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Emergent communication has made strides towards learning communication from scratch, but has focused primarily on protocols that resemble human language. In nature, multi-agent cooperation gives rise to a wide range of communication that varies in structure and complexity. In this work, we recognize the full spectrum of communication that exists in nature and propose studying lower-level communication. Specifically, we study emergent implicit signaling in the context of decentralized multi-agent learning in difficult, sparse reward environments. However, learning to coordinate in such environments is challenging. We propose a curriculum-driven strategy that combines: (i) velocity-based environment shaping, tailored to the skill level of the multi-agent team; and (ii) a behavioral curriculum that helps agents learn successful single-agent behaviors as a precursor to learning multi-agent behaviors. Pursuit-evasion experiments show that our approach learns effective coordination, significantly outperforming sophisticated analytical and learned policies. Our method completes the pursuit-evasion task even when pursuers move at half of the evader's speed, whereas the highest-performing baseline fails at 80% of the evader's speed. Moreover, we examine the use of implicit signals in coordination through position-based social influence. We show that pursuers trained with our strategy exchange more than twice as much information (in bits) than baseline methods, indicating that our method has learned, and relies heavily on, the exchange of implicit signals.

Imitation learning seeks to circumvent the difficulty in designing proper reward functions for training agents by utilizing expert behavior. With environments modeled as Markov Decision Processes (MDP), most of the existing imitation algorithms are contingent on the availability of expert demonstrations in the same MDP as the one in which a new imitation policy is to be learned. In this paper, we study the problem of how to imitate tasks when there exist discrepancies between the expert and agent MDP. These discrepancies across domains could include differing dynamics, viewpoint, or morphology; we present a novel framework to learn correspondences across such domains. Importantly, in contrast to prior works, we use unpaired and unaligned trajectories containing only states in the expert domain, to learn this correspondence. We utilize a cycle-consistency constraint on both the state space and a domain agnostic latent space to do this. In addition, we enforce consistency on the temporal position of states via a normalized position estimator function, to align the trajectories across the two domains. Once this correspondence is found, we can directly transfer the demonstrations on one domain to the other and use it for imitation. Experiments across a wide variety of challenging domains demonstrate the efficacy of our approach.

Specialized domain knowledge is often necessary to accurately annotate training sets for in-depth analysis, but can be burdensome and time-consuming to acquire from domain experts. This issue arises prominently in automated behavior analysis, in which agent movements or actions of interest are detected from video tracking data. To reduce annotation effort, we present TREBA: a method to learn annotation-sample efficient trajectory embedding for behavior analysis, based on multi-task self-supervised learning. The tasks in our method can be efficiently engineered by domain experts through a process we call "task programming", which uses programs to explicitly encode structured knowledge from domain experts. Total domain expert effort can be reduced by exchanging data annotation time for the construction of a small number of programmed tasks. We evaluate this trade-off using data from behavioral neuroscience, in which specialized domain knowledge is used to identify behaviors. We present experimental results in three datasets across two domains: mice and fruit flies. Using embeddings from TREBA, we reduce annotation burden by up to a factor of 10 without compromising accuracy compared to state-of-the-art features. Our results thus suggest that task programming and self-supervision can be an effective way to reduce annotation effort for domain experts.

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.

Most existing recommender systems leverage user behavior data of one type only, such as the purchase behavior in E-commerce that is directly related to the business KPI (Key Performance Indicator) of conversion rate. Besides the key behavioral data, we argue that other forms of user behaviors also provide valuable signal, such as views, clicks, adding a product to shop carts and so on. They should be taken into account properly to provide quality recommendation for users. In this work, we contribute a new solution named NMTR (short for Neural Multi-Task Recommendation) for learning recommender systems from user multi-behavior data. We develop a neural network model to capture the complicated and multi-type interactions between users and items. In particular, our model accounts for the cascading relationship among different types of behaviors (e.g., a user must click on a product before purchasing it). To fully exploit the signal in the data of multiple types of behaviors, we perform a joint optimization based on the multi-task learning framework, where the optimization on a behavior is treated as a task. Extensive experiments on two real-world datasets demonstrate that NMTR significantly outperforms state-of-the-art recommender systems that are designed to learn from both single-behavior data and multi-behavior data. Further analysis shows that modeling multiple behaviors is particularly useful for providing recommendation for sparse users that have very few interactions.

Why deep neural networks (DNNs) capable of overfitting often generalize well in practice is a mystery in deep learning. Existing works indicate that this observation holds for both complicated real datasets and simple datasets of one-dimensional (1-d) functions. In this work, for natural images and low-frequency dominant 1-d functions, we empirically found that a DNN with common settings first quickly captures the dominant low-frequency components, and then relatively slowly captures high-frequency ones. We call this phenomenon Frequency Principle (F-Principle). F-Principle can be observed over various DNN setups of different activation functions, layer structures and training algorithms in our experiments. F-Principle can be used to understand (i) the behavior of DNN training in the information plane and (ii) why DNNs often generalize well albeit its ability of overfitting. This F-Principle potentially can provide insights into understanding the general principle underlying DNN optimization and generalization for real datasets.

We introduce Interactive Question Answering (IQA), the task of answering questions that require an autonomous agent to interact with a dynamic visual environment. IQA presents the agent with a scene and a question, like: "Are there any apples in the fridge?" The agent must navigate around the scene, acquire visual understanding of scene elements, interact with objects (e.g. open refrigerators) and plan for a series of actions conditioned on the question. Popular reinforcement learning approaches with a single controller perform poorly on IQA owing to the large and diverse state space. We propose the Hierarchical Interactive Memory Network (HIMN), consisting of a factorized set of controllers, allowing the system to operate at multiple levels of temporal abstraction. To evaluate HIMN, we introduce IQUAD V1, a new dataset built upon AI2-THOR, a simulated photo-realistic environment of configurable indoor scenes with interactive objects. IQUAD V1 has 75,000 questions, each paired with a unique scene configuration. Our experiments show that our proposed model outperforms popular single controller based methods on IQUAD V1. For sample questions and results, please view our video: //youtu.be/pXd3C-1jr98.

We introduce a new task called Multimodal Named Entity Recognition (MNER) for noisy user-generated data such as tweets or Snapchat captions, which comprise short text with accompanying images. These social media posts often come in inconsistent or incomplete syntax and lexical notations with very limited surrounding textual contexts, bringing significant challenges for NER. To this end, we create a new dataset for MNER called SnapCaptions (Snapchat image-caption pairs submitted to public and crowd-sourced stories with fully annotated named entities). We then build upon the state-of-the-art Bi-LSTM word/character based NER models with 1) a deep image network which incorporates relevant visual context to augment textual information, and 2) a generic modality-attention module which learns to attenuate irrelevant modalities while amplifying the most informative ones to extract contexts from, adaptive to each sample and token. The proposed MNER model with modality attention significantly outperforms the state-of-the-art text-only NER models by successfully leveraging provided visual contexts, opening up potential applications of MNER on myriads of social media platforms.

A social interaction is a social exchange between two or more individuals,where individuals modify and adjust their behaviors in response to their interaction partners. Our social interactions are one of most fundamental aspects of our lives and can profoundly affect our mood, both positively and negatively. With growing interest in virtual reality and avatar-mediated interactions,it is desirable to make these interactions natural and human like to promote positive effect in the interactions and applications such as intelligent tutoring systems, automated interview systems and e-learning. In this paper, we propose a method to generate facial behaviors for an agent. These behaviors include facial expressions and head pose and they are generated considering the users affective state. Our models learn semantically meaningful representations of the face and generate appropriate and temporally smooth facial behaviors in dyadic interactions.