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Offline policy evaluation (OPE) is considered a fundamental and challenging problem in reinforcement learning (RL). This paper focuses on the value estimation of a target policy based on pre-collected data generated from a possibly different policy, under the framework of infinite-horizon Markov decision processes. Motivated by the recently developed marginal importance sampling method in RL and the covariate balancing idea in causal inference, we propose a novel estimator with approximately projected state-action balancing weights for the policy value estimation. We obtain the convergence rate of these weights, and show that the proposed value estimator is semi-parametric efficient under technical conditions. In terms of asymptotics, our results scale with both the number of trajectories and the number of decision points at each trajectory. As such, consistency can still be achieved with a limited number of subjects when the number of decision points diverges. In addition, we make a first attempt towards characterizing the difficulty of OPE problems, which may be of independent interest. Numerical experiments demonstrate the promising performance of our proposed estimator.

The fractional knapsack problem is one of the classical problems in combinatorial optimization, which is well understood in the offline setting. However, the corresponding online setting has been handled only briefly in the theoretical computer science literature so far, although it appears in several applications. Even the previously best known guarantee for the competitive ratio was worse than the best known for the integral problem in the popular random order model. We show that there is an algorithm for the online fractional knapsack problem that admits a competitive ratio of 4.39. Our result significantly improves over the previously best known competitive ratio of 9.37 and surpasses the current best 6.65-competitive algorithm for the integral case. Moreover, our algorithm is deterministic in contrast to the randomized algorithms achieving the results mentioned above.

Real-time planning for a combined problem of target assignment and path planning for multiple agents, also known as the unlabeled version of Multi-Agent Path Finding (MAPF), is crucial for high-level coordination in multi-agent systems, e.g., pattern formation by robot swarms. This paper studies two aspects of unlabeled-MAPF: (1) offline scenario: solving large instances by centralized approaches with small computation time, and (2) online scenario: executing unlabeled-MAPF despite timing uncertainties of real robots. For this purpose, we propose TSWAP, a novel complete algorithm consisting of target assignment with lazy evaluation and path planning with target swapping. TSWAP can adapt to both offline and online scenarios. We empirically demonstrate that Offline TSWAP is highly scalable; providing near-optimal solutions while reducing runtime by orders of magnitude compared to existing approaches. In addition, we present the benefits of Online TSWAP, such as delay tolerance, through real-robot demos.

Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner based on model predictive control which interoperates with a monitoring system for pedestrian safety based on cellular automata. The combined planner-monitor system is demonstrated on the example of a narrow indoor parking environment. The system features deterministic behavior, mitigating the immanent risk of black boxes and offering full certifiability. By using fundamental and conservative prediction models of pedestrians the monitor is able to determine a safe drivable area in the partially occluded and unstructured parking environment. The information is fed to the trajectory planner which ensures the vehicle remains in the safe drivable area at any time through constrained optimization. We show how the approach enables solving plenty of situations in tight parking garage scenarios. Even though conservative prediction models are applied, evaluations indicate a performant system for the tested low-speed navigation.

Neural network controllers have become popular in control tasks thanks to their flexibility and expressivity. Stability is a crucial property for safety-critical dynamical systems, while stabilization of partially observed systems, in many cases, requires controllers to retain and process long-term memories of the past. We consider the important class of recurrent neural networks (RNN) as dynamic controllers for nonlinear uncertain partially-observed systems, and derive convex stability conditions based on integral quadratic constraints, S-lemma and sequential convexification. To ensure stability during the learning and control process, we propose a projected policy gradient method that iteratively enforces the stability conditions in the reparametrized space taking advantage of mild additional information on system dynamics. Numerical experiments show that our method learns stabilizing controllers while using fewer samples and achieving higher final performance compared with policy gradient.

