Preference based Reinforcement Learning (PbRL) removes the need to hand specify a reward function by learning a reward from preference feedback over policy behaviors. Current approaches to PbRL do not address the credit assignment problem inherent in determining which parts of a behavior most contributed to a preference, which result in data intensive approaches and subpar reward functions. We address such limitations by introducing a credit assignment strategy (Hindsight PRIOR) that uses a world model to approximate state importance within a trajectory and then guides rewards to be proportional to state importance through an auxiliary predicted return redistribution objective. Incorporating state importance into reward learning improves the speed of policy learning, overall policy performance, and reward recovery on both locomotion and manipulation tasks. For example, Hindsight PRIOR recovers on average significantly (p<0.05) more reward on MetaWorld (20%) and DMC (15%). The performance gains and our ablations demonstrate the benefits even a simple credit assignment strategy can have on reward learning and that state importance in forward dynamics prediction is a strong proxy for a state's contribution to a preference decision. Code repository can be found at //github.com/apple/ml-rlhf-hindsight-prior.
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We investigate the feasibility of deploying reinforcement learning (RL) policies for constrained crowd navigation using a low-fidelity simulator. We introduce a representation of the dynamic environment, separating human and obstacle representations. Humans are represented through detected states, while obstacles are represented as computed point clouds based on maps and robot localization. This representation enables RL policies trained in a low-fidelity simulator to deploy in real world with a reduced sim2real gap. Additionally, we propose a spatio-temporal graph to model the interactions between agents and obstacles. Based on the graph, we use attention mechanisms to capture the robot-human, human-human, and human-obstacle interactions. Our method significantly improves navigation performance in both simulated and real-world environments. Video demonstrations can be found at //sites.google.com/view/constrained-crowdnav/home.
Entity alignment (EA) aims to merge two knowledge graphs (KGs) by identifying equivalent entity pairs. While existing methods heavily rely on human-generated labels, it is prohibitively expensive to incorporate cross-domain experts for annotation in real-world scenarios. The advent of Large Language Models (LLMs) presents new avenues for automating EA with annotations, inspired by their comprehensive capability to process semantic information. However, it is nontrivial to directly apply LLMs for EA since the annotation space in real-world KGs is large. LLMs could also generate noisy labels that may mislead the alignment. To this end, we propose a unified framework, LLM4EA, to effectively leverage LLMs for EA. Specifically, we design a novel active learning policy to significantly reduce the annotation space by prioritizing the most valuable entities based on the entire inter-KG and intra-KG structure. Moreover, we introduce an unsupervised label refiner to continuously enhance label accuracy through in-depth probabilistic reasoning. We iteratively optimize the policy based on the feedback from a base EA model. Extensive experiments demonstrate the advantages of LLM4EA on four benchmark datasets in terms of effectiveness, robustness, and efficiency.
Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own drawbacks, limiting its efficacy in real robot setups. In this work, we take one step towards improving learning from demonstration algorithms by leveraging implicit energy-based policy models. Results suggest that in selected complex robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used neural network-based explicit models, especially in the cases of approximating potentially discontinuous and multimodal functions.
Federated learning (FL) has enabled distributed learning of a model across multiple clients in a privacy-preserving manner. One of the main challenges of FL is to accommodate clients with varying hardware capacities; clients have differing compute and memory requirements. To tackle this challenge, recent state-of-the-art approaches leverage the use of early exits. Nonetheless, these approaches fall short of mitigating the challenges of joint learning multiple exit classifiers, often relying on hand-picked heuristic solutions for knowledge distillation among classifiers and/or utilizing additional layers for weaker classifiers. In this work, instead of utilizing multiple classifiers, we propose a recurrent early exit approach named ReeFL that fuses features from different sub-models into a single shared classifier. Specifically, we use a transformer-based early-exit module shared among sub-models to i) better exploit multi-layer feature representations for task-specific prediction and ii) modulate the feature representation of the backbone model for subsequent predictions. We additionally present a per-client self-distillation approach where the best sub-model is automatically selected as the teacher of the other sub-models at each client. Our experiments on standard image and speech classification benchmarks across various emerging federated fine-tuning baselines demonstrate ReeFL's effectiveness over previous works.
In the context of reinforcement learning from human feedback (RLHF), the reward function is generally derived from maximum likelihood estimation of a random utility model based on pairwise comparisons made by humans. The problem of learning a reward function is one of preference aggregation that, we argue, largely falls within the scope of social choice theory. From this perspective, we can evaluate different aggregation methods via established axioms, examining whether these methods meet or fail well-known standards. We demonstrate that both the Bradley-Terry-Luce Model and its broad generalizations fail to meet basic axioms. In response, we develop novel rules for learning reward functions with strong axiomatic guarantees. A key innovation from the standpoint of social choice is that our problem has a linear structure, which greatly restricts the space of feasible rules and leads to a new paradigm that we call linear social choice.
