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We address the issue of tuning hyperparameters (HPs) for imitation learning algorithms in the context of continuous-control, when the underlying reward function of the demonstrating expert cannot be observed at any time. The vast literature in imitation learning mostly considers this reward function to be available for HP selection, but this is not a realistic setting. Indeed, would this reward function be available, it could then directly be used for policy training and imitation would not be necessary. To tackle this mostly ignored problem, we propose a number of possible proxies to the external reward. We evaluate them in an extensive empirical study (more than 10'000 agents across 9 environments) and make practical recommendations for selecting HPs. Our results show that while imitation learning algorithms are sensitive to HP choices, it is often possible to select good enough HPs through a proxy to the reward function.

A core capability of intelligent systems is the ability to quickly learn new tasks by drawing on prior experience. Gradient (or optimization) based meta-learning has recently emerged as an effective approach for few-shot learning. In this formulation, meta-parameters are learned in the outer loop, while task-specific models are learned in the inner-loop, by using only a small amount of data from the current task. A key challenge in scaling these approaches is the need to differentiate through the inner loop learning process, which can impose considerable computational and memory burdens. By drawing upon implicit differentiation, we develop the implicit MAML algorithm, which depends only on the solution to the inner level optimization and not the path taken by the inner loop optimizer. This effectively decouples the meta-gradient computation from the choice of inner loop optimizer. As a result, our approach is agnostic to the choice of inner loop optimizer and can gracefully handle many gradient steps without vanishing gradients or memory constraints. Theoretically, we prove that implicit MAML can compute accurate meta-gradients with a memory footprint that is, up to small constant factors, no more than that which is required to compute a single inner loop gradient and at no overall increase in the total computational cost. Experimentally, we show that these benefits of implicit MAML translate into empirical gains on few-shot image recognition benchmarks.

Detection of malicious behavior is a fundamental problem in security. One of the major challenges in using detection systems in practice is in dealing with an overwhelming number of alerts that are triggered by normal behavior (the so-called false positives), obscuring alerts resulting from actual malicious activity. While numerous methods for reducing the scope of this issue have been proposed, ultimately one must still decide how to prioritize which alerts to investigate, and most existing prioritization methods are heuristic, for example, based on suspiciousness or priority scores. We introduce a novel approach for computing a policy for prioritizing alerts using adversarial reinforcement learning. Our approach assumes that the attackers know the full state of the detection system and dynamically choose an optimal attack as a function of this state, as well as of the alert prioritization policy. The first step of our approach is to capture the interaction between the defender and attacker in a game theoretic model. To tackle the computational complexity of solving this game to obtain a dynamic stochastic alert prioritization policy, we propose an adversarial reinforcement learning framework. In this framework, we use neural reinforcement learning to compute best response policies for both the defender and the adversary to an arbitrary stochastic policy of the other. We then use these in a double-oracle framework to obtain an approximate equilibrium of the game, which in turn yields a robust stochastic policy for the defender. Extensive experiments using case studies in fraud and intrusion detection demonstrate that our approach is effective in creating robust alert prioritization policies.

Reinforcement learning (RL) algorithms have been around for decades and been employed to solve various sequential decision-making problems. These algorithms however have faced great challenges when dealing with high-dimensional environments. The recent development of deep learning has enabled RL methods to drive optimal policies for sophisticated and capable agents, which can perform efficiently in these challenging environments. This paper addresses an important aspect of deep RL related to situations that demand multiple agents to communicate and cooperate to solve complex tasks. A survey of different approaches to problems related to multi-agent deep RL (MADRL) is presented, including non-stationarity, partial observability, continuous state and action spaces, multi-agent training schemes, multi-agent transfer learning. The merits and demerits of the reviewed methods will be analyzed and discussed, with their corresponding applications explored. It is envisaged that this review provides insights about various MADRL methods and can lead to future development of more robust and highly useful multi-agent learning methods for solving real-world problems.

