Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter

When searching for objects in cluttered environments, it is often necessary to perform complex interactions in order to move occluding objects out of the way and fully reveal the object of interest and make it graspable. Due to the complexity of the physics involved and the lack of accurate models of the clutter, planning and controlling precise predefined interactions with accurate outcome is extremely hard, when not impossible. In problems where accurate (forward) models are lacking, Deep Reinforcement Learning (RL) has shown to be a viable solution to map observations (e.g. images) to good interactions in the form of close-loop visuomotor policies. However, Deep RL is sample inefficient and fails when applied directly to the problem of unoccluding objects based on images. In this work we present a novel Deep RL procedure that combines i) teacher-aided exploration, ii) a critic with privileged information, and iii) mid-level representations, resulting in sample efficient and effective learning for the problem of uncovering a target object occluded by a heap of unknown objects. Our experiments show that our approach trains faster and converges to more efficient uncovering solutions than baselines and ablations, and that our uncovering policies lead to an average improvement in the graspability of the target object, facilitating downstream retrieval applications.

Counterfactual Data Augmentation using Locally Factored Dynamics

Many dynamic processes, including common scenarios in robotic control and reinforcement learning (RL), involve a set of interacting subprocesses. Though the subprocesses are not independent, their interactions are often sparse, and the dynamics at any given time step can often be decomposed into locally independent causal mechanisms. Such local causal structures can be leveraged to improve the sample efficiency of sequence prediction and off-policy reinforcement learning. We formalize this by introducing local causal models (LCMs), which are induced from a global causal model by conditioning on a subset of the state space. We propose an approach to inferring these structures given an object-oriented state representation, as well as a novel algorithm for model-free Counterfactual Data Augmentation (CoDA). CoDA uses local structures and an experience replay to generate counterfactual experiences that are causally valid in the global model. We find that CoDA significantly improves the performance of RL agents in locally factored tasks, including the batch-constrained and goal-conditioned settings.

Causal Discovery in Physical Systems from Videos

Causal discovery is at the core of human cognition. It enables us to reason about the environment and make counterfactual predictions about unseen scenarios, that can vastly differ from our previous experiences. We consider the task of causal discovery from videos in an end-to-end fashion without supervision on the ground-truth graph structure. In particular, our goal is to discover the structural dependencies among environmental and object variables: inferring the type and strength of interactions that have a causal effect on the behavior of the dynamical system. Our model consists of (a) a perception module that extracts a semantically meaningful and temporally consistent keypoint representation from images, (b) an inference module for determining the graph distribution induced by the detected keypoints, and (c) a dynamics module that can predict the future by conditioning on the inferred graph. We assume access to different configurations and environmental conditions, i.e., data from unknown interventions on the underlying system; thus, we can hope to discover the correct underlying causal graph without explicit interventions. We evaluate our method in a planar multi-body interaction environment and scenarios involving fabrics of different shapes like shirts and pants. Experiments demonstrate that our model can correctly identify the interactions from a short sequence of images and make long-term future predictions. The causal structure assumed by the model also allows it to make counterfactual predictions and extrapolate to systems of unseen interaction graphs or graphs of various sizes.

De-anonymization of authors through arXiv submissions during double-blind review

In this paper, we investigate the effects of releasing arXiv preprints of papers that are undergoing a double-blind review process. In particular, we ask the following research question: What is the relation between de-anonymization of authors through arXiv preprints and acceptance of a research paper at a (nominally) double-blind venue? Under two conditions: papers that are released on arXiv before the review phase and papers that are not, we examine the correlation between the reputation of their authors with the review scores and acceptance decisions. By analyzing a dataset of ICLR 2020 and ICLR 2019 submissions (n=5050), we find statistically significant evidence of positive correlation between percentage acceptance and papers with high reputation released on arXiv. In order to understand this observed association better, we perform additional analyses based on self-specified confidence scores of reviewers and observe that less confident reviewers are more likely to assign high review scores to papers with well known authors and low review scores to papers with less known authors, where reputation is quantified in terms of number of Google Scholar citations. We emphasize upfront that our results are purely correlational and we neither can nor intend to make any causal claims. A blog post accompanying the paper and our scraping code will be linked in the project website https://sites.google.com/view/deanon-arxiv/home

Maximum Entropy Models for Fast Adaptation

Deep Neural Networks have shown great promise on a variety of downstream tasks; but their ability to adapt to new data and tasks remains a challenging problem. The ability of a model to perform few-shot adaptation to a novel task is important for the scalability and deployment of machine learning models. Recent work has shown that the learned features in a neural network follow a normal distribution [41], which thereby results in a strong prior on the downstream task. This implicit overfitting to data from training tasks limits the ability to generalize and adapt to unseen tasks at test time. This also highlights the importance of learning task-agnostic representations from data. In this paper, we propose a regularization scheme using a max-entropy prior on the learned features of a neural network; such that the extracted features make minimal assumptions about the training data. We evaluate our method on adaptation to unseen tasks by performing experiments in 4 distinct settings. We find that our method compares favourably against multiple strong baselines across all of these experiments.