Collaborative filtering (CF), as a fundamental approach for recommender systems, is usually built on the latent factor model with learnable parameters to predict users' preferences towards items. However, designing a proper CF model for a given data is not easy, since the properties of datasets are highly diverse. In this paper, motivated by the recent advances in automated machine learning (AutoML), we propose to design a data-specific CF model by AutoML techniques. The key here is a new framework that unifies state-of-the-art (SOTA) CF methods and splits them into disjoint stages of input encoding, embedding function, interaction function, and prediction function. We further develop an easy-to-use, robust, and efficient search strategy, which utilizes random search and a performance predictor for efficient searching within the above framework. In this way, we can combinatorially generalize data-specific CF models, which have not been visited in the literature, from SOTA ones. Extensive experiments on five real-world datasets demonstrate that our method can consistently outperform SOTA ones for various CF tasks. Further experiments verify the rationality of the proposed framework and the efficiency of the search strategy. The searched CF models can also provide insights for exploring more effective methods in the future

Many important real-world problems have action spaces that are high-dimensional, continuous or both, making full enumeration of all possible actions infeasible. Instead, only small subsets of actions can be sampled for the purpose of policy evaluation and improvement. In this paper, we propose a general framework to reason in a principled way about policy evaluation and improvement over such sampled action subsets. This sample-based policy iteration framework can in principle be applied to any reinforcement learning algorithm based upon policy iteration. Concretely, we propose Sampled MuZero, an extension of the MuZero algorithm that is able to learn in domains with arbitrarily complex action spaces by planning over sampled actions. We demonstrate this approach on the classical board game of Go and on two continuous control benchmark domains: DeepMind Control Suite and Real-World RL Suite.

Deep Learning is applied to energy markets to predict extreme loads observed in energy grids. Forecasting energy loads and prices is challenging due to sharp peaks and troughs that arise due to supply and demand fluctuations from intraday system constraints. We propose deep spatio-temporal models and extreme value theory (EVT) to capture theses effects and in particular the tail behavior of load spikes. Deep LSTM architectures with ReLU and $\tanh$ activation functions can model trends and temporal dependencies while EVT captures highly volatile load spikes above a pre-specified threshold. To illustrate our methodology, we use hourly price and demand data from 4719 nodes of the PJM interconnection, and we construct a deep predictor. We show that DL-EVT outperforms traditional Fourier time series methods, both in-and out-of-sample, by capturing the observed nonlinearities in prices. Finally, we conclude with directions for future research.

Machine Learning models become increasingly proficient in complex tasks. However, even for experts in the field, it can be difficult to understand what the model learned. This hampers trust and acceptance, and it obstructs the possibility to correct the model. There is therefore a need for transparency of machine learning models. The development of transparent classification models has received much attention, but there are few developments for achieving transparent Reinforcement Learning (RL) models. In this study we propose a method that enables a RL agent to explain its behavior in terms of the expected consequences of state transitions and outcomes. First, we define a translation of states and actions to a description that is easier to understand for human users. Second, we developed a procedure that enables the agent to obtain the consequences of a single action, as well as its entire policy. The method calculates contrasts between the consequences of a policy derived from a user query, and of the learned policy of the agent. Third, a format for generating explanations was constructed. A pilot survey study was conducted to explore preferences of users for different explanation properties. Results indicate that human users tend to favor explanations about policy rather than about single actions.

A recommender system aims to recommend items that a user is interested in among many items. The need for the recommender system has been expanded by the information explosion. Various approaches have been suggested for providing meaningful recommendations to users. One of the proposed approaches is to consider a recommender system as a Markov decision process (MDP) problem and try to solve it using reinforcement learning (RL). However, existing RL-based methods have an obvious drawback. To solve an MDP in a recommender system, they encountered a problem with the large number of discrete actions that bring RL to a larger class of problems. In this paper, we propose a novel RL-based recommender system. We formulate a recommender system as a gridworld game by using a biclustering technique that can reduce the state and action space significantly. Using biclustering not only reduces space but also improves the recommendation quality effectively handling the cold-start problem. In addition, our approach can provide users with some explanation why the system recommends certain items. Lastly, we examine the proposed algorithm on a real-world dataset and achieve a better performance than the widely used recommendation algorithm.