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While numerous works have focused on devising efficient algorithms for reinforcement learning (RL) with uniformly bounded rewards, it remains an open question whether sample or time-efficient algorithms for RL with large state-action space exist when the rewards are \emph{heavy-tailed}, i.e., with only finite $(1+\epsilon)$-th moments for some $\epsilon\in(0,1]$. In this work, we address the challenge of such rewards in RL with linear function approximation. We first design an algorithm, \textsc{Heavy-OFUL}, for heavy-tailed linear bandits, achieving an \emph{instance-dependent} $T$-round regret of $\tilde{O}\big(d T^{\frac{1-\epsilon}{2(1+\epsilon)}} \sqrt{\sum_{t=1}^T \nu_t^2} + d T^{\frac{1-\epsilon}{2(1+\epsilon)}}\big)$, the \emph{first} of this kind. Here, $d$ is the feature dimension, and $\nu_t^{1+\epsilon}$ is the $(1+\epsilon)$-th central moment of the reward at the $t$-th round. We further show the above bound is minimax optimal when applied to the worst-case instances in stochastic and deterministic linear bandits. We then extend this algorithm to the RL settings with linear function approximation. Our algorithm, termed as \textsc{Heavy-LSVI-UCB}, achieves the \emph{first} computationally efficient \emph{instance-dependent} $K$-episode regret of $\tilde{O}(d \sqrt{H \mathcal{U}^*} K^\frac{1}{1+\epsilon} + d \sqrt{H \mathcal{V}^* K})$. Here, $H$ is length of the episode, and $\mathcal{U}^*, \mathcal{V}^*$ are instance-dependent quantities scaling with the central moment of reward and value functions, respectively. We also provide a matching minimax lower bound $\Omega(d H K^{\frac{1}{1+\epsilon}} + d \sqrt{H^3 K})$ to demonstrate the optimality of our algorithm in the worst case. Our result is achieved via a novel robust self-normalized concentration inequality that may be of independent interest in handling heavy-tailed noise in general online regression problems.

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability models can help user acceptance and understanding of decisions made by the autonomous vehicle, which can be used to rationalize and explain driver or vehicle behavior. We propose a new approach using concept bottlenecks as visual features for control command predictions and explanations of user and vehicle behavior. We learn a human-understandable concept layer that we use to explain sequential driving scenes while learning vehicle control commands. This approach can then be used to determine whether a change in a preferred gap or steering commands from a human (or autonomous vehicle) is led by an external stimulus or change in preferences. We achieve competitive performance to latent visual features while gaining interpretability within our model setup.

Obtaining the solutions of partial differential equations based on various machine learning methods has drawn more and more attention in the fields of scientific computation and engineering applications. In this work, we first propose a coupled Extreme Learning Machine (called CELM) method incorporated with the physical laws to solve a class of fourth-order biharmonic equations by reformulating it into two well-posed Poisson problems. In addition, some activation functions including tangent, gauss, sine, and trigonometric (sin+cos) functions are introduced to assess our CELM method. Notably, the sine and trigonometric functions demonstrate a remarkable ability to effectively minimize the approximation error of the CELM model. In the end, several numerical experiments are performed to study the initializing approaches for both the weights and biases of the hidden units in our CELM model and explore the required number of hidden units. Numerical results show the proposed CELM algorithm is high-precision and efficient to address the biharmonic equation in both regular and irregular domains.

High sample complexity has long been a challenge for RL. On the other hand, humans learn to perform tasks not only from interaction or demonstrations, but also by reading unstructured text documents, e.g., instruction manuals. Instruction manuals and wiki pages are among the most abundant data that could inform agents of valuable features and policies or task-specific environmental dynamics and reward structures. Therefore, we hypothesize that the ability to utilize human-written instruction manuals to assist learning policies for specific tasks should lead to a more efficient and better-performing agent. We propose the Read and Reward framework. Read and Reward speeds up RL algorithms on Atari games by reading manuals released by the Atari game developers. Our framework consists of a QA Extraction module that extracts and summarizes relevant information from the manual and a Reasoning module that evaluates object-agent interactions based on information from the manual. An auxiliary reward is then provided to a standard A2C RL agent, when interaction is detected. Experimentally, various RL algorithms obtain significant improvement in performance and training speed when assisted by our design.