Experience Replay with Likelihood-free Importance Weights

The use of past experiences to accelerate temporal difference (TD) learning of value functions, or experience replay, is a key component in deep reinforcement learning. Prioritization or reweighting of important experiences has shown to improve performance of TD learning algorithms.In this work, we propose to reweight experiences based on their likelihood under the stationary distribution of the current policy. Using the corresponding reweighted TD objective, we implicitly encourage small approximation errors on the value function over frequently encountered states. We use a likelihood-free density ratio estimator over the replay buffer to assign the prioritization weights. We apply the proposed approach empirically on two competitive methods, Soft Actor Critic (SAC) and Twin Delayed Deep Deterministic policy gradient (TD3) -- over a suite of OpenAI gym tasks and achieve superior sample complexity compared to other baseline approaches.

LEAF: Latent Exploration Along the Frontier

Self-supervised goal proposal and reaching is a key component for exploration and efficient policy learning algorithms. Such a self-supervised approach without access to any oracle goal sampling distribution requires deep exploration and commitment so that long horizon plans can be efficiently discovered. In this paper, we propose an exploration framework, which learns a dynamics-aware manifold of reachable states. For a goal, our proposed method deterministically visits a state at the current frontier of reachable states (commitment/reaching) and then stochastically explores to reach the goal (exploration). This allocates exploration budget near the frontier of the reachable region instead of its interior. We target the challenging problem of policy learning from initial and goal states specified as images, and do not assume any access to the underlying ground-truth states of the robot and the environment. To keep track of reachable latent states, we propose a distance-conditioned reachability network that is trained to infer whether one state is reachable from another within the specified latent space distance. Given an initial state, we obtain a frontier of reachable states from that state. By incorporating a curriculum for sampling easier goals (closer to the start state) before more difficult goals, we demonstrate that the proposed self-supervised exploration algorithm, can achieve $20\%$ superior performance on average compared to existing baselines on a set of challenging robotic environments, including on a real robot manipulation task.

Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning approaches can operate directly from raw sensory inputs with only a reward signal to describe the task, but are extremely sample-inefficient and brittle. In this work, we combine the strengths of model-based methods with the flexibility of learning-based methods to obtain a general method that is able to overcome inaccuracies in the robotics perception/actuation pipeline, while requiring minimal interactions with the environment. This is achieved by leveraging uncertainty estimates to divide the space in regions where the given model-based policy is reliable, and regions where it may have flaws or not be well defined. In these uncertain regions, we show that a locally learned-policy can be used directly with raw sensory inputs. We test our algorithm, Guided Uncertainty-Aware Policy Optimization (GUAPO), on a real-world robot performing peg insertion. Videos are available at https://sites.google.com/view/guapo-rl

Dynamics-Aware Latent Space Reachability for Exploration in Temporally-Extended Tasks

Self-supervised goal proposal and reaching is a key component of efficient policy learning algorithms. Such a self-supervised approach without access to any oracle goal sampling distribution requires deep exploration and commitment so that long horizon plans can be efficiently discovered. In this paper, we propose an exploration framework, which learns a dynamics-aware manifold of reachable states. Given a new goal, our proposed method visits a state at the current frontier of reachable states (commitment/reaching) and then explores to reach the goal (exploration). This allocates exploration budget near the frontier of the reachable region instead of its interior. We target the challenging problem of policy learning from initial and goal states specified as images, and do not assume any access to the underlying ground-truth states of the robot and the environment. To keep track of reachable latent states, we propose a distance conditioned reachability network that is trained to infer whether one state is reachable from another within the specified latent space distance. So, given an initial state, we obtain a frontier of reachable states from that state. By incorporating a curriculum for sampling easier goals (closer to the start state) before more difficult goals, we demonstrate that the proposed self-supervised exploration algorithm, can achieve 20% superior performance on average compared to existing baselines on a set of challenging robotic environments, including on a real robot manipulation task.

DIBS: Diversity inducing Information Bottleneck in Model Ensembles

Although deep learning models have achieved state-of-the-art performance on a number of vision tasks, generalization over high dimensional multi-modal data, and reliable predictive uncertainty estimation are still active areas of research. Bayesian approaches including Bayesian Neural Nets (BNNs) do not scale well to modern computer vision tasks, as they are difficult to train, and have poor generalization under dataset-shift. This motivates the need for effective ensembles which can generalize and give reliable uncertainty estimates. In this paper, we target the problem of generating effective ensembles of neural networks by encouraging diversity in prediction. We explicitly optimize a diversity inducing adversarial loss for learning the stochastic latent variables and thereby obtain diversity in the output predictions necessary for modeling multi-modal data. We evaluate our method on benchmark datasets: MNIST, CIFAR100, TinyImageNet and MIT Places 2, and compared to the most competitive baselines show significant improvements in classification accuracy, under a shift in the data distribution and in out-of-distribution detection. Code will be released in this url https://github.com/rvl-lab-utoronto/dibs