Shagun Sodhani

arxiv.org

MaestroMotif: Skill Design From Artificial Intelligence Feedback

Martin Klissarov

Mikael Henaff

Roberta Raileanu

Marlos C. Machado

Describing skills in natural language has the potential to provide an accessible way to inject human knowledge about decision-making into an… (see more) AI system. We present MaestroMotif, a method for AI-assisted skill design, which yields high-performing and adaptable agents. MaestroMotif leverages the capabilities of Large Language Models (LLMs) to effectively create and reuse skills. It first uses an LLM's feedback to automatically design rewards corresponding to each skill, starting from their natural language description. Then, it employs an LLM's code generation abilities, together with reinforcement learning, for training the skills and combining them to implement complex behaviors specified in language. We evaluate MaestroMotif using a suite of complex tasks in the NetHack Learning Environment (NLE), demonstrating that it surpasses existing approaches in both performance and usability.

2025-01-21

ICLR.cc/2025/Conference (oral)

Motif: Intrinsic Motivation From Artificial Intelligence Feedback

Roberta Raileanu

Mikael Henaff

Exploring rich environments and evaluating one's actions without prior knowledge is immensely challenging. In this paper, we propose Motif, … (see more)a general method to interface such prior knowledge from a Large Language Model (LLM) with an agent. Motif is based on the idea of grounding LLMs for decision-making without requiring them to interact with the environment: it elicits preferences from an LLM over pairs of captions to construct an intrinsic reward, which is then used to train agents with reinforcement learning. We evaluate Motif's performance and behavior on the challenging, open-ended and procedurally-generated NetHack game. Surprisingly, by only learning to maximize its intrinsic reward, Motif achieves a higher game score than an algorithm directly trained to maximize the score itself. When combining Motif's intrinsic reward with the environment reward, our method significantly outperforms existing approaches and makes progress on tasks where no advancements have ever been made without demonstrations. Finally, we show that Motif mostly generates intuitive human-aligned behaviors which can be steered easily through prompt modifications, while scaling well with the LLM size and the amount of information given in the prompt.

2024-01-15

ICLR.cc/2024/Conference (poster)

Harnessing small projectors and multiple views for efficient vision pretraining

Arna Ghosh

Kumar Krishna Agrawal

Adam M. Oberman

Blake A. Richards

Recent progress in self-supervised (SSL) visual representation learning has led to the development of several different proposed frameworks … (see more)that rely on augmentations of images but use different loss functions. However, there are few theoretically grounded principles to guide practice, so practical implementation of each SSL framework requires several heuristics to achieve competitive performance. In this work, we build on recent analytical results to design practical recommendations for competitive and efficient SSL that are grounded in theory. Specifically, recent theory tells us that existing SSL frameworks are minimizing the same idealized loss, which is to learn features that best match the data similarity kernel defined by the augmentations used. We show how this idealized loss can be reformulated to a functionally equivalent loss that is more efficient to compute. We study the implicit bias of using gradient descent to minimize our reformulated loss function and find that using a stronger orthogonalization constraint with a reduced projector dimensionality should yield good representations. Furthermore, the theory tells us that approximating the reformulated loss should be improved by increasing the number of augmentations, and as such using multiple augmentations should lead to improved convergence. We empirically verify our findings on CIFAR, STL and Imagenet datasets, wherein we demonstrate an improved linear readout performance when training a ResNet-backbone using our theoretically grounded recommendations. Remarkably, we also demonstrate that by leveraging these insights, we can reduce the pretraining dataset size by up to 2

2023-12-31

NeurIPS (published)

Do Large Language Models Know How Much They Know?

Gabriele Prato

Jerry Huang

Prasanna Parthasarathi

A. Chandar

2023-12-31

EMNLP (published)

arxiv.org

EpiK-Eval: Evaluation for Language Models as Epistemic Models

Gabriele Prato

Jerry Huang

Prasanna Parthasarathi

A. Chandar

In the age of artificial intelligence, the role of large language models (LLMs) is becoming increasingly central. Despite their growing prev… (see more)alence, their capacity to consolidate knowledge from different training documents—a crucial ability in numerous applications—remains unexplored. This paper presents the first study examining the capability of LLMs to effectively combine such information within their parameter space. We introduce EpiK-Eval, a novel question-answering benchmark tailored to evaluate LLMs' proficiency in formulating a coherent and consistent knowledge representation from segmented narratives. Evaluations across various LLMs reveal significant weaknesses in this domain. We contend that these shortcomings stem from the intrinsic nature of prevailing training objectives. Consequently, we advocate for refining the approach towards knowledge consolidation, as it harbors the potential to dramatically improve their overall effectiveness and performance. The findings from this study offer insights for developing more robust and reliable LLMs. Our code and benchmark are available at https://github.com/chandar-lab/EpiK-Eval

