Katelyn Gao

Katelyn Gao, Ozan Sener

Gaussian smoothing (GS) is a derivative-free optimization (DFO) algorithm that estimates the gradient of an objective using perturbations of the current parameters sampled from a standard normal distribution. We generalize it to sampling perturbations from a larger family of distributions. Based on an analysis of DFO for non-convex functions, we propose to choose a distribution for perturbations that minimizes the mean squared error (MSE) of the gradient estimate. We derive three such distributions with provably smaller MSE than Gaussian smoothing. We conduct evaluations of the three sampling distributions on linear regression, reinforcement learning, and DFO benchmarks in order to validate our claims. Our proposal improves on GS with the same computational complexity, and are usually competitive with and often outperform Guided ES and Orthogonal ES, two computationally more expensive algorithms that adapt the covariance matrix of normally distributed perturbations.

Katelyn Gao, Ozan Sener

By searching for shared inductive biases across tasks, meta-learning promises to accelerate learning on novel tasks, but with the cost of solving a complex bilevel optimization problem. We introduce and rigorously define the trade-off between accurate modeling and optimization ease in meta-learning. At one end, classic meta-learning algorithms account for the structure of meta-learning but solve a complex optimization problem, while at the other end domain randomized search (otherwise known as joint training) ignores the structure of meta-learning and solves a single level optimization problem. Taking MAML as the representative meta-learning algorithm, we theoretically characterize the trade-off for general non-convex risk functions as well as linear regression, for which we are able to provide explicit bounds on the errors associated with modeling and optimization. We also empirically study this trade-off for meta-reinforcement learning benchmarks.

Charles Packer, Katelyn Gao, Jernej Kos et al.

Deep reinforcement learning (RL) has achieved breakthrough results on many tasks, but agents often fail to generalize beyond the environment they were trained in. As a result, deep RL algorithms that promote generalization are receiving increasing attention. However, works in this area use a wide variety of tasks and experimental setups for evaluation. The literature lacks a controlled assessment of the merits of different generalization schemes. Our aim is to catalyze community-wide progress on generalization in deep RL. To this end, we present a benchmark and experimental protocol, and conduct a systematic empirical study. Our framework contains a diverse set of environments, our methodology covers both in-distribution and out-of-distribution generalization, and our evaluation includes deep RL algorithms that specifically tackle generalization. Our key finding is that `vanilla' deep RL algorithms generalize better than specialized schemes that were proposed specifically to tackle generalization.

Katelyn Gao

The age of big data has produced data sets that are computationally expensive to analyze and store. Algorithmic leveraging proposes that we sample observations from the original data set to generate a representative data set and then perform analysis on the representative data set. In this paper, we present efficient algorithms for constructing finite sample confidence intervals for each algorithmic leveraging estimated regression coefficient, with asymptotic coverage guarantees. In simulations, we confirm empirically that the confidence intervals have the desired coverage probabilities, while bootstrap confidence intervals may not.