Abhishek Gupta

Anurag Ajay, Abhishek Gupta, Dibya Ghosh et al. · berkeley

Meta-reinforcement learning algorithms provide a data-driven way to acquire policies that quickly adapt to many tasks with varying rewards or dynamics functions. However, learned meta-policies are often effective only on the exact task distribution on which they were trained and struggle in the presence of distribution shift of test-time rewards or transition dynamics. In this work, we develop a framework for meta-RL algorithms that are able to behave appropriately under test-time distribution shifts in the space of tasks. Our framework centers on an adaptive approach to distributional robustness that trains a population of meta-policies to be robust to varying levels of distribution shift. When evaluated on a potentially shifted test-time distribution of tasks, this allows us to choose the meta-policy with the most appropriate level of robustness, and use it to perform fast adaptation. We formally show how our framework allows for improved regret under distribution shift, and empirically show its efficacy on simulated robotics problems under a wide range of distribution shifts.

Olivia Watkins, Trevor Darrell, Pieter Abbeel et al. · microsoft-research, mit

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access to a human expert, and learning from intermediate forms of supervision (like binary preferences) is time-consuming and extracts little information from each human intervention. Can we overcome these challenges by building agents that learn from rich, interactive feedback instead? We propose a new supervision paradigm for interactive learning based on "teachable" decision-making systems that learn from structured advice provided by an external teacher. We begin by formalizing a class of human-in-the-loop decision making problems in which multiple forms of teacher-provided advice are available to a learner. We then describe a simple learning algorithm for these problems that first learns to interpret advice, then learns from advice to complete tasks even in the absence of human supervision. In puzzle-solving, navigation, and locomotion domains, we show that agents that learn from advice can acquire new skills with significantly less human supervision than standard reinforcement learning algorithms and often less than imitation learning.

Zhang-Wei Hong, Aviral Kumar, Sathwik Karnik et al.

Offline policy learning is aimed at learning decision-making policies using existing datasets of trajectories without collecting additional data. The primary motivation for using reinforcement learning (RL) instead of supervised learning techniques such as behavior cloning is to find a policy that achieves a higher average return than the trajectories constituting the dataset. However, we empirically find that when a dataset is dominated by suboptimal trajectories, state-of-the-art offline RL algorithms do not substantially improve over the average return of trajectories in the dataset. We argue this is due to an assumption made by current offline RL algorithms of staying close to the trajectories in the dataset. If the dataset primarily consists of sub-optimal trajectories, this assumption forces the policy to mimic the suboptimal actions. We overcome this issue by proposing a sampling strategy that enables the policy to only be constrained to ``good data" rather than all actions in the dataset (i.e., uniform sampling). We present a realization of the sampling strategy and an algorithm that can be used as a plug-and-play module in standard offline RL algorithms. Our evaluation demonstrates significant performance gains in 72 imbalanced datasets, D4RL dataset, and across three different offline RL algorithms. Code is available at https://github.com/Improbable-AI/dw-offline-rl.

Meenal Parakh, Alisha Fong, Anthony Simeonov et al. · deepmind

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of skills. We overcome this critical limitation and present a method for using LLM-based planners to query new skills and teach robots these skills in a data and time-efficient manner for rigid object manipulation. Our system can re-use newly acquired skills for future tasks, demonstrating the potential of open world and lifelong learning. We evaluate the proposed framework on multiple tasks in simulation and the real world. Videos are available at: https://sites.google.com/mit.edu/halp-robot-learning.

Marcel Torne, Max Balsells, Zihan Wang et al. · deepmind

Exploration and reward specification are fundamental and intertwined challenges for reinforcement learning. Solving sequential decision-making tasks requiring expansive exploration requires either careful design of reward functions or the use of novelty-seeking exploration bonuses. Human supervisors can provide effective guidance in the loop to direct the exploration process, but prior methods to leverage this guidance require constant synchronous high-quality human feedback, which is expensive and impractical to obtain. In this work, we present a technique called Human Guided Exploration (HuGE), which uses low-quality feedback from non-expert users that may be sporadic, asynchronous, and noisy. HuGE guides exploration for reinforcement learning not only in simulation but also in the real world, all without meticulous reward specification. The key concept involves bifurcating human feedback and policy learning: human feedback steers exploration, while self-supervised learning from the exploration data yields unbiased policies. This procedure can leverage noisy, asynchronous human feedback to learn policies with no hand-crafted reward design or exploration bonuses. HuGE is able to learn a variety of challenging multi-stage robotic navigation and manipulation tasks in simulation using crowdsourced feedback from non-expert users. Moreover, this paradigm can be scaled to learning directly on real-world robots, using occasional, asynchronous feedback from human supervisors.

Zichen Zhang, Yunshuang Li, Osbert Bastani et al. · allen-ai

Real-world robotic tasks stretch over extended horizons and encompass multiple stages. Learning long-horizon manipulation tasks, however, is a long-standing challenge, and demands decomposing the overarching task into several manageable subtasks to facilitate policy learning and generalization to unseen tasks. Prior task decomposition methods require task-specific knowledge, are computationally intensive, and cannot readily be applied to new tasks. To address these shortcomings, we propose Universal Visual Decomposer (UVD), an off-the-shelf task decomposition method for visual long horizon manipulation using pre-trained visual representations designed for robotic control. At a high level, UVD discovers subgoals by detecting phase shifts in the embedding space of the pre-trained representation. Operating purely on visual demonstrations without auxiliary information, UVD can effectively extract visual subgoals embedded in the videos, while incurring zero additional training cost on top of standard visuomotor policy training. Goal-conditioned policies learned with UVD-discovered subgoals exhibit significantly improved compositional generalization at test time to unseen tasks. Furthermore, UVD-discovered subgoals can be used to construct goal-based reward shaping that jump-starts temporally extended exploration for reinforcement learning. We extensively evaluate UVD on both simulation and real-world tasks, and in all cases, UVD substantially outperforms baselines across imitation and reinforcement learning settings on in-domain and out-of-domain task sequences alike, validating the clear advantage of automated visual task decomposition within the simple, compact UVD framework.

Vasantha Kumar Venugopal, Abhishek Gupta, Rohit Takhar et al.

