[AI Seminar] AI Lunch -- Wen Sun -- March 21 (Unusual Room: NSH 1507)
Adams Wei Yu
weiyu at cs.cmu.edu
Fri Mar 17 23:34:07 EDT 2017
Dear faculty and students,
We look forward to seeing you Next Tuesday, March 21, at noon in *NSH 1507*
for AI lunch. To learn more about the seminar and lunch, please visit the AI
Lunch webpage <http://www.cs.cmu.edu/~aiseminar/>.
On Tuesday, Wen Sun <http://www.cs.cmu.edu/~wensun/> will give a talk
titled *Differentiable Imitation Learning and Sequential Prediction*.
*Abstract*: Recently, researchers have demonstrated state-of-the-art
performance on sequential decision making problems (e.g., robotics control,
sequential prediction) with deep neural networks and Reinforcement Learning
(RL). However, for some of these problems, oracles that can demonstrate
good performance are available during training. In this work, we propose
AggreVaTeD, a policy gradient extension of the Imitation Learning (IL)
approach of Ross & Bagnell (2014) that can leverage oracles to achieve
faster and more accurate solutions with less training data than with a
less-informed RL approaches. Specifically, we provide a comprehensive
theoretical study of IL that demonstrates we can expect up to exponentially
lower sample complexity for learning with AggreVaTeD than with RL
algorithms. Finally, we present two stochastic gradient procedures that
learn neural network policies for several problems including a sequential
prediction task as well as various high dimensional robotics control
problems. Our results and theory indicate that the proposed approach can
achieve superior performance with respect to the oracle when the
demonstrator is sub-optimal.
This a joint work with Arun Venkatraman, Geoff Gordon, Byron Boots and Drew
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