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Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and adapt to local terrain, which requires visual perception. In this paper, we propose a fully-learned system that allows bipedal robots to react to local terrain while maintaining commanded travel speed and direction. Our approach first trains a controller in simulation using a heightmap expressed in the robot's local frame. Next, data is collected in simulation to train a heightmap predictor, whose input is the history of depth images and robot states. We demonstrate that with appropriate domain randomization, this approach allows for successful sim-to-real transfer with no explicit pose estimation and no fine-tuning using real-world data. To the best of our knowledge, this is the first example of sim-to-real learning for vision-based bipedal locomotion over challenging terrains.

We employ deep reinforcement learning (RL) to train an agent to successfully translate a high-frequency trading signal into a trading strategy that places individual limit orders. Based on the ABIDES limit order book simulator, we build a reinforcement learning OpenAI gym environment and utilise it to simulate a realistic trading environment for NASDAQ equities based on historic order book messages. To train a trading agent that learns to maximise its trading return in this environment, we use Deep Duelling Double Q-learning with the APEX (asynchronous prioritised experience replay) architecture. The agent observes the current limit order book state, its recent history, and a short-term directional forecast. To investigate the performance of RL for adaptive trading independently from a concrete forecasting algorithm, we study the performance of our approach utilising synthetic alpha signals obtained by perturbing forward-looking returns with varying levels of noise. Here, we find that the RL agent learns an effective trading strategy for inventory management and order placing that outperforms a heuristic benchmark trading strategy having access to the same signal.

Knowledge distillation (KD) emerges as a challenging yet promising technique for compressing deep learning models, characterized by the transmission of extensive learning representations from proficient and computationally intensive teacher models to compact student models. However, only a handful of studies have endeavored to compress the models for single image super-resolution (SISR) through KD, with their effects on student model enhancement remaining marginal. In this paper, we put forth an approach from the perspective of efficient data utilization, namely, the Data Upcycling Knowledge Distillation (DUKD) which facilitates the student model by the prior knowledge teacher provided via upcycled in-domain data derived from their inputs. This upcycling process is realized through two efficient image zooming operations and invertible data augmentations which introduce the label consistency regularization to the field of KD for SISR and substantially boosts student model's generalization. The DUKD, due to its versatility, can be applied across a broad spectrum of teacher-student architectures. Comprehensive experiments across diverse benchmarks demonstrate that our proposed DUKD method significantly outperforms previous art, exemplified by an increase of up to 0.5dB in PSNR over baselines methods, and a 67% parameters reduced RCAN model's performance remaining on par with that of the RCAN teacher model.

Reinforcement Learning (RL) allows learning non-trivial robot control laws purely from data. However, many successful applications of RL have relied on ad-hoc regularizations, such as hand-crafted curricula, to regularize the learning performance. In this paper, we pair a recent algorithm for automatically building curricula with RL on massively parallelized simulations to learn a tracking controller for a spherical pendulum on a robotic arm via RL. Through an improved optimization scheme that better respects the non-Euclidean task structure, we allow the method to reliably generate curricula of trajectories to be tracked, resulting in faster and more robust learning compared to an RL baseline that does not exploit this form of structured learning. The learned policy matches the performance of an optimal control baseline on the real system, demonstrating the potential of curriculum RL to jointly learn state estimation and control for non-linear tracking tasks.

Offline reinforcement learning (RL) methods strike a balance between exploration and exploitation by conservative value estimation -- penalizing values of unseen states and actions. Model-free methods penalize values at all unseen actions, while model-based methods are able to further exploit unseen states via model rollouts. However, such methods are handicapped in their ability to find unseen states far away from the available offline data due to two factors -- (a) very short rollout horizons in models due to cascading model errors, and (b) model rollouts originating solely from states observed in offline data. We relax the second assumption and present a novel unseen state augmentation strategy to allow exploitation of unseen states where the learned model and value estimates generalize. Our strategy finds unseen states by value-informed perturbations of seen states followed by filtering out states with epistemic uncertainty estimates too high (high error) or too low (too similar to seen data). We observe improved performance in several offline RL tasks and find that our augmentation strategy consistently leads to overall lower average dataset Q-value estimates i.e. more conservative Q-value estimates than a baseline.