Artificial Intelligence (AI) has significantly revolutionized radiology, promising improved patient outcomes and streamlined processes. However, it's critical to ensure the fairness of AI models to prevent stealthy bias and disparities from leading to unequal outcomes. This review discusses the concept of fairness in AI, focusing on bias auditing using the Aequitas toolkit, and its real-world implications in radiology, particularly in disease screening scenarios. Aequitas, an open-source bias audit toolkit, scrutinizes AI models' decisions, identifying hidden biases that may result in disparities across different demographic groups and imaging equipment brands. This toolkit operates on statistical theories, analyzing a large dataset to reveal a model's fairness. It excels in its versatility to handle various variables simultaneously, especially in a field as diverse as radiology. The review explicates essential fairness metrics: Equal and Proportional Parity, False Positive Rate Parity, False Discovery Rate Parity, False Negative Rate Parity, and False Omission Rate Parity. Each metric serves unique purposes and offers different insights. We present hypothetical scenarios to demonstrate their relevance in disease screening settings, and how disparities can lead to significant real-world impacts.

Nick Zhang, Abhishek Gupta, Zefeng Chen et al.

Studies have shown evolution strategies (ES) to be a promising approach for reinforcement learning (RL) with deep neural networks. However, the issue of high sample complexity persists in applications of ES to deep RL over long horizons. This paper is the first to address the shortcoming of today's methods via a novel neuroevolutionary multitasking (NuEMT) algorithm, designed to transfer information from a set of auxiliary tasks (of short episode length) to the target (full length) RL task at hand. The auxiliary tasks, extracted from the target, allow an agent to update and quickly evaluate policies on shorter time horizons. The evolved skills are then transferred to guide the longer and harder task towards an optimal policy. We demonstrate that the NuEMT algorithm achieves data-efficient evolutionary RL, reducing expensive agent-environment interaction data requirements. Our key algorithmic contribution in this setting is to introduce, for the first time, a multitask skills transfer mechanism based on the statistical importance sampling technique. In addition, an adaptive resource allocation strategy is utilized to assign computational resources to auxiliary tasks based on their gleaned usefulness. Experiments on a range of continuous control tasks from the OpenAI Gym confirm that our proposed algorithm is efficient compared to recent ES baselines.

Yunfei Hou, Abhishek Gupta, Tong Guan et al.

This paper investigates a new application of vehicular sensing: detecting and reporting the slippery road conditions. We describe a system and associated algorithm to monitor vehicle skidding events using smartphones and OBD-II (On board Diagnostics) adaptors. This system, which we call the VehSense, gathers data from smartphone inertial sensors and vehicle wheel speed sensors, and processes the data to monitor slippery road conditions in real-time. Specifically, two speed readings are collected: 1) ground speed, which is estimated by vehicle acceleration and rotation, and 2) wheel speed, which is retrieved from the OBD-II interface. The mismatch between these two speeds is used to infer a skidding event. Without tapping into vehicle manufactures' proprietary data (e.g., antilock braking system), VehSense is compatible with most of the passenger vehicles, and thus can be easily deployed. We evaluate our system on snow-covered roads at Buffalo, and show that it can detect vehicle skidding effectively.

Aviv Netanyahu, Abhishek Gupta, Max Simchowitz et al.

Machine learning systems, especially with overparameterized deep neural networks, can generalize to novel test instances drawn from the same distribution as the training data. However, they fare poorly when evaluated on out-of-support test points. In this work, we tackle the problem of developing machine learning systems that retain the power of overparameterized function approximators while enabling extrapolation to out-of-support test points when possible. This is accomplished by noting that under certain conditions, a "transductive" reparameterization can convert an out-of-support extrapolation problem into a problem of within-support combinatorial generalization. We propose a simple strategy based on bilinear embeddings to enable this type of combinatorial generalization, thereby addressing the out-of-support extrapolation problem under certain conditions. We instantiate a simple, practical algorithm applicable to various supervised learning and imitation learning tasks.

Chuning Zhu, Max Simchowitz, Siri Gadipudi et al.

Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in task-irrelevant components such as background distractors or lighting conditions. In this paper, we propose a visual model-based RL method that learns a latent representation resilient to such spurious variations. Our training objective encourages the representation to be maximally predictive of dynamics and reward, while constraining the information flow from the observation to the latent representation. We demonstrate that this objective significantly bolsters the resilience of visual model-based RL methods to visual distractors, allowing them to operate in dynamic environments. We then show that while the learned encoder is resilient to spirious variations, it is not invariant under significant distribution shift. To address this, we propose a simple reward-free alignment procedure that enables test time adaptation of the encoder. This allows for quick adaptation to widely differing environments without having to relearn the dynamics and policy. Our effort is a step towards making model-based RL a practical and useful tool for dynamic, diverse domains. We show its effectiveness in simulation benchmarks with significant spurious variations as well as a real-world egocentric navigation task with noisy TVs in the background. Videos and code at https://zchuning.github.io/repo-website/.

Ashutosh Nayyar, Abhishek Gupta, Cédric Langbort et al.

A model of stochastic games where multiple controllers jointly control the evolution of the state of a dynamic system but have access to different information about the state and action processes is considered. The asymmetry of information among the controllers makes it difficult to compute or characterize Nash equilibria. Using common information among the controllers, the game with asymmetric information is shown to be equivalent to another game with symmetric information. Further, under certain conditions, a Markov state is identified for the equivalent symmetric information game and its Markov perfect equilibria are characterized. This characterization provides a backward induction algorithm to find Nash equilibria of the original game with asymmetric information in pure or behavioral strategies. Each step of this algorithm involves finding Bayesian Nash equilibria of a one-stage Bayesian game. The class of Nash equilibria of the original game that can be characterized in this backward manner are named common information based Markov perfect equilibria.

Emily Dardaman, Abhishek Gupta

Without the ability to estimate and benchmark AI capability advancements, organizations are left to respond to each change reactively, impeding their ability to build viable mid and long-term strategies. This paper explores the recent growth of forecasting, a political science tool that uses explicit assumptions and quantitative estimation that leads to improved prediction accuracy. Done at the collective level, forecasting can identify and verify talent, enable leaders to build better models of AI advancements and improve inputs into design policy. Successful approaches to forecasting and case studies are examined, revealing a subclass of "superforecasters" who outperform 98% of the population and whose insights will be most reliable. Finally, techniques behind successful forecasting are outlined, including Phillip Tetlock's "Ten Commandments." To adapt to a quickly changing technology landscape, designers and policymakers should consider forecasting as a first line of defense.

