation of this approach based on a recently proposed unsupervised exploration technique and model-agnostic meta-learning. We also discuss practical and conceptual considerations for developing unsupervised meta-learning methods. Our experimental results demonstrate that unsupervised meta-reinforcement learning effectively acquires accelerated reinforcement learning procedures without the need for manual task design, significantly exceeds the performance of learning from scratch, and even matches performance of meta-learning methods that use hand-specified task distributions.

Deep hierarchical reinforcement learning has gained a lot of attention in recent years due to its ability to produce state-of-the-art results in challenging environments where non-hierarchical frameworks fail to learn useful policies. However, as problem domains become more complex, deep hierarchical reinforcement learning can become inefficient, leading to longer convergence times and poor performance. We introduce the Deep Nested Agent framework, which is a variant of deep hierarchical reinforcement learning where information from the main agent is propagated to the low level $nested$ agent by incorporating this information into the nested agent's state. We demonstrate the effectiveness and performance of the Deep Nested Agent framework by applying it to three scenarios in Minecraft with comparisons to a deep non-hierarchical single agent framework, as well as, a deep hierarchical framework.

Recommender systems can mitigate the information overload problem by suggesting users' personalized items. In real-world recommendations such as e-commerce, a typical interaction between the system and its users is -- users are recommended a page of items and provide feedback; and then the system recommends a new page of items. To effectively capture such interaction for recommendations, we need to solve two key problems -- (1) how to update recommending strategy according to user's \textit{real-time feedback}, and 2) how to generate a page of items with proper display, which pose tremendous challenges to traditional recommender systems. In this paper, we study the problem of page-wise recommendations aiming to address aforementioned two challenges simultaneously. In particular, we propose a principled approach to jointly generate a set of complementary items and the corresponding strategy to display them in a 2-D page; and propose a novel page-wise recommendation framework based on deep reinforcement learning, DeepPage, which can optimize a page of items with proper display based on real-time feedback from users. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.

Weakly supervised object detection has recently received much attention, since it only requires image-level labels instead of the bounding-box labels consumed in strongly supervised learning. Nevertheless, the save in labeling expense is usually at the cost of model accuracy. In this paper, we propose a simple but effective weakly supervised collaborative learning framework to resolve this problem, which trains a weakly supervised learner and a strongly supervised learner jointly by enforcing partial feature sharing and prediction consistency. For object detection, taking WSDDN-like architecture as weakly supervised detector sub-network and Faster-RCNN-like architecture as strongly supervised detector sub-network, we propose an end-to-end Weakly Supervised Collaborative Detection Network. As there is no strong supervision available to train the Faster-RCNN-like sub-network, a new prediction consistency loss is defined to enforce consistency of predictions between the two sub-networks as well as within the Faster-RCNN-like sub-networks. At the same time, the two detectors are designed to partially share features to further guarantee the model consistency at perceptual level. Extensive experiments on PASCAL VOC 2007 and 2012 data sets have demonstrated the effectiveness of the proposed framework.