Despite some successful applications of goal-driven navigation, existing deep reinforcement learning (DRL)-based approaches notoriously suffers from poor data efficiency issue. One of the reasons is that the goal information is decoupled from the perception module and directly introduced as a condition of decision-making, resulting in the goal-irrelevant features of the scene representation playing an adversary role during the learning process. In light of this, we present a novel Goal-guided Transformer-enabled reinforcement learning (GTRL) approach by considering the physical goal states as an input of the scene encoder for guiding the scene representation to couple with the goal information and realizing efficient autonomous navigation. More specifically, we propose a novel variant of the Vision Transformer as the backbone of the perception system, namely Goal-guided Transformer (GoT), and pre-train it with expert priors to boost the data efficiency. Subsequently, a reinforcement learning algorithm is instantiated for the decision-making system, taking the goal-oriented scene representation from the GoT as the input and generating decision commands. As a result, our approach motivates the scene representation to concentrate mainly on goal-relevant features, which substantially enhances the data efficiency of the DRL learning process, leading to superior navigation performance. Both simulation and real-world experimental results manifest the superiority of our approach in terms of data efficiency, performance, robustness, and sim-to-real generalization, compared with other state-of-the-art (SOTA) baselines. The demonstration video (//www.youtube.com/watch?v=aqJCHcsj4w0) and the source code (//github.com/OscarHuangWind/DRL-Transformer-SimtoReal-Navigation) are also provided.

While image data starts to enjoy the simple-but-effective self-supervised learning scheme built upon masking and self-reconstruction objective thanks to the introduction of tokenization procedure and vision transformer backbone, convolutional neural networks as another important and widely-adopted architecture for image data, though having contrastive-learning techniques to drive the self-supervised learning, still face the difficulty of leveraging such straightforward and general masking operation to benefit their learning process significantly. In this work, we aim to alleviate the burden of including masking operation into the contrastive-learning framework for convolutional neural networks as an extra augmentation method. In addition to the additive but unwanted edges (between masked and unmasked regions) as well as other adverse effects caused by the masking operations for ConvNets, which have been discussed by prior works, we particularly identify the potential problem where for one view in a contrastive sample-pair the randomly-sampled masking regions could be overly concentrated on important/salient objects thus resulting in misleading contrastiveness to the other view. To this end, we propose to explicitly take the saliency constraint into consideration in which the masked regions are more evenly distributed among the foreground and background for realizing the masking-based augmentation. Moreover, we introduce hard negative samples by masking larger regions of salient patches in an input image. Extensive experiments conducted on various datasets, contrastive learning mechanisms, and downstream tasks well verify the efficacy as well as the superior performance of our proposed method with respect to several state-of-the-art baselines.

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing algorithms learn robust policies by modeling the disturbance and applying it to source environments during training, which usually requires prior knowledge about the disturbance and control of simulators. However, these algorithms can fail in scenarios where the disturbance from target environments is unknown or is intractable to model in simulators. To tackle this problem, we propose a novel model-free actor-critic algorithm -- namely, state-conservative policy optimization (SCPO) -- to learn robust policies without modeling the disturbance in advance. Specifically, SCPO reduces the disturbance in transition dynamics to that in state space and then approximates it by a simple gradient-based regularizer. The appealing features of SCPO include that it is simple to implement and does not require additional knowledge about the disturbance or specially designed simulators. Experiments in several robot control tasks demonstrate that SCPO learns robust policies against the disturbance in transition dynamics.

State-of-the-art Convolutional Neural Network (CNN) benefits a lot from multi-task learning (MTL), which learns multiple related tasks simultaneously to obtain shared or mutually related representations for different tasks. The most widely-used MTL CNN structure is based on an empirical or heuristic split on a specific layer (e.g., the last convolutional layer) to minimize different task-specific losses. However, this heuristic sharing/splitting strategy may be harmful to the final performance of one or multiple tasks. In this paper, we propose a novel CNN structure for MTL, which enables automatic feature fusing at every layer. Specifically, we first concatenate features from different tasks according to their channel dimension, and then formulate the feature fusing problem as discriminative dimensionality reduction. We show that this discriminative dimensionality reduction can be done by 1x1 Convolution, Batch Normalization, and Weight Decay in one CNN, which we refer to as Neural Discriminative Dimensionality Reduction (NDDR). We perform ablation analysis in details for different configurations in training the network. The experiments carried out on different network structures and different task sets demonstrate the promising performance and desirable generalizability of our proposed method.

In this paper, we propose the joint learning attention and recurrent neural network (RNN) models for multi-label classification. While approaches based on the use of either model exist (e.g., for the task of image captioning), training such existing network architectures typically require pre-defined label sequences. For multi-label classification, it would be desirable to have a robust inference process, so that the prediction error would not propagate and thus affect the performance. Our proposed model uniquely integrates attention and Long Short Term Memory (LSTM) models, which not only addresses the above problem but also allows one to identify visual objects of interests with varying sizes without the prior knowledge of particular label ordering. More importantly, label co-occurrence information can be jointly exploited by our LSTM model. Finally, by advancing the technique of beam search, prediction of multiple labels can be efficiently achieved by our proposed network model.