2023-10-06

EMNLP/2023/Conference (accepted)

An Introduction to Lifelong Supervised Learning

Mojtaba Farmazi

Sanket Vaibhav Mehta

Pranshu Malviya

Mohamed Abdelsalam

Janarthanan Janarthanan

A. Chandar

This primer is an attempt to provide a detailed summary of the different facets of lifelong learning. We start with Chapter 2 which provides… (see more) a high-level overview of lifelong learning systems. In this chapter, we discuss prominent scenarios in lifelong learning (Section 2.4), provide 8 Introduction a high-level organization of different lifelong learning approaches (Section 2.5), enumerate the desiderata for an ideal lifelong learning system (Section 2.6), discuss how lifelong learning is related to other learning paradigms (Section 2.7), describe common metrics used to evaluate lifelong learning systems (Section 2.8). This chapter is more useful for readers who are new to lifelong learning and want to get introduced to the field without focusing on specific approaches or benchmarks. The remaining chapters focus on specific aspects (either learning algorithms or benchmarks) and are more useful for readers who are looking for specific approaches or benchmarks. Chapter 3 focuses on regularization-based approaches that do not assume access to any data from previous tasks. Chapter 4 discusses memory-based approaches that typically use a replay buffer or an episodic memory to save subset of data across different tasks. Chapter 5 focuses on different architecture families (and their instantiations) that have been proposed for training lifelong learning systems. Following these different classes of learning algorithms, we discuss the commonly used evaluation benchmarks and metrics for lifelong learning (Chapter 6) and wrap up with a discussion of future challenges and important research directions in Chapter 7.

2022-07-09

ArXiv (preprint)

arxiv.org

Block Contextual MDPs for Continual Learning

Franziska Meier

Joelle Pineau

Amy Zhang

In reinforcement learning (RL), when defining a Markov Decision Process (MDP), the environment dynamics is implicitly assumed to be stationa… (see more)ry. This assumption of stationarity, while simplifying, can be unrealistic in many scenarios. In the continual reinforcement learning scenario, the sequence of tasks is another source of nonstationarity. In this work, we propose to examine this continual reinforcement learning setting through the Block Contextual MDP (BC-MDP) framework, which enables us to relax the assumption of stationarity. This framework challenges RL algorithms to handle both nonstationarity and rich observation settings and, by additionally leveraging smoothness properties, enables us to study generalization bounds for this setting. Finally, we take inspiration from adaptive control to propose a novel algorithm that addresses the challenges introduced by this more realistic BC-MDP setting, allows for zero-shot adaptation at evaluation time, and achieves strong performance on several nonstationary environments.

2022-05-10

Proceedings of The 4th Annual Learning for Dynamics and Control Conference (published)

proceedings.mlr.press

Robust Policy Learning over Multiple Uncertainty Sets

Annie Xie

Chelsea Finn

Joelle Pineau

Amy Zhang

Reinforcement learning (RL) agents need to be robust to variations in safety-critical environments. While system identification methods prov… (see more)ide a way to infer the variation from online experience, they can fail in settings where fast identification is not possible. Another dominant approach is robust RL which produces a policy that can handle worst-case scenarios, but these methods are generally designed to achieve robustness to a single uncertainty set that must be specified at train time. Towards a more general solution, we formulate the multi-set robustness problem to learn a policy robust to different perturbation sets. We then design an algorithm that enjoys the benefits of both system identification and robust RL: it reduces uncertainty where possible given a few interactions, but can still act robustly with respect to the remaining uncertainty. On a diverse set of control tasks, our approach demonstrates improved worst-case performance on new environments compared to prior methods based on system identification and on robust RL alone.

2021-12-31

ICML (published)

proceedings.mlr.press

Recurrent Independent Mechanisms

Sergey Levine

Bernhard Schölkopf

Learning modular structures which reflect the dynamics of the environment can lead to better generalization and robustness to changes which … (see more)only affect a few of the underlying causes. We propose Recurrent Independent Mechanisms (RIMs), a new recurrent architecture in which multiple groups of recurrent cells operate with nearly independent transition dynamics, communicate only sparingly through the bottleneck of attention, and are only updated at time steps where they are most relevant. We show that this leads to specialization amongst the RIMs, which in turn allows for dramatically improved generalization on tasks where some factors of variation differ systematically between training and evaluation.

2021-01-11

ICLR.cc/2021/Conference (spotlight)

Learning Robust State Abstractions for Hidden-Parameter Block MDPS

2020-12-31

ICLR (published)