Max Balsells, Marcel Torne, Zihan Wang et al.

Ideally, we would place a robot in a real-world environment and leave it there improving on its own by gathering more experience autonomously. However, algorithms for autonomous robotic learning have been challenging to realize in the real world. While this has often been attributed to the challenge of sample complexity, even sample-efficient techniques are hampered by two major challenges - the difficulty of providing well "shaped" rewards, and the difficulty of continual reset-free training. In this work, we describe a system for real-world reinforcement learning that enables agents to show continual improvement by training directly in the real world without requiring painstaking effort to hand-design reward functions or reset mechanisms. Our system leverages occasional non-expert human-in-the-loop feedback from remote users to learn informative distance functions to guide exploration while leveraging a simple self-supervised learning algorithm for goal-directed policy learning. We show that in the absence of resets, it is particularly important to account for the current "reachability" of the exploration policy when deciding which regions of the space to explore. Based on this insight, we instantiate a practical learning system - GEAR, which enables robots to simply be placed in real-world environments and left to train autonomously without interruption. The system streams robot experience to a web interface only requiring occasional asynchronous feedback from remote, crowdsourced, non-expert humans in the form of binary comparative feedback. We evaluate this system on a suite of robotic tasks in simulation and demonstrate its effectiveness at learning behaviors both in simulation and the real world. Project website https://guided-exploration-autonomous-rl.github.io/GEAR/.

Abhishek Gupta, Sruthi Nair, Raunak Joshi et al.

Many complex Deep Learning models are used with different variations for various prognostication tasks. The higher learning parameters not necessarily ensure great accuracy. This can be solved by considering changes in very deep models with many regularization based techniques. In this paper we train a deep neural network that uses many regularization layers with residual and concatenation process for best fit with Polycystic Ovary Syndrome Diagnosis prognostication. The network was built with improvements from every step of failure to meet the needs of the data and achieves an accuracy of 99.3% seamlessly.

Jianlan Luo, Zheyuan Hu, Charles Xu et al. · stanford

In recent years, significant progress has been made in the field of robotic reinforcement learning (RL), enabling methods that handle complex image observations, train in the real world, and incorporate auxiliary data, such as demonstrations and prior experience. However, despite these advances, robotic RL remains hard to use. It is acknowledged among practitioners that the particular implementation details of these algorithms are often just as important (if not more so) for performance as the choice of algorithm. We posit that a significant challenge to widespread adoption of robotic RL, as well as further development of robotic RL methods, is the comparative inaccessibility of such methods. To address this challenge, we developed a carefully implemented library containing a sample efficient off-policy deep RL method, together with methods for computing rewards and resetting the environment, a high-quality controller for a widely-adopted robot, and a number of challenging example tasks. We provide this library as a resource for the community, describe its design choices, and present experimental results. Perhaps surprisingly, we find that our implementation can achieve very efficient learning, acquiring policies for PCB board assembly, cable routing, and object relocation between 25 to 50 minutes of training per policy on average, improving over state-of-the-art results reported for similar tasks in the literature. These policies achieve perfect or near-perfect success rates, extreme robustness even under perturbations, and exhibit emergent recovery and correction behaviors. We hope that these promising results and our high-quality open-source implementation will provide a tool for the robotics community to facilitate further developments in robotic RL. Our code, documentation, and videos can be found at https://serl-robot.github.io/

Emily Dardaman, Abhishek Gupta

AI systems may be better thought of as peers than as tools. This paper explores applications of augmented collective intelligence (ACI) beneficial to collaborative ideation. Design considerations are offered for an experiment that evaluates the performance of hybrid human- AI collectives. The investigation described combines humans and large language models (LLMs) to ideate on increasingly complex topics. A promising real-time collection tool called Polis is examined to facilitate ACI, including case studies from citizen engagement projects in Taiwan and Bowling Green, Kentucky. The authors discuss three challenges to consider when designing an ACI experiment: topic selection, participant selection, and evaluation of results. The paper concludes that researchers should address these challenges to conduct empirical studies of ACI in collaborative ideation.

Vasantha Kumar Venugopal, Abhishek Gupta, Rohit Takhar et al.

With the increasingly widespread adoption of AI in healthcare, maintaining the accuracy and reliability of AI models in clinical practice has become crucial. In this context, we introduce novel methods for monitoring the performance of radiology AI classification models in practice, addressing the challenges of obtaining real-time ground truth for performance monitoring. We propose two metrics - predictive divergence and temporal stability - to be used for preemptive alerts of AI performance changes. Predictive divergence, measured using Kullback-Leibler and Jensen-Shannon divergences, evaluates model accuracy by comparing predictions with those of two supplementary models. Temporal stability is assessed through a comparison of current predictions against historical moving averages, identifying potential model decay or data drift. This approach was retrospectively validated using chest X-ray data from a single-center imaging clinic, demonstrating its effectiveness in maintaining AI model reliability. By providing continuous, real-time insights into model performance, our system ensures the safe and effective use of AI in clinical decision-making, paving the way for more robust AI integration in healthcare

Raunak Joshi, Abhishek Gupta, Nandan Kanvinde et al.

The advancement in the area of computer vision has been brought using deep learning mechanisms. Image Forensics is one of the major areas of computer vision application. Forgery of images is sub-category of image forensics and can be detected using Error Level Analysis. Using such images as an input, this can turn out to be a binary classification problem which can be leveraged using variations of convolutional neural networks. In this paper we perform transfer learning with state-of-the-art image classification models over error level analysis induced CASIA ITDE v.2 dataset. The algorithms used are VGG-19, Inception-V3, ResNet-152-V2, XceptionNet and EfficientNet-V2L with their respective methodologies and results.