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability models can help user acceptance and understanding of decisions made by the autonomous vehicle, which can be used to rationalize and explain driver or vehicle behavior. We propose a new approach using concept bottlenecks as visual features for control command predictions and explanations of user and vehicle behavior. We learn a human-understandable concept layer that we use to explain sequential driving scenes while learning vehicle control commands. This approach can then be used to determine whether a change in a preferred gap or steering commands from a human (or autonomous vehicle) is led by an external stimulus or change in preferences. We achieve competitive performance to latent visual features while gaining interpretability within our model setup.

The performance of machine learning models depends on the quality of the underlying data. Malicious actors can attack the model by poisoning the training data. Current detectors are tied to either specific data types, models, or attacks, and therefore have limited applicability in real-world scenarios. This paper presents a novel fully-agnostic framework, DIVA (Detecting InVisible Attacks), that detects attacks solely relying on analyzing the potentially poisoned data set. DIVA is based on the idea that poisoning attacks can be detected by comparing the classifier's accuracy on poisoned and clean data and pre-trains a meta-learner using Complexity Measures to estimate the otherwise unknown accuracy on a hypothetical clean dataset. The framework applies to generic poisoning attacks. For evaluation purposes, in this paper, we test DIVA on label-flipping attacks.

The existence of representative datasets is a prerequisite of many successful artificial intelligence and machine learning models. However, the subsequent application of these models often involves scenarios that are inadequately represented in the data used for training. The reasons for this are manifold and range from time and cost constraints to ethical considerations. As a consequence, the reliable use of these models, especially in safety-critical applications, is a huge challenge. Leveraging additional, already existing sources of knowledge is key to overcome the limitations of purely data-driven approaches, and eventually to increase the generalization capability of these models. Furthermore, predictions that conform with knowledge are crucial for making trustworthy and safe decisions even in underrepresented scenarios. This work provides an overview of existing techniques and methods in the literature that combine data-based models with existing knowledge. The identified approaches are structured according to the categories integration, extraction and conformity. Special attention is given to applications in the field of autonomous driving.

The notion of uncertainty is of major importance in machine learning and constitutes a key element of machine learning methodology. In line with the statistical tradition, uncertainty has long been perceived as almost synonymous with standard probability and probabilistic predictions. Yet, due to the steadily increasing relevance of machine learning for practical applications and related issues such as safety requirements, new problems and challenges have recently been identified by machine learning scholars, and these problems may call for new methodological developments. In particular, this includes the importance of distinguishing between (at least) two different types of uncertainty, often refereed to as aleatoric and epistemic. In this paper, we provide an introduction to the topic of uncertainty in machine learning as well as an overview of hitherto attempts at handling uncertainty in general and formalizing this distinction in particular.

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task distributions that are very narrow. For example, a commonly used meta-reinforcement learning benchmark uses different running velocities for a simulated robot as different tasks. When policies are meta-trained on such narrow task distributions, they cannot possibly generalize to more quickly acquire entirely new tasks. Therefore, if the aim of these methods is to enable faster acquisition of entirely new behaviors, we must evaluate them on task distributions that are sufficiently broad to enable generalization to new behaviors. In this paper, we propose an open-source simulated benchmark for meta-reinforcement learning and multi-task learning consisting of 50 distinct robotic manipulation tasks. Our aim is to make it possible to develop algorithms that generalize to accelerate the acquisition of entirely new, held-out tasks. We evaluate 6 state-of-the-art meta-reinforcement learning and multi-task learning algorithms on these tasks. Surprisingly, while each task and its variations (e.g., with different object positions) can be learned with reasonable success, these algorithms struggle to learn with multiple tasks at the same time, even with as few as ten distinct training tasks. Our analysis and open-source environments pave the way for future research in multi-task learning and meta-learning that can enable meaningful generalization, thereby unlocking the full potential of these methods.

We introduce a multi-task setup of identifying and classifying entities, relations, and coreference clusters in scientific articles. We create SciERC, a dataset that includes annotations for all three tasks and develop a unified framework called Scientific Information Extractor (SciIE) for with shared span representations. The multi-task setup reduces cascading errors between tasks and leverages cross-sentence relations through coreference links. Experiments show that our multi-task model outperforms previous models in scientific information extraction without using any domain-specific features. We further show that the framework supports construction of a scientific knowledge graph, which we use to analyze information in scientific literature.