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How to obtain good value estimation is a critical problem in Reinforcement Learning (RL). Current value estimation methods in continuous control, such as DDPG and TD3, suffer from unnecessary over- or under- estimation. In this paper, we explore the potential of double actors, which has been neglected for a long time, for better value estimation in the continuous setting. First, we interestingly find that double actors improve the exploration ability of the agent. Next, we uncover the bias alleviation property of double actors in handling overestimation with single critic, and underestimation with double critics respectively. Finally, to mitigate the potentially pessimistic value estimate in double critics, we propose to regularize the critics under double actors architecture. Together, we present Double Actors Regularized Critics (DARC) algorithm. Extensive experiments on challenging continuous control benchmarks, MuJoCo and PyBullet, show that DARC significantly outperforms current baselines with higher average return and better sample efficiency.

AAAI 2022

Efficient Continuous Control with Double Actors and Regularized Critics

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

technical paper

Universal domain adaptation (UniDA) aims to transfer knowledge learned from a labeled source domain to an unlabeled target domain under domain shift and category shift. Without prior category overlap information, it is challenging to simultaneously align the common categories between two domains and separate their respective private categories. Additionally, previous studies utilize the source classifier's prediction to obtain various known labels and one generic "unknown" label of target samples. However, over-reliance on learned classifier knowledge is inevitably biased to source data, ignoring the intrinsic structure of target domain. Therefore, in this paper, we propose a novel two-stage UniDA framework called MATHS based on the principle of mutual nearest neighbor contrast and hybrid prototype discrimination. In the first stage, we design an efficient mutual nearest neighbor contrastive learning scheme to achieve feature alignment, which exploits the instance-level affinity relationship to uncover the intrinsic structure of two domains. We introduce a bimodality hypothesis for the maximum discriminative probability distribution to detect the possible target private samples, and present a data-based statistical approach to separate the common and private categories. In the second stage, to obtain more reliable label predictions, we propose an incremental pseudo-classifier for target data only, which is driven by the hybrid representative prototypes. A confidence-guided prototype contrastive loss is designed to optimize the category allocation uncertainty via a self-training mechanism. Extensive experiments on three benchmarks demonstrate that MATHS outperforms previous state-of-the-arts on most UniDA settings.

Mutual Nearest Neighbor Contrast and Hybrid Prototype Self-Training for Universal Domain Adaptation

Inferring the causal structure of a set of random variables is a crucial problem in many disciplines of science. Over the past two decades, various approaches have been pro- posed for causal discovery from observational data. How- ever, most of the existing methods are designed for either purely discrete or continuous data, which limit their practical usage. In this paper, we target the problem of causal structure learning from observational mixed-type data. Although there are a few methods that are able to handle mixed-type data, they suffer from restrictions, such as linear assumption and poor scalability. To overcome these weaknesses, we formulate the causal mechanisms via mixed structure equation model and prove its identifiability under mild conditions. A novel locally consistent score, named CVMIC, is proposed for causal directed acyclic graph (DAG) structure learning. Moreover, we propose an efficient conditional independence test, named MRCIT, for mixed-type data, which is used in causal skeleton learning and final pruning to further improve the computational efficiency and precision of our model. Experimental results on both synthetic and real-world data demonstrate that our proposed hybrid model outperforms the other state-of-the-art methods. Our source code is available at https://github.com/DAMO-DI-ML/AAAI2022-HCM.

A Hybrid Causal Structure Learning Algorithm for Mixed-Type Data

Graph neural networks (GNNs) have significantly improved the representation power for graph-structured data. Despite of the recent success of GNNs, the graph convolution in most GNNs have two limitations. Since the graph convolution is performed in a small local neighborhood on the input graph, it is inherently incapable to capture long-range dependencies between distance nodes. In addition, when a node has neighbors that belong to different classes, i.e., heterophily, the aggregated messages from them often negatively affect representation learning. To address the two common problems of graph convolution, in this paper, we propose Deformable Graph Convolutional Networks (Deformable GCNs) that adaptively perform convolution in multiple latent spaces and capture short/long-range dependencies between nodes. Separated from node representations (features), our framework simultaneously learns the node positional embeddings (coordinates) to determine the relations between nodes in an end-to-end fashion. Depending on node position, the convolution kernels are deformed by deformation vectors and apply different transformations to its neighbor nodes. Our extensive experiments demonstrate that Deformable GCNs flexibly handles the heterophily and achieve the best performance in node classification tasks on six heterophilic graph datasets. Our code is publicly available at https://github.com/mlvlab/DeformableGCN.