Abhishek Gupta, Raunak Joshi, Ronald Laban

Image Forgery is a problem of image forensics and its detection can be leveraged using Deep Learning. In this paper we present an approach for identification of authentic and tampered images done using image editing tools with Error Level Analysis and Convolutional Neural Network. The process is performed on CASIA ITDE v2 dataset and trained for 50 and 100 epochs respectively. The respective accuracies of the training and validation sets are represented using graphs.

Raunak Joshi, Abhishek Gupta

The task of text classification using Bidirectional based LSTM architectures is computationally expensive and time consuming to train. For this, transformers were discovered which effectively give good performance as compared to the traditional deep learning architectures. In this paper we present a performance based comparison between simple transformer based network and Res-CNN-BiLSTM based network for cyberbullying text classification problem. The results obtained show that transformer we trained with 0.65 million parameters has significantly being able to beat the performance of Res-CNN-BiLSTM with 48.82 million parameters for faster training speeds and more generalized metrics. The paper also compares the 1-dimensional character level embedding network and 100-dimensional glove embedding network with transformer.

Raunak Joshi, Abhishek Gupta, Nandan Kanvinde

Mental Health Disturbance has many reasons and cyberbullying is one of the major causes that does exploitation using social media as an instrument. The cyberbullying is done on the basis of Religion, Ethnicity, Age and Gender which is a sensitive psychological issue. This can be addressed using Natural Language Processing with Deep Learning, since social media is the medium and it generates massive form of data in textual form. Such data can be leveraged to find the semantics and derive what type of cyberbullying is done and who are the people involved for early measures. Since deriving semantics is essential we proposed a Hybrid Deep Learning Model named 1-Dimensional CNN-Bidirectional-LSTMs with Residuals shortly known as Res-CNN-BiLSTM. In this paper we have proposed the architecture and compared its performance with different approaches of Embedding Deep Learning Algorithms.

Abhishek Gupta, Sarvesh Thustu, Riti Thakor et al.

Aerial Vehicles follow a guided approach based on Latitude, Longitude and Altitude. This information can be used for calculating the status of maneuvering for the aerial vehicles along the line of trajectory. This is a binary classification problem and Machine Learning can be leveraged for solving such problem. In this paper we present a methodology for deriving maneuvering status and its prediction using Linear, Distance Metric, Discriminant Analysis and Boosting Ensemble supervised learning methods. We provide various metrics along the line in the results section that give condensed comparison of the appropriate algorithm for prediction of the maneuvering status.

Michael Ahn, Henry Zhu, Kristian Hartikainen et al.

ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, and D'Kitty is a four-legged robot that facilitates learning agile legged locomotion tasks. These low-cost, modular robots are easy to maintain and are robust enough to sustain on-hardware reinforcement learning from scratch with over 14000 training hours registered on them to date. To leverage this platform, we propose an extensible set of continuous control benchmark tasks for each robot. These tasks feature dense and sparse task objectives, and additionally introduce score metrics as hardware-safety. We provide benchmark scores on an initial set of tasks using a variety of learning-based methods. Furthermore, we show that these results can be replicated across copies of the robots located in different institutions. Code, documentation, design files, detailed assembly instructions, final policies, baseline details, task videos, and all supplementary materials required to reproduce the results are available at www.roboticsbenchmarks.org.

Thommen George Karimpanal, Mohammadreza Chamanbaz, Wenzheng Li et al.

Validation of robotics theory on real-world hardware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we designed and prototyped, for research in diverse areas in robotics. The EvoBot platform was designed to be a low cost, open source, general purpose robotics platform intended to enable testing and validation of algorithms from a wide variety of sub-fields of robotics. Throughout the paper, we outline and discuss some common failures, practical limitations and inconsistencies between theory and practice that one may encounter while adapting such low-cost platforms for robotics research. We demonstrate these aspects through four representative common robotics tasks- localization, real-time control, swarm consensus and path planning applications, performed using the EvoBots. We also propose some potential solutions to the encountered problems and try to generalize them.

Marcel Torne, Arhan Jain, Jiayi Yuan et al.

Scaling robot learning requires data collection pipelines that scale favorably with human effort. In this work, we propose Crowdsourcing and Amortizing Human Effort for Real-to-Sim-to-Real(CASHER), a pipeline for scaling up data collection and learning in simulation where the performance scales superlinearly with human effort. The key idea is to crowdsource digital twins of real-world scenes using 3D reconstruction and collect large-scale data in simulation, rather than the real-world. Data collection in simulation is initially driven by RL, bootstrapped with human demonstrations. As the training of a generalist policy progresses across environments, its generalization capabilities can be used to replace human effort with model generated demonstrations. This results in a pipeline where behavioral data is collected in simulation with continually reducing human effort. We show that CASHER demonstrates zero-shot and few-shot scaling laws on three real-world tasks across diverse scenarios. We show that CASHER enables fine-tuning of pre-trained policies to a target scenario using a video scan without any additional human effort. See our project website: https://casher-robot-learning.github.io/CASHER/

Athul Paul Jacob, Abhishek Gupta, Jacob Andreas

We study the problem of modeling a population of agents pursuing unknown goals subject to unknown computational constraints. In standard models of bounded rationality, sub-optimal decision-making is simulated by adding homoscedastic noise to optimal decisions rather than explicitly simulating constrained inference. In this work, we introduce a latent inference budget model (L-IBM) that models agents' computational constraints explicitly, via a latent variable (inferred jointly with a model of agents' goals) that controls the runtime of an iterative inference algorithm. L-IBMs make it possible to learn agent models using data from diverse populations of suboptimal actors. In three modeling tasks -- inferring navigation goals from routes, inferring communicative intents from human utterances, and predicting next moves in human chess games -- we show that L-IBMs match or outperform Boltzmann models of decision-making under uncertainty. Inferred inference budgets are themselves meaningful, efficient to compute, and correlated with measures of player skill, partner skill and task difficulty.

Boyuan Chen, Chuning Zhu, Pulkit Agrawal et al.

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across tasks. Model-based RL, on the other hand, learns task-agnostic models of the world that naturally enables transfer across different reward functions, but struggles to scale to complex environments due to the compounding error. To get the best of both worlds, we propose a self-supervised reinforcement learning method that enables the transfer of behaviors across tasks with different rewards, while circumventing the challenges of model-based RL. In particular, we show self-supervised pre-training of model-free reinforcement learning with a number of random features as rewards allows implicit modeling of long-horizon environment dynamics. Then, planning techniques like model-predictive control using these implicit models enable fast adaptation to problems with new reward functions. Our method is self-supervised in that it can be trained on offline datasets without reward labels, but can then be quickly deployed on new tasks. We validate that our proposed method enables transfer across tasks on a variety of manipulation and locomotion domains in simulation, opening the door to generalist decision-making agents.

