Title: Robust and Data-efficient Q-learning by Composite Value-estimation
Abstract: In the past few years, off-policy reinforcement learning methods have shown promising results in their application for robot control. Deep Q-learning, however, still suffers from poor data-efficiency and is susceptible to stochasticity or noise in transitions and reward, which is limiting with regard to real-world applications. We alleviate these problems by proposing two novel off-policy Temporal-Difference formulations: (1) Truncated Q-functions which represent the return for the first n steps of a target-policy rollout w.r.t. the full action-value and (2) Shifted Q-functions, acting as the farsighted return after this truncated rollout. This decomposition allows us to optimize both parts with their individual learning rates, achieving significant learning speedup and robustness to variance in the reward signal, leading to the Composite Q-learning algorithm. We employ Composite Q-learning within TD3 and compare Composite TD3 with TD3 and TD3(Delta), which we introduce as an off-policy variant of TD(Delta). Moreover, we show that Composite TD3 outperforms TD3 as well as TD3(Delta) significantly in terms of data-efficiency in multiple simulated robot tasks and that Composite Q-learning is robust to stochastic environments and reward functions.
Title: Zero-Shot Learning with Common Sense Knowledge Graphs
Abstract: Zero-shot learning relies on semantic class representations such as hand-engineered attributes or learned embeddings to predict classes without any labeled examples. We propose to learn class representations by embedding nodes from common sense knowledge graphs in a vector space. Common sense knowledge graphs are an untapped source of explicit high-level knowledge that requires little human effort to apply to a range of tasks. To capture the knowledge in the graph, we introduce ZSL-KG, a general-purpose framework with a novel transformer graph convolutional network (TrGCN) for generating class representations. Our proposed TrGCN architecture computes non-linear combinations of node neighbourhoods. Our results show that ZSL-KG improves over existing WordNet-based methods on five out of six zero-shot benchmark datasets in language and vision.
Title: No More Pesky Hyperparameters: Offline Hyperparameter Tuning for RL
Abstract: The performance of reinforcement learning (RL) agents is sensitive to the choice of hyperparameters. In real-world settings like robotics or industrial control systems, however, testing different hyperparameter configurations directly on the environment can be financially prohibitive, dangerous, or time consuming. We propose a new approach to tune hyperparameters from offline logs of data, to fully specify the hyperparameters for an RL agent that learns online in the real world. The approach is conceptually simple: we first learn a model of the environment from the offline data, which we call a calibration model, and then simulate learning in the calibration model to identify promising hyperparameters. We identify several criteria to make this strategy effective, and develop an approach that satisfies these criteria. We empirically investigate the method in a variety of settings to identify when it is effective and when it fails.
Title: Auditing AI Models for Verified Deployment under Semantic Specifications
Abstract: Auditing trained deep learning (DL) models prior to deployment is vital for preventing unintended consequences. One of the biggest challenges in auditing is the lack of human-interpretable specifications for the DL models that are directly useful to the auditor. We address this challenge through a sequence of semantically-aligned unit tests, where each unit test verifies whether a predefined specification (e.g., accuracy over 95%) is satisfied with respect to controlled and semantically aligned variations in the input space (e.g., in face recognition, the angle relative to the camera). We enable such unit tests through variations in a semantically-interpretable latent space of a generative model. Further, we conduct certified training for the DL model through a shared latent space representation with the generative model.
With evaluations on four different datasets, covering images of chest X-rays, human faces, ImageNet classes, and towers, we show how AuditAI allows us to obtain controlled variations for certified training. Thus, our framework, AuditAI, bridges the gap between semantically-aligned formal verification and scalability.
Title: Deep Normed Embeddings for Patient Representation
Abstract: We introduce a novel contrastive representation learning objective and a training scheme for clinical time series. Specifically, we project high dimensional E.H.R. data to a closed unit ball of low dimension, encoding geometric priors so that the origin represents an idealized perfect health state and the Euclidean norm is associated with the patient’s mortality risk. Moreover, using septic patients as an example, we show how we could learn to associate the angle between two vectors with the different organ system failures, thereby, learning a compact representation which is indicative of both mortality risk and specific organ failure. We show how the learned embedding can be used for online patient monitoring, supplement clinicians and improve performance of downstream machine learning tasks. This work was partially motivated from the desire and the need to introduce a systematic way of defining intermediate rewards for Reinforcement Learning in critical care medicine. Hence, we also show how such a design in terms of the learned embedding can result in qualitatively different policies and value distributions, as compared with using only terminal rewards.
Title: Decision Boundaries and Convex Hulls in the Feature Space that Deep Learning Functions Learn from Images
Abstract: The success of deep neural networks in image classification and learning can be partly attributed to the features they extract from images. It is often speculated about the properties of a low-dimensional manifold that models extract and learn from images. However, there is not sufficient understanding about this low-dimensional space based on theory or empirical evidence. For image classification models, their last hidden layer is the one where images of each class is separated from other classes and it also has the least number of features. Here, we develop methods and formulations to study that feature space for any model. We study the partitioning of the domain in feature space, identify regions guaranteed to have certain classifications, and investigate its implications for the pixel space. We observe that geometric arrangements of decision boundaries in feature space is significantly different compared to pixel space, providing insights about adversarial vulnerabilities, image morphing, extrapolation, ambiguity in classification, and the mathematical understanding of image classification models.