Recent successes of value-based multi-agent deep reinforcement learning employ optimism in value function by carefully controlling learning rate(Omidshafiei et al., 2017) or reducing update prob-ability (Palmer et al., 2018). We introduce a de-centralized quantile estimator: Responsible Implicit Quantile Network (RIQN), while robust to teammate-environment interactions, able to reduce the amount of imposed optimism. Upon benchmarking against related Hysteretic-DQN(HDQN) and Lenient-DQN (LDQN), we findRIQN agents more stable, sample efficient and more likely to converge to the optimal policy.

Learning how to act when there are many available actions in each state is a challenging task for Reinforcement Learning (RL) agents, especially when many of the actions are redundant or irrelevant. In such cases, it is sometimes easier to learn which actions not to take. In this work, we propose the Action-Elimination Deep Q-Network (AE-DQN) architecture that combines a Deep RL algorithm with an Action Elimination Network (AEN) that eliminates sub-optimal actions. The AEN is trained to predict invalid actions, supervised by an external elimination signal provided by the environment. Simulations demonstrate a considerable speedup and added robustness over vanilla DQN in text-based games with over a thousand discrete actions.

This work considers the problem of provably optimal reinforcement learning for episodic finite horizon MDPs, i.e. how an agent learns to maximize his/her long term reward in an uncertain environment. The main contribution is in providing a novel algorithm --- Variance-reduced Upper Confidence Q-learning (vUCQ) --- which enjoys a regret bound of $\widetilde{O}(\sqrt{HSAT} + H^5SA)$, where the $T$ is the number of time steps the agent acts in the MDP, $S$ is the number of states, $A$ is the number of actions, and $H$ is the (episodic) horizon time. This is the first regret bound that is both sub-linear in the model size and asymptotically optimal. The algorithm is sub-linear in that the time to achieve $\epsilon$-average regret for any constant $\epsilon$ is $O(SA)$, which is a number of samples that is far less than that required to learn any non-trivial estimate of the transition model (the transition model is specified by $O(S^2A)$ parameters). The importance of sub-linear algorithms is largely the motivation for algorithms such as $Q$-learning and other "model free" approaches. vUCQ algorithm also enjoys minimax optimal regret in the long run, matching the $\Omega(\sqrt{HSAT})$ lower bound. Variance-reduced Upper Confidence Q-learning (vUCQ) is a successive refinement method in which the algorithm reduces the variance in $Q$-value estimates and couples this estimation scheme with an upper confidence based algorithm. Technically, the coupling of both of these techniques is what leads to the algorithm enjoying both the sub-linear regret property and the asymptotically optimal regret.

Recent years have witnessed significant progresses in deep Reinforcement Learning (RL). Empowered with large scale neural networks, carefully designed architectures, novel training algorithms and massively parallel computing devices, researchers are able to attack many challenging RL problems. However, in machine learning, more training power comes with a potential risk of more overfitting. As deep RL techniques are being applied to critical problems such as healthcare and finance, it is important to understand the generalization behaviors of the trained agents. In this paper, we conduct a systematic study of standard RL agents and find that they could overfit in various ways. Moreover, overfitting could happen "robustly": commonly used techniques in RL that add stochasticity do not necessarily prevent or detect overfitting. In particular, the same agents and learning algorithms could have drastically different test performance, even when all of them achieve optimal rewards during training. The observations call for more principled and careful evaluation protocols in RL. We conclude with a general discussion on overfitting in RL and a study of the generalization behaviors from the perspective of inductive bias.

This paper presents a safety-aware learning framework that employs an adaptive model learning method together with barrier certificates for systems with possibly nonstationary agent dynamics. To extract the dynamic structure of the model, we use a sparse optimization technique, and the resulting model will be used in combination with control barrier certificates which constrain feedback controllers only when safety is about to be violated. Under some mild assumptions, solutions to the constrained feedback-controller optimization are guaranteed to be globally optimal, and the monotonic improvement of a feedback controller is thus ensured. In addition, we reformulate the (action-)value function approximation to make any kernel-based nonlinear function estimation method applicable. We then employ a state-of-the-art kernel adaptive filtering technique for the (action-)value function approximation. The resulting framework is verified experimentally on a brushbot, whose dynamics is unknown and highly complex.

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.