Abhishek Gupta, Iga Kozlowska, Nga Than

This paper outlines a conceptual framework titled The Golden Circle that describes the roles of actors at individual, organizational, and societal levels, and their dynamics in the content moderation ecosystem. Centering harm reduction and context moderation, it argues that the ML community must attend to multimodal content moderation solutions, align their work with their organizations' goals and values, and pay attention to the ever changing social contexts in which their sociotechnical systems are embedded. This is done by accounting for the why, how, and what of content moderation from a sociological and technical lens.

Sruthi Nair, Abhishek Gupta, Raunak Joshi et al.

The Machine Learning has various learning algorithms that are better in some or the other aspect when compared with each other but a common error that all algorithms will suffer from is training data with very high dimensional feature set. This usually ends up algorithms into generalization error that deplete the performance. This can be solved using an Ensemble Learning method known as Stacking commonly termed as Stacked Generalization. In this paper we perform binary classification using Stacked Generalization on high dimensional Polycystic Ovary Syndrome dataset and prove the point that model becomes generalized and metrics improve significantly. The various metrics are given in this paper that also point out a subtle transgression found with Receiver Operating Characteristic Curve that was proved to be incorrect.

Mu-Ruei Tseng, Abhishek Gupta, Chi-Keung Tang et al.

Human actions involve complex pose variations and their 2D projections can be highly ambiguous. Thus 3D spatio-temporal or 4D (i.e., 3D+T) human skeletons, which are photometric and viewpoint invariant, are an excellent alternative to 2D+T skeletons/pixels to improve action recognition accuracy. This paper proposes a new 4D dataset HAA4D which consists of more than 3,300 RGB videos in 300 human atomic action classes. HAA4D is clean, diverse, class-balanced where each class is viewpoint-balanced with the use of 4D skeletons, in which as few as one 4D skeleton per class is sufficient for training a deep recognition model. Further, the choice of atomic actions makes annotation even easier, because each video clip lasts for only a few seconds. All training and testing 3D skeletons in HAA4D are globally aligned, using a deep alignment model to the same global space, making each skeleton face the negative z-direction. Such alignment makes matching skeletons more stable by reducing intraclass variations and thus with fewer training samples per class needed for action recognition. Given the high diversity and skeletal alignment in HAA4D, we construct the first baseline few-shot 4D human atomic action recognition network without bells and whistles, which produces comparable or higher performance than relevant state-of-the-art techniques relying on embedded space encoding without explicit skeletal alignment, using the same small number of training samples of unseen classes.

Abhishek Gupta, Connor Wright, Marianna Bergamaschi Ganapini et al.

This report from the Montreal AI Ethics Institute (MAIEI) covers the most salient progress in research and reporting over the second half of 2021 in the field of AI ethics. Particular emphasis is placed on an "Analysis of the AI Ecosystem", "Privacy", "Bias", "Social Media and Problematic Information", "AI Design and Governance", "Laws and Regulations", "Trends", and other areas covered in the "Outside the Boxes" section. The two AI spotlights feature application pieces on "Constructing and Deconstructing Gender with AI-Generated Art" as well as "Will an Artificial Intellichef be Cooking Your Next Meal at a Michelin Star Restaurant?". Given MAIEI's mission to democratize AI, submissions from external collaborators have featured, such as pieces on the "Challenges of AI Development in Vietnam: Funding, Talent and Ethics" and using "Representation and Imagination for Preventing AI Harms". The report is a comprehensive overview of what the key issues in the field of AI ethics were in 2021, what trends are emergent, what gaps exist, and a peek into what to expect from the field of AI ethics in 2022. It is a resource for researchers and practitioners alike in the field to set their research and development agendas to make contributions to the field of AI ethics.

Abhishek Gupta, Sannidhi Shetty, Raunak Joshi et al.

Prognostication of medical problems using the clinical data by leveraging the Machine Learning techniques with stellar precision is one of the most important real world challenges at the present time. Considering the medical problem of Polycystic Ovary Syndrome also known as PCOS is an emerging problem in women aged from 15 to 49. Diagnosing this disorder by using various Boosting Ensemble Methods is something we have presented in this paper. A detailed and compendious differentiation between Adaptive Boost, Gradient Boosting Machine, XGBoost and CatBoost with their respective performance metrics highlighting the hidden anomalies in the data and its effects on the result is something we have presented in this paper. Metrics like Confusion Matrix, Precision, Recall, F1 Score, FPR, RoC Curve and AUC have been used in this paper.

Archit Sharma, Kelvin Xu, Nikhil Sardana et al.

Reinforcement learning (RL) provides a naturalistic framing for learning through trial and error, which is appealing both because of its simplicity and effectiveness and because of its resemblance to how humans and animals acquire skills through experience. However, real-world embodied learning, such as that performed by humans and animals, is situated in a continual, non-episodic world, whereas common benchmark tasks in RL are episodic, with the environment resetting between trials to provide the agent with multiple attempts. This discrepancy presents a major challenge when attempting to take RL algorithms developed for episodic simulated environments and run them on real-world platforms, such as robots. In this paper, we aim to address this discrepancy by laying out a framework for Autonomous Reinforcement Learning (ARL): reinforcement learning where the agent not only learns through its own experience, but also contends with lack of human supervision to reset between trials. We introduce a simulated benchmark EARL around this framework, containing a set of diverse and challenging simulated tasks reflective of the hurdles introduced to learning when only a minimal reliance on extrinsic intervention can be assumed. We show that standard approaches to episodic RL and existing approaches struggle as interventions are minimized, underscoring the need for developing new algorithms for reinforcement learning with a greater focus on autonomy.

Abhishek Gupta, Connor Wright, Marianna Bergamaschi Ganapini et al.

