Rajat Agarwal

Manav Mishra, Prithvi Poddar, Rajat Agarwal et al.

Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into account, in this paper, we consider a heterogeneous robotic system consisting of two types of agents: anchor agents with accurate localization capability and auxiliary agents with low localization accuracy. To localize itself, the auxiliary agents must be within the communication range of an {anchor}, directly or indirectly. The robotic team's objective is to minimize environmental uncertainty through persistent monitoring. We propose a multi-agent deep reinforcement learning (MARL) based architecture with graph convolution called Graph Localized Proximal Policy Optimization (GALOPP), which incorporates the limited sensor field-of-view, communication, and localization constraints of the agents along with persistent monitoring objectives to determine motion policies for each agent. We evaluate the performance of GALOPP on open maps with obstacles having a different number of anchor and auxiliary agents. We further study (i) the effect of communication range, obstacle density, and sensing range on the performance and (ii) compare the performance of GALOPP with non-RL baselines, namely, greedy search, random search, and random search with communication constraint. For its generalization capability, we also evaluated GALOPP in two different environments -- 2-room and 4-room. The results show that GALOPP learns the policies and monitors the area well. As a proof-of-concept, we perform hardware experiments to demonstrate the performance of GALOPP.

Rajat Agarwal, Katharina Kann

We propose a new task in the area of computational creativity: acrostic poem generation in English. Acrostic poems are poems that contain a hidden message; typically, the first letter of each line spells out a word or short phrase. We define the task as a generation task with multiple constraints: given an input word, 1) the initial letters of each line should spell out the provided word, 2) the poem's semantics should also relate to it, and 3) the poem should conform to a rhyming scheme. We further provide a baseline model for the task, which consists of a conditional neural language model in combination with a neural rhyming model. Since no dedicated datasets for acrostic poem generation exist, we create training data for our task by first training a separate topic prediction model on a small set of topic-annotated poems and then predicting topics for additional poems. Our experiments show that the acrostic poems generated by our baseline are received well by humans and do not lose much quality due to the additional constraints. Last, we confirm that poems generated by our model are indeed closely related to the provided prompts, and that pretraining on Wikipedia can boost performance.

William Whitney, Rajat Agarwal, Kyunghyun Cho et al.

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences. These embeddings capture the structure of the environment's dynamics, enabling efficient policy learning. We demonstrate that our action embeddings alone improve the sample efficiency and peak performance of model-free RL on control from low-dimensional states. By combining state and action embeddings, we achieve efficient learning of high-quality policies on goal-conditioned continuous control from pixel observations in only 1-2 million environment steps.