Nicholas Capel

Nicholas Capel, Naifu Zhang

There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear controller and an arbitrary differentiable policy. The linear controller is designed based on local linearised model knowledge, and stabilises the system in a neighbourhood about an operating point. The coefficients of interpolation between the two controllers are determined by a scaled distance function measuring the distance between the current state and the operating point. The overall hybrid controller is proven to maintain the stability guarantee around the neighborhood of the operating point and still possess the universal function approximation property of the arbitrary non-linear policy. Learning has been done on both model-based (PILCO) and model-free (DDPG) frameworks. Simulation experiments performed in OpenAI gym demonstrate stability and robustness of the proposed hybrid controller. This paper thus introduces a principled method allowing for the direct importing of control methodology into reinforcement learning.

Sean Saito, Eugene Chua, Nicholas Capel et al.

Explainability algorithms such as LIME have enabled machine learning systems to adopt transparency and fairness, which are important qualities in commercial use cases. However, recent work has shown that LIME's naive sampling strategy can be exploited by an adversary to conceal biased, harmful behavior. We propose to make LIME more robust by training a generative adversarial network to sample more realistic synthetic data which the explainer uses to generate explanations. Our experiments demonstrate that our proposed method demonstrates an increase in accuracy across three real-world datasets in detecting biased, adversarial behavior compared to vanilla LIME. This is achieved while maintaining comparable explanation quality, with up to 99.94\% in top-1 accuracy in some cases.