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In this paper we introduce a new approach to discrete-time semi-Markov decision processes based on the sojourn time process. Different characterizations of discrete-time semi-Markov processes are exploited and decision processes are constructed by their means. With this new approach, the agent is allowed to consider different actions depending also on the sojourn time of the process in the current state. A numerical method based on $Q$-learning algorithms for finite horizon reinforcement learning and stochastic recursive relations is investigated. Finally, we consider two toy examples: one in which the reward depends on the sojourn-time, according to the gambler's fallacy; the other in which the environment is semi-Markov even if the reward function does not depend on the sojourn time. These are used to carry on some numerical evaluations on the previously presented $Q$-learning algorithm and on a different naive method based on deep reinforcement learning.

Bayesian policy reuse (BPR) is a general policy transfer framework for selecting a source policy from an offline library by inferring the task belief based on some observation signals and a trained observation model. In this paper, we propose an improved BPR method to achieve more efficient policy transfer in deep reinforcement learning (DRL). First, most BPR algorithms use the episodic return as the observation signal that contains limited information and cannot be obtained until the end of an episode. Instead, we employ the state transition sample, which is informative and instantaneous, as the observation signal for faster and more accurate task inference. Second, BPR algorithms usually require numerous samples to estimate the probability distribution of the tabular-based observation model, which may be expensive and even infeasible to learn and maintain, especially when using the state transition sample as the signal. Hence, we propose a scalable observation model based on fitting state transition functions of source tasks from only a small number of samples, which can generalize to any signals observed in the target task. Moreover, we extend the offline-mode BPR to the continual learning setting by expanding the scalable observation model in a plug-and-play fashion, which can avoid negative transfer when faced with new unknown tasks. Experimental results show that our method can consistently facilitate faster and more efficient policy transfer.

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by introducing an action latent variable such that the feed-forward policy search can be divided into two parts: (i) training a sub-policy that outputs a distribution over the action latent variable given a state of the system, and (ii) unsupervised training of a generative model that outputs a sequence of motor actions conditioned on the latent action variable. GenRL enables safe exploration and alleviates the data-inefficiency problem as it exploits prior knowledge about valid sequences of motor actions. Moreover, we provide a set of measures for evaluation of generative models such that we are able to predict the performance of the RL policy training prior to the actual training on a physical robot. We experimentally determine the characteristics of generative models that have most influence on the performance of the final policy training on two robotics tasks: shooting a hockey puck and throwing a basketball. Furthermore, we empirically demonstrate that GenRL is the only method which can safely and efficiently solve the robotics tasks compared to two state-of-the-art RL methods.

Driving safely requires multiple capabilities from human and intelligent agents, such as the generalizability to unseen environments, the safety awareness of the surrounding traffic, and the decision-making in complex multi-agent settings. Despite the great success of Reinforcement Learning (RL), most of the RL research works investigate each capability separately due to the lack of integrated environments. In this work, we develop a new driving simulation platform called MetaDrive to support the research of generalizable reinforcement learning algorithms for machine autonomy. MetaDrive is highly compositional, which can generate an infinite number of diverse driving scenarios from both the procedural generation and the real data importing. Based on MetaDrive, we construct a variety of RL tasks and baselines in both single-agent and multi-agent settings, including benchmarking generalizability across unseen scenes, safe exploration, and learning multi-agent traffic. The generalization experiments conducted on both procedurally generated scenarios and real-world scenarios show that increasing the diversity and the size of the training set leads to the improvement of the generalizability of the RL agents. We further evaluate various safe reinforcement learning and multi-agent reinforcement learning algorithms in MetaDrive environments and provide the benchmarks. Source code, documentation, and demo video are available at //metadriverse.github.io/metadrive . More research projects based on MetaDrive simulator are listed at //metadriverse.github.io

Agents that interact with other agents often do not know a priori what the other agents' strategies are, but have to maximise their own online return while interacting with and learning about others. The optimal adaptive behaviour under uncertainty over the other agents' strategies w.r.t. some prior can in principle be computed using the Interactive Bayesian Reinforcement Learning framework. Unfortunately, doing so is intractable in most settings, and existing approximation methods are restricted to small tasks. To overcome this, we propose to meta-learn approximate belief inference and Bayes-optimal behaviour for a given prior. To model beliefs over other agents, we combine sequential and hierarchical Variational Auto-Encoders, and meta-train this inference model alongside the policy. We show empirically that our approach outperforms existing methods that use a model-free approach, sample from the approximate posterior, maintain memory-free models of others, or do not fully utilise the known structure of the environment.