This report from the Montreal AI Ethics Institute covers the most salient progress in research and reporting over the second quarter of 2021 in the field of AI ethics with a special emphasis on "Environment and AI", "Creativity and AI", and "Geopolitics and AI." The report also features an exclusive piece titled "Critical Race Quantum Computer" that applies ideas from quantum physics to explain the complexities of human characteristics and how they can and should shape our interactions with each other. The report also features special contributions on the subject of pedagogy in AI ethics, sociology and AI ethics, and organizational challenges to implementing AI ethics in practice. Given MAIEI's mission to highlight scholars from around the world working on AI ethics issues, the report also features two spotlights sharing the work of scholars operating in Singapore and Mexico helping to shape policy measures as they relate to the responsible use of technology. The report also has an extensive section covering the gamut of issues when it comes to the societal impacts of AI covering areas of bias, privacy, transparency, accountability, fairness, interpretability, disinformation, policymaking, law, regulations, and moral philosophy.

Charles Sun, Jędrzej Orbik, Coline Devin et al.

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real world is challenging and often requires extensive instrumentation and supervision. Our aim is to devise a robotic reinforcement learning system for learning navigation and manipulation together, in an autonomous way without human intervention, enabling continual learning under realistic assumptions. Our proposed system, ReLMM, can learn continuously on a real-world platform without any environment instrumentation, without human intervention, and without access to privileged information, such as maps, objects positions, or a global view of the environment. Our method employs a modularized policy with components for manipulation and navigation, where manipulation policy uncertainty drives exploration for the navigation controller, and the manipulation module provides rewards for navigation. We evaluate our method on a room cleanup task, where the robot must navigate to and pick up items scattered on the floor. After a grasp curriculum training phase, ReLMM can learn navigation and grasping together fully automatically, in around 40 hours of autonomous real-world training.

Kate Rakelly, Abhishek Gupta, Carlos Florensa et al.

Mutual information maximization provides an appealing formalism for learning representations of data. In the context of reinforcement learning (RL), such representations can accelerate learning by discarding irrelevant and redundant information, while retaining the information necessary for control. Much of the prior work on these methods has addressed the practical difficulties of estimating mutual information from samples of high-dimensional observations, while comparatively less is understood about which mutual information objectives yield representations that are sufficient for RL from a theoretical perspective. In this paper, we formalize the sufficiency of a state representation for learning and representing the optimal policy, and study several popular mutual-information based objectives through this lens. Surprisingly, we find that two of these objectives can yield insufficient representations given mild and common assumptions on the structure of the MDP. We corroborate our theoretical results with empirical experiments on a simulated game environment with visual observations.

Abhishek Gupta, Alexandrine Royer, Connor Wright et al.

The 4th edition of the Montreal AI Ethics Institute's The State of AI Ethics captures the most relevant developments in the field of AI Ethics since January 2021. This report aims to help anyone, from machine learning experts to human rights activists and policymakers, quickly digest and understand the ever-changing developments in the field. Through research and article summaries, as well as expert commentary, this report distills the research and reporting surrounding various domains related to the ethics of AI, with a particular focus on four key themes: Ethical AI, Fairness & Justice, Humans & Tech, and Privacy. In addition, The State of AI Ethics includes exclusive content written by world-class AI Ethics experts from universities, research institutes, consulting firms, and governments. Opening the report is a long-form piece by Edward Higgs (Professor of History, University of Essex) titled "AI and the Face: A Historian's View." In it, Higgs examines the unscientific history of facial analysis and how AI might be repeating some of those mistakes at scale. The report also features chapter introductions by Alexa Hagerty (Anthropologist, University of Cambridge), Marianna Ganapini (Faculty Director, Montreal AI Ethics Institute), Deborah G. Johnson (Emeritus Professor, Engineering and Society, University of Virginia), and Soraj Hongladarom (Professor of Philosophy and Director, Center for Science, Technology and Society, Chulalongkorn University in Bangkok). This report should be used not only as a point of reference and insight on the latest thinking in the field of AI Ethics, but should also be used as a tool for introspection as we aim to foster a more nuanced conversation regarding the impacts of AI on the world.

Abhishek Gupta, Alexandrine Royer, Connor Wright et al.

The 3rd edition of the Montreal AI Ethics Institute's The State of AI Ethics captures the most relevant developments in AI Ethics since October 2020. It aims to help anyone, from machine learning experts to human rights activists and policymakers, quickly digest and understand the field's ever-changing developments. Through research and article summaries, as well as expert commentary, this report distills the research and reporting surrounding various domains related to the ethics of AI, including: algorithmic injustice, discrimination, ethical AI, labor impacts, misinformation, privacy, risk and security, social media, and more. In addition, The State of AI Ethics includes exclusive content written by world-class AI Ethics experts from universities, research institutes, consulting firms, and governments. Unique to this report is "The Abuse and Misogynoir Playbook," written by Dr. Katlyn Tuner (Research Scientist, Space Enabled Research Group, MIT), Dr. Danielle Wood (Assistant Professor, Program in Media Arts and Sciences; Assistant Professor, Aeronautics and Astronautics; Lead, Space Enabled Research Group, MIT) and Dr. Catherine D'Ignazio (Assistant Professor, Urban Science and Planning; Director, Data + Feminism Lab, MIT). The piece (and accompanying infographic), is a deep-dive into the historical and systematic silencing, erasure, and revision of Black women's contributions to knowledge and scholarship in the United Stations, and globally. Exposing and countering this Playbook has become increasingly important following the firing of AI Ethics expert Dr. Timnit Gebru (and several of her supporters) at Google. This report should be used not only as a point of reference and insight on the latest thinking in the field of AI Ethics, but should also be used as a tool for introspection as we aim to foster a more nuanced conversation regarding the impacts of AI on the world.

Abhishek Gupta, Justin Yu, Tony Z. Zhao et al.