Deformable Graph Convolutional Networks

Transformer-based pre-trained language models like BERT and its variants have recently achieved promising performance in various natural language processing (NLP) tasks. However, the conventional paradigm constructs the backbone by purely stacking the manually designed global self-attention layers, introducing inductive bias and thus leads to sub-optimal. In this work, we make the first attempt to automatically discover novel pre-trained language model (PLM) backbone on a flexible search space containing the most fundamental operations from scratch. Specifically, we propose a well-designed search space which (i) contains primitive math operations in the intra-layer level to explore novel attention structures, and (ii) leverages convolution blocks to be the supplementary for attentions in the inter-layer level to better learn local dependency. To enhance the efficiency for finding promising architectures, we propose an Operation-Priority Neural Architecture Search (OP-NAS) algorithm, which optimizes both the search algorithm and evaluation of candidate models. Specifically, we propose Operation-Priority (OP) evolution strategy to facilitate model search via balancing exploration and exploitation. Furthermore, we design a Bi-branch Weight-Sharing (BIWS) training strategy for fast model evaluation. Extensive experiments show that the searched architecture (named AutoBERT-Zero) significantly outperforms BERT and its variants of different model capacities in various downstream tasks, proving the architecture's transfer and scaling abilities. Remarkably, AutoBERT-Zero-base outperforms RoBERTa-base (using much more data) and BERT-large (with much larger model size) by 2.4 and 1.4 higher score on GLUE test set.

AutoBERT-Zero: Evolving BERT Backbone from Scratch

Deep reinforcement learning (DRL) has demonstrated impressive performance in various gaming simulators and real-world applications.
 In practice, however, a DRL agent may receive faulty observation by abrupt interferences such as black-out, frozen-screen, and adversarial perturbation. How to design a resilient DRL algorithm against these rare but mission-critical and safety-crucial scenarios is an essential yet challenging task. In this paper, we consider a deep q-network (DQN) framework training with an auxiliary task of observational interferences such as artificial noises. Inspired by causal inference for observational interference, we propose a causal inference based DQN algorithm called causal inference Q-network (CIQ). We evaluate the performance of CIQ in several benchmark DQN environments with different types of interferences as auxiliary labels. Our experimental results show that the proposed CIQ method could achieve higher performance and more resilience against observational interferences.

Training a Resilient Q-Network against Observational Interference

The optimization with orthogonality has been shown useful in training deep neural networks (DNNs). 
 To impose orthogonality on DNNs, both computational efficiency and stability are important.
 However, existing methods utilizing Riemannian optimization or hard constraints can only ensure stability while those using soft constraints can only improve efficiency.
 In this paper, we propose a novel method, named Feedback Gradient Descent (FGD), to our knowledge, the first work showing high efficiency and stability simultaneously.
 FGD induces orthogonality based on the simple yet indispensable Euler discretization of a continuous-time dynamical system on the tangent bundle of the Stiefel manifold.
 In particular, inspired by a numerical integration method on manifolds called Feedback Integrators, we propose to instantiate it on the tangent bundle of the Stiefel manifold for the first time.
 In our extensive image classification experiments, FGD comprehensively outperforms the existing state-of-the-art methods in terms of accuracy, efficiency, and stability.