Reinforcement learning (RL) has shown great success in solving many challenging tasks via use of deep neural networks. Although using deep learning for RL brings immense representational power, it also causes a well-known sample-inefficiency problem. This means that the algorithms are data-hungry and require millions of training samples to converge to an adequate policy. One way to combat this issue is to use action advising in a teacher-student framework, where a knowledgeable teacher provides action advice to help the student. This work considers how to better leverage uncertainties about when a student should ask for advice and if the student can model the teacher to ask for less advice. The student could decide to ask for advice when it is uncertain or when both it and its model of the teacher are uncertain. In addition to this investigation, this paper introduces a new method to compute uncertainty for a deep RL agent using a secondary neural network. Our empirical results show that using dual uncertainties to drive advice collection and reuse may improve learning performance across several Atari games.

The adaptive processing of structured data is a long-standing research topic in machine learning that investigates how to automatically learn a mapping from a structured input to outputs of various nature. Recently, there has been an increasing interest in the adaptive processing of graphs, which led to the development of different neural network-based methodologies. In this thesis, we take a different route and develop a Bayesian Deep Learning framework for graph learning. The dissertation begins with a review of the principles over which most of the methods in the field are built, followed by a study on graph classification reproducibility issues. We then proceed to bridge the basic ideas of deep learning for graphs with the Bayesian world, by building our deep architectures in an incremental fashion. This framework allows us to consider graphs with discrete and continuous edge features, producing unsupervised embeddings rich enough to reach the state of the art on several classification tasks. Our approach is also amenable to a Bayesian nonparametric extension that automatizes the choice of almost all model's hyper-parameters. Two real-world applications demonstrate the efficacy of deep learning for graphs. The first concerns the prediction of information-theoretic quantities for molecular simulations with supervised neural models. After that, we exploit our Bayesian models to solve a malware-classification task while being robust to intra-procedural code obfuscation techniques. We conclude the dissertation with an attempt to blend the best of the neural and Bayesian worlds together. The resulting hybrid model is able to predict multimodal distributions conditioned on input graphs, with the consequent ability to model stochasticity and uncertainty better than most works. Overall, we aim to provide a Bayesian perspective into the articulated research field of deep learning for graphs.

This paper surveys the field of transfer learning in the problem setting of Reinforcement Learning (RL). RL has been the key solution to sequential decision-making problems. Along with the fast advance of RL in various domains. including robotics and game-playing, transfer learning arises as an important technique to assist RL by leveraging and transferring external expertise to boost the learning process. In this survey, we review the central issues of transfer learning in the RL domain, providing a systematic categorization of its state-of-the-art techniques. We analyze their goals, methodologies, applications, and the RL frameworks under which these transfer learning techniques would be approachable. We discuss the relationship between transfer learning and other relevant topics from an RL perspective and also explore the potential challenges as well as future development directions for transfer learning in RL.

In this paper, we propose a deep reinforcement learning framework called GCOMB to learn algorithms that can solve combinatorial problems over large graphs. GCOMB mimics the greedy algorithm in the original problem and incrementally constructs a solution. The proposed framework utilizes Graph Convolutional Network (GCN) to generate node embeddings that predicts the potential nodes in the solution set from the entire node set. These embeddings enable an efficient training process to learn the greedy policy via Q-learning. Through extensive evaluation on several real and synthetic datasets containing up to a million nodes, we establish that GCOMB is up to 41% better than the state of the art, up to seven times faster than the greedy algorithm, robust and scalable to large dynamic networks.

Recommender systems play a crucial role in mitigating the problem of information overload by suggesting users' personalized items or services. The vast majority of traditional recommender systems consider the recommendation procedure as a static process and make recommendations following a fixed strategy. In this paper, we propose a novel recommender system with the capability of continuously improving its strategies during the interactions with users. We model the sequential interactions between users and a recommender system as a Markov Decision Process (MDP) and leverage Reinforcement Learning (RL) to automatically learn the optimal strategies via recommending trial-and-error items and receiving reinforcements of these items from users' feedbacks. In particular, we introduce an online user-agent interacting environment simulator, which can pre-train and evaluate model parameters offline before applying the model online. Moreover, we validate the importance of list-wise recommendations during the interactions between users and agent, and develop a novel approach to incorporate them into the proposed framework LIRD for list-wide recommendations. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.