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in order to collect data, requiring human supervision and intervention to provide episodic resets. This is particularly evident in challenging robotics problems, such as dexterous manipulation. To make data collection scalable, such applications require reset-free algorithms that are able to learn autonomously, without explicit instrumentation or human intervention. Most prior work in this area handles single-task learning. However, we might also want robots that can perform large repertoires of skills. At first, this would appear to only make the problem harder. However, the key observation we make in this work is that an appropriately chosen multi-task RL setting actually alleviates the reset-free learning challenge, with minimal additional machinery required. In effect, solving a multi-task problem can directly solve the reset-free problem since different combinations of tasks can serve to perform resets for other tasks. By learning multiple tasks together and appropriately sequencing them, we can effectively learn all of the tasks together reset-free. This type of multi-task learning can effectively scale reset-free learning schemes to much more complex problems, as we demonstrate in our experiments. We propose a simple scheme for multi-task learning that tackles the reset-free learning problem, and show its effectiveness at learning to solve complex dexterous manipulation tasks in both hardware and simulation without any explicit resets. This work shows the ability to learn dexterous manipulation behaviors in the real world with RL without any human intervention.

Abhishek Gupta, Alexandrine Royer, Victoria Heath et al.

The 2nd edition of the Montreal AI Ethics Institute's The State of AI Ethics captures the most relevant developments in the field of AI Ethics since July 2020. This report aims to help anyone, from machine learning experts to human rights activists and policymakers, quickly digest and understand the ever-changing developments in the field. Through research and article summaries, as well as expert commentary, this report distills the research and reporting surrounding various domains related to the ethics of AI, including: AI and society, bias and algorithmic justice, disinformation, humans and AI, labor impacts, privacy, risk, and future of AI ethics. In addition, The State of AI Ethics includes exclusive content written by world-class AI Ethics experts from universities, research institutes, consulting firms, and governments. These experts include: Danit Gal (Tech Advisor, United Nations), Amba Kak (Director of Global Policy and Programs, NYU's AI Now Institute), Rumman Chowdhury (Global Lead for Responsible AI, Accenture), Brent Barron (Director of Strategic Projects and Knowledge Management, CIFAR), Adam Murray (U.S. Diplomat working on tech policy, Chair of the OECD Network on AI), Thomas Kochan (Professor, MIT Sloan School of Management), and Katya Klinova (AI and Economy Program Lead, Partnership on AI). This report should be used not only as a point of reference and insight on the latest thinking in the field of AI Ethics, but should also be used as a tool for introspection as we aim to foster a more nuanced conversation regarding the impacts of AI on the world.

Daniel Nemirovsky, Nicolas Thiebaut, Ye Xu et al.

Machine learning predictors have been increasingly applied in production settings, including in one of the world's largest hiring platforms, Hired, to provide a better candidate and recruiter experience. The ability to provide actionable feedback is desirable for candidates to improve their chances of achieving success in the marketplace. Until recently, however, methods aimed at providing actionable feedback have been limited in terms of realism and latency. In this work, we demonstrate how, by applying a newly introduced method based on Generative Adversarial Networks (GANs), we are able to overcome these limitations and provide actionable feedback in real-time to candidates in production settings. Our experimental results highlight the significant benefits of utilizing a GAN-based approach on our dataset relative to two other state-of-the-art approaches (including over 1000x latency gains). We also illustrate the potential impact of this approach in detail on two real candidate profile examples.

Abhishek Gupta, Camylle Lanteigne, Victoria Heath

The history of science and technology shows that seemingly innocuous developments in scientific theories and research have enabled real-world applications with significant negative consequences for humanity. In order to ensure that the science and technology of AI is developed in a humane manner, we must develop research publication norms that are informed by our growing understanding of AI's potential threats and use cases. Unfortunately, it's difficult to create a set of publication norms for responsible AI because the field of AI is currently fragmented in terms of how this technology is researched, developed, funded, etc. To examine this challenge and find solutions, the Montreal AI Ethics Institute (MAIEI) co-hosted two public consultations with the Partnership on AI in May 2020. These meetups examined potential publication norms for responsible AI, with the goal of creating a clear set of recommendations and ways forward for publishers. In its submission, MAIEI provides six initial recommendations, these include: 1) create tools to navigate publication decisions, 2) offer a page number extension, 3) develop a network of peers, 4) require broad impact statements, 5) require the publication of expected results, and 6) revamp the peer-review process. After considering potential concerns regarding these recommendations, including constraining innovation and creating a "black market" for AI research, MAIEI outlines three ways forward for publishers, these include: 1) state clearly and consistently the need for established norms, 2) coordinate and build trust as a community, and 3) change the approach.

Daniel Nemirovsky, Nicolas Thiebaut, Ye Xu et al.

The prevalence of machine learning models in various industries has led to growing demands for model interpretability and for the ability to provide meaningful recourse to users. For example, patients hoping to improve their diagnoses or loan applicants seeking to increase their chances of approval. Counterfactuals can help in this regard by identifying input perturbations that would result in more desirable prediction outcomes. Meaningful counterfactuals should be able to achieve the desired outcome, but also be realistic, actionable, and efficient to compute. Current approaches achieve desired outcomes with moderate actionability but are severely limited in terms of realism and latency. To tackle these limitations, we apply Generative Adversarial Nets (GANs) toward counterfactual search. We also introduce a novel Residual GAN (RGAN) that helps to improve counterfactual realism and actionability compared to regular GANs. The proposed CounteRGAN method utilizes an RGAN and a target classifier to produce counterfactuals capable of providing meaningful recourse. Evaluations on two popular datasets highlight how the CounteRGAN is able to overcome the limitations of existing methods, including latency improvements of >50x to >90,000x, making meaningful recourse available in real-time and applicable to a wide range of domains.

Xinghua Qu, Yew-Soon Ong, Abhishek Gupta et al.

Deep reinforcement learning (DRL) policies have been shown to be deceived by perturbations (e.g., random noise or intensional adversarial attacks) on state observations that appear at test time but are unknown during training. To increase the robustness of DRL policies, previous approaches assume that the knowledge of adversaries can be added into the training process to achieve the corresponding generalization ability on these perturbed observations. However, such an assumption not only makes the robustness improvement more expensive but may also leave a model less effective to other kinds of attacks in the wild. In contrast, we propose an adversary agnostic robust DRL paradigm that does not require learning from adversaries. To this end, we first theoretically derive that robustness could indeed be achieved independently of the adversaries based on a policy distillation setting. Motivated by this finding, we propose a new policy distillation loss with two terms: 1) a prescription gap maximization loss aiming at simultaneously maximizing the likelihood of the action selected by the teacher policy and the entropy over the remaining actions; 2) a corresponding Jacobian regularization loss that minimizes the magnitude of the gradient with respect to the input state. The theoretical analysis shows that our distillation loss guarantees to increase the prescription gap and the adversarial robustness. Furthermore, experiments on five Atari games firmly verify the superiority of our approach in terms of boosting adversarial robustness compared to other state-of-the-art methods.

