Rishabh Agrawal

Rishabh Agrawal, Nirav Ajmeri, Munindar P. Singh

Norms help regulate a society. Norms may be explicit (represented in structured form) or implicit. We address the emergence of explicit norms by developing agents who provide and reason about explanations for norm violations in deciding sanctions and identifying alternative norms. These agents use a genetic algorithm to produce norms and reinforcement learning to learn the values of these norms. We find that applying explanations leads to norms that provide better cohesion and goal satisfaction for the agents. Our results are stable for societies with differing attitudes of generosity.

Rishabh Agrawal, Nathan Dahlin, Rahul Jain et al.

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and error-prone methods particularly when the demonstration data comes from human experts. Classical methods such as behavioral cloning and inverse reinforcement learning are highly sensitive to estimation errors, a problem that is particularly acute in continuous state space problems. Meanwhile, state-of-the-art IL algorithms convert behavioral policy learning problems into distribution-matching problems which often require additional online interaction data to be effective. In this paper, we consider the problem of imitation learning in continuous state space environments based solely on observed behavior, without access to transition dynamics information, reward structure, or, most importantly, any additional interactions with the environment. Our approach is based on the Markov balance equation and introduces a novel conditional kernel density estimation-based imitation learning framework. It involves estimating the environment's transition dynamics using conditional kernel density estimators and seeks to satisfy the probabilistic balance equations for the environment. We establish that our estimators satisfy basic asymptotic consistency requirements. Through a series of numerical experiments on continuous state benchmark environments, we show consistently superior empirical performance over many state-of-the-art IL algorithms.

Rishabh Agrawal, Nathan Dahlin, Rahul Jain et al.

Imitation learning (IL) is notably effective for robotic tasks where directly programming behaviors or defining optimal control costs is challenging. In this work, we address a scenario where the imitator relies solely on observed behavior and cannot make environmental interactions during learning. It does not have additional supplementary datasets beyond the expert's dataset nor any information about the transition dynamics. Unlike state-of-the-art (SOTA) IL methods, this approach tackles the limitations of conventional IL by operating in a more constrained and realistic setting. Our method uses the Markov balance equation and introduces a novel conditional density estimation-based imitation learning framework. It employs conditional normalizing flows for transition dynamics estimation and aims at satisfying a balance equation for the environment. Through a series of numerical experiments on Classic Control and MuJoCo environments, we demonstrate consistently superior empirical performance compared to many SOTA IL algorithms.

Xiao Ling, Rishabh Agrawal, Tim Menzies

Improved test case prioritization means that software developers can detect and fix more software faults sooner than usual. But is there one "best" prioritization algorithm? Or do different kinds of projects deserve special kinds of prioritization? To answer these questions, this paper applies nine prioritization schemes to 31 projects that range from (a) highly rated open-source Github projects to (b) computational science software to (c) a closed-source project. We find that prioritization approaches that work best for open-source projects can work worst for the closed-source project (and vice versa). From these experiments, we conclude that (a) it is ill-advised to always apply one prioritization scheme to all projects since (b) prioritization requires tuning to different project types.

Tianpei Xia, Wei Fu, Rui Shu et al.

Software developed on public platform is a source of data that can be used to make predictions about those projects. While the individual developing activity may be random and hard to predict, the developing behavior on project level can be predicted with good accuracy when large groups of developers work together on software projects. To demonstrate this, we use 64,181 months of data from 1,159 GitHub projects to make various predictions about the recent status of those projects (as of April 2020). We find that traditional estimation algorithms make many mistakes. Algorithms like $k$-nearest neighbors (KNN), support vector regression (SVR), random forest (RFT), linear regression (LNR), and regression trees (CART) have high error rates. But that error rate can be greatly reduced using hyperparameter optimization. To the best of our knowledge, this is the largest study yet conducted, using recent data for predicting multiple health indicators of open-source projects.

Rishabh Agrawal, Yusuf Alvi, Rahul Jain et al.

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics remain fixed between training and deployment. In practice, this assumption rarely holds where modeling inaccuracies, real-world parameter variations, and adversarial perturbations can all induce shifts in transition dynamics, leading to severe performance degradation. We address this challenge through Balance Equation-based Distributionally Robust Offline Imitation Learning, a framework that learns robust policies solely from expert demonstrations collected under nominal dynamics, without requiring further environment interaction. We formulate the problem as a distributionally robust optimization over an uncertainty set of transition models, seeking a policy that minimizes the imitation loss under the worst-case transition distribution. Importantly, we show that this robust objective can be reformulated entirely in terms of the nominal data distribution, enabling tractable offline learning. Empirical evaluations on continuous-control benchmarks demonstrate that our approach achieves superior robustness and generalization compared to state-of-the-art offline IL baselines, particularly under perturbed or shifted environments.

Amritanshu Agrawal, Xueqi Yang, Rishabh Agrawal et al.

How to make software analytics simpler and faster? One method is to match the complexity of analysis to the intrinsic complexity of the data being explored. For example, hyperparameter optimizers find the control settings for data miners that improve for improving the predictions generated via software analytics. Sometimes, very fast hyperparameter optimization can be achieved by just DODGE-ing away from things tried before. But when is it wise to use DODGE and when must we use more complex (and much slower) optimizers? To answer this, we applied hyperparameter optimization to 120 SE data sets that explored bad smell detection, predicting Github ssue close time, bug report analysis, defect prediction, and dozens of other non-SE problems. We find that DODGE works best for data sets with low "intrinsic dimensionality" (D = 3) and very poorly for higher-dimensional data (D over 8). Nearly all the SE data seen here was intrinsically low-dimensional, indicating that DODGE is applicable for many SE analytics tasks.