Reinforcement learning (RL) provides a compelling framework for enabling autonomous vehicles to continue to learn and improve diverse driving behaviors on their own. However, training real-world autonomous vehicles with current RL algorithms presents several challenges. One critical challenge, often overlooked in these algorithms, is the need to reset a driving environment between every episode. While resetting an environment after each episode is trivial in simulated settings, it demands significant human intervention in the real world. In this paper, we introduce a novel autonomous algorithm that allows off-the-shelf RL algorithms to train an autonomous vehicle with minimal human intervention. Our algorithm takes into account the learning progress of the autonomous vehicle to determine when to abort episodes before it enters unsafe states and where to reset it for subsequent episodes in order to gather informative transitions. The learning progress is estimated based on the novelty of both current and future states. We also take advantage of rule-based autonomous driving algorithms to safely reset an autonomous vehicle to an initial state. We evaluate our algorithm against baselines on diverse urban driving tasks. The experimental results show that our algorithm is task-agnostic and achieves better driving performance with fewer manual resets than baselines.
Retrieval-Augmented Generation (RAG) merges retrieval methods with deep learning advancements to address the static limitations of large language models (LLMs) by enabling the dynamic integration of up-to-date external information. This methodology, focusing primarily on the text domain, provides a cost-effective solution to the generation of plausible but incorrect responses by LLMs, thereby enhancing the accuracy and reliability of their outputs through the use of real-world data. As RAG grows in complexity and incorporates multiple concepts that can influence its performance, this paper organizes the RAG paradigm into four categories: pre-retrieval, retrieval, post-retrieval, and generation, offering a detailed perspective from the retrieval viewpoint. It outlines RAG's evolution and discusses the field's progression through the analysis of significant studies. Additionally, the paper introduces evaluation methods for RAG, addressing the challenges faced and proposing future research directions. By offering an organized framework and categorization, the study aims to consolidate existing research on RAG, clarify its technological underpinnings, and highlight its potential to broaden the adaptability and applications of LLMs.
Pre-trained Language Models (PLMs) which are trained on large text corpus via self-supervised learning method, have yielded promising performance on various tasks in Natural Language Processing (NLP). However, though PLMs with huge parameters can effectively possess rich knowledge learned from massive training text and benefit downstream tasks at the fine-tuning stage, they still have some limitations such as poor reasoning ability due to the lack of external knowledge. Research has been dedicated to incorporating knowledge into PLMs to tackle these issues. In this paper, we present a comprehensive review of Knowledge-Enhanced Pre-trained Language Models (KE-PLMs) to provide a clear insight into this thriving field. We introduce appropriate taxonomies respectively for Natural Language Understanding (NLU) and Natural Language Generation (NLG) to highlight these two main tasks of NLP. For NLU, we divide the types of knowledge into four categories: linguistic knowledge, text knowledge, knowledge graph (KG), and rule knowledge. The KE-PLMs for NLG are categorized into KG-based and retrieval-based methods. Finally, we point out some promising future directions of KE-PLMs.
Recently, contrastive learning (CL) has emerged as a successful method for unsupervised graph representation learning. Most graph CL methods first perform stochastic augmentation on the input graph to obtain two graph views and maximize the agreement of representations in the two views. Despite the prosperous development of graph CL methods, the design of graph augmentation schemes -- a crucial component in CL -- remains rarely explored. We argue that the data augmentation schemes should preserve intrinsic structures and attributes of graphs, which will force the model to learn representations that are insensitive to perturbation on unimportant nodes and edges. However, most existing methods adopt uniform data augmentation schemes, like uniformly dropping edges and uniformly shuffling features, leading to suboptimal performance. In this paper, we propose a novel graph contrastive representation learning method with adaptive augmentation that incorporates various priors for topological and semantic aspects of the graph. Specifically, on the topology level, we design augmentation schemes based on node centrality measures to highlight important connective structures. On the node attribute level, we corrupt node features by adding more noise to unimportant node features, to enforce the model to recognize underlying semantic information. We perform extensive experiments of node classification on a variety of real-world datasets. Experimental results demonstrate that our proposed method consistently outperforms existing state-of-the-art baselines and even surpasses some supervised counterparts, which validates the effectiveness of the proposed contrastive framework with adaptive augmentation.
Neural machine translation (NMT) is a deep learning based approach for machine translation, which yields the state-of-the-art translation performance in scenarios where large-scale parallel corpora are available. Although the high-quality and domain-specific translation is crucial in the real world, domain-specific corpora are usually scarce or nonexistent, and thus vanilla NMT performs poorly in such scenarios. Domain adaptation that leverages both out-of-domain parallel corpora as well as monolingual corpora for in-domain translation, is very important for domain-specific translation. In this paper, we give a comprehensive survey of the state-of-the-art domain adaptation techniques for NMT.
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