Abhishek Gupta, Erick Galinkin

Security and ethics are both core to ensuring that a machine learning system can be trusted. In production machine learning, there is generally a hand-off from those who build a model to those who deploy a model. In this hand-off, the engineers responsible for model deployment are often not privy to the details of the model and thus, the potential vulnerabilities associated with its usage, exposure, or compromise. Techniques such as model theft, model inversion, or model misuse may not be considered in model deployment, and so it is incumbent upon data scientists and machine learning engineers to understand these potential risks so they can communicate them to the engineers deploying and hosting their models. This is an open problem in the machine learning community and in order to help alleviate this issue, automated systems for validating privacy and security of models need to be developed, which will help to lower the burden of implementing these hand-offs and increasing the ubiquity of their adoption.

Marvin Zhang, Henrik Marklund, Nikita Dhawan et al.

A fundamental assumption of most machine learning algorithms is that the training and test data are drawn from the same underlying distribution. However, this assumption is violated in almost all practical applications: machine learning systems are regularly tested under distribution shift, due to changing temporal correlations, atypical end users, or other factors. In this work, we consider the problem setting of domain generalization, where the training data are structured into domains and there may be multiple test time shifts, corresponding to new domains or domain distributions. Most prior methods aim to learn a single robust model or invariant feature space that performs well on all domains. In contrast, we aim to learn models that adapt at test time to domain shift using unlabeled test points. Our primary contribution is to introduce the framework of adaptive risk minimization (ARM), in which models are directly optimized for effective adaptation to shift by learning to adapt on the training domains. Compared to prior methods for robustness, invariance, and adaptation, ARM methods provide performance gains of 1-4% test accuracy on a number of image classification problems exhibiting domain shift.

Abhishek Gupta, Camylle Lanteigne, Victoria Heath et al.

These past few months have been especially challenging, and the deployment of technology in ways hitherto untested at an unrivalled pace has left the internet and technology watchers aghast. Artificial intelligence has become the byword for technological progress and is being used in everything from helping us combat the COVID-19 pandemic to nudging our attention in different directions as we all spend increasingly larger amounts of time online. It has never been more important that we keep a sharp eye out on the development of this field and how it is shaping our society and interactions with each other. With this inaugural edition of the State of AI Ethics we hope to bring forward the most important developments that caught our attention at the Montreal AI Ethics Institute this past quarter. Our goal is to help you navigate this ever-evolving field swiftly and allow you and your organization to make informed decisions. This pulse-check for the state of discourse, research, and development is geared towards researchers and practitioners alike who are making decisions on behalf of their organizations in considering the societal impacts of AI-enabled solutions. We cover a wide set of areas in this report spanning Agency and Responsibility, Security and Risk, Disinformation, Jobs and Labor, the Future of AI Ethics, and more. Our staff has worked tirelessly over the past quarter surfacing signal from the noise so that you are equipped with the right tools and knowledge to confidently tread this complex yet consequential domain.

John D. Co-Reyes, Suvansh Sanjeev, Glen Berseth et al.

Much of the current work on reinforcement learning studies episodic settings, where the agent is reset between trials to an initial state distribution, often with well-shaped reward functions. Non-episodic settings, where the agent must learn through continuous interaction with the world without resets, and where the agent receives only delayed and sparse reward signals, is substantially more difficult, but arguably more realistic considering real-world environments do not present the learner with a convenient "reset mechanism" and easy reward shaping. In this paper, instead of studying algorithmic improvements that can address such non-episodic and sparse reward settings, we instead study the kinds of environment properties that can make learning under such conditions easier. Understanding how properties of the environment impact the performance of reinforcement learning agents can help us to structure our tasks in ways that make learning tractable. We first discuss what we term "environment shaping" -- modifications to the environment that provide an alternative to reward shaping, and may be easier to implement. We then discuss an even simpler property that we refer to as "dynamism," which describes the degree to which the environment changes independent of the agent's actions and can be measured by environment transition entropy. Surprisingly, we find that even this property can substantially alleviate the challenges associated with non-episodic RL in sparse reward settings. We provide an empirical evaluation on a set of new tasks focused on non-episodic learning with sparse rewards. Through this study, we hope to shift the focus of the community towards analyzing how properties of the environment can affect learning and the ultimate type of behavior that is learned via RL.

Abhishek Gupta, Camylle Lanteigne

In February 2020, the European Commission (EC) published a white paper entitled, On Artificial Intelligence - A European approach to excellence and trust. This paper outlines the EC's policy options for the promotion and adoption of artificial intelligence (AI) in the European Union. The Montreal AI Ethics Institute (MAIEI) reviewed this paper and published a response addressing the EC's plans to build an "ecosystem of excellence" and an "ecosystem of trust," as well as the safety and liability implications of AI, the internet of things (IoT), and robotics. MAIEI provides 15 recommendations in relation to the sections outlined above, including: 1) focus efforts on the research and innovation community, member states, and the private sector; 2) create alignment between trading partners' policies and EU policies; 3) analyze the gaps in the ecosystem between theoretical frameworks and approaches to building trustworthy AI; 4) focus on coordination and policy alignment; 5) focus on mechanisms that promote private and secure sharing of data; 6) create a network of AI research excellence centres to strengthen the research and innovation community; 7) promote knowledge transfer and develop AI expertise through Digital Innovation Hubs; 8) add nuance to the discussion regarding the opacity of AI systems; 9) create a process for individuals to appeal an AI system's decision or output; 10) implement new rules and strengthen existing regulations; 11) ban the use of facial recognition technology; 12) hold all AI systems to similar standards and compulsory requirements; 13) ensure biometric identification systems fulfill the purpose for which they are implemented; 14) implement a voluntary labelling system for systems that are not considered high-risk; 15) appoint individuals to the oversight process who understand AI systems well and are able to communicate potential risks.