Feedback Gradient Descent: Efficient and Stable Optimization with Orthogonality for DNNs

We study the problem of distributed training of neural networks (NNs) on devices with heterogeneous, limited, and time-varying availability of computational resources. We present an adaptive, resource-aware, on-device learning mechanism, DISTREAL, which is able to fully and efficiently utilize the available resources on devices in a distributed manner, increasing the convergence speed. This is achieved with a dropout mechanism that dynamically adjusts the computational complexity of training an NN by randomly dropping filters of convolutional layers of the model. Our main contribution is the introduction of a design space exploration (DSE) technique, which finds Pareto-optimal per-layer dropout vectors with respect to resource requirements and convergence speed of the training. Applying this technique, each device is able to dynamically select the dropout vector that fits its available resource without requiring any assistance from the server. We implement our solution in a federated learning (FL) system, where the availability of computational resources varies both between devices and over time, and show through extensive evaluation that we are able to significantly increase the convergence speed over the state of the art without compromising on the final accuracy.

DISTREAL: Distributed Resource-Aware Learning in Heterogeneous Systems

Robust adversarial reinforcement learning is an effective method to train agents to manage uncertain disturbance and modeling errors in real environments. However, for systems that are sensitive to disturbances or those that are difficult to stabilize, it is easier to learn a powerful adversary than establish a stable control policy. An improper strong adversary can destabilize the system, introduce biases in the sampling process, make the learning process unstable, and even reduce the robustness of the policy. In this study, we consider the problem of ensuring system stability during training in the adversarial reinforcement learning architecture. The dissipative principle of robust H-inï¬nity control is extended to the Markov Decision Process, and robust stability constraints are obtained based on L2 gain performance in the reinforcement learning system. Thus, we propose a dissipation-inequation-constraint-based adversarial reinforcement learning architecture. This architecture ensures the stability of the system during training by imposing constraints on the normal and adversarial agents. Theoretically, this architecture can be applied to a large family of deep reinforcement learning algorithms. Results of experiments in MuJoCo and GymFc environments show that our architecture effectively improves the robustness of the controller against environmental changes and adapts to more powerful adversaries. Results of the flight experiments on a real quadcopter indicate that our method can directly deploy the policy trained in the simulation environment to the real environment, and our controller outperforms the PID controller based on hardware-in-the-loop. Both our theoretical and empirical results provide new and critical outlooks on the adversarial reinforcement learning architecture from a rigorous robust control perspective.

Robust Adversarial Reinforcement Learning with Dissipation Inequation Constraint

We consider a general task called partial Wasserstein covering with the goal of providing information on what patterns are not being taken into account in a dataset (e.g., dataset used during development) compared to another (e.g., dataset obtained from actual applications). We model this task as a discrete optimization problem with partial Wasserstein divergence as an objective function. Although this problem is NP-hard, we prove that it satisfies the submodular property, allowing us to use a greedy algorithm with a 0.63 approximation. However, the greedy algorithm is still inefficient because it requires solving linear programming for each objective function evaluation. To overcome this inefficiency, we propose quasi-greedy algorithms, which consist of a series of techniques for acceleration such as sensitivity analysis based on strong duality and the so-called C-transform in the optimal transport field. Experimentally, we demonstrate that we can efficiently fill in the gaps between the two datasets, and find missing scene in real driving scene datasets.

Partial Wasserstein Covering

We study a dynamic model of Bayesian persuasion in sequential decision-making settings. An informed principal observes an external parameter of the world and advises an uninformed agent about actions to take over time. The agent takes actions in each time step based on the current state, the principal's advice/signal, and beliefs about the external parameter. The action of the agent updates the state according to a stochastic process. The model arises naturally in many applications, e.g., an app (the principal) can advice the user (the agent) on possible choices between actions based on additional real-time information the app has. We study the problem of designing a signaling strategy from the principal's point of view. We show that the principal has an optimal strategy against a myopic agent, who only optimizes their rewards locally, and the optimal strategy can be computed in polynomial time. In contrast, it is NP-hard to approximate an optimal policy against a far-sighted agent. Further, we show that if the principal has the power to threaten the agent by not providing future signals, then we can efficiently design a threat-based strategy. This strategy guarantees the principal's payoff as if playing against an agent who is far-sighted but myopic to future signals.

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