Game-Theoretic Robust Reinforcement Learning Handles Temporally-Coupled Perturbations

Robust reinforcement learning (RL) seeks to train policies that can perform well under environment perturbations or adversarial attacks. Existing approaches typically assume that the space of possible perturbations remains the same across timesteps. However, in many settings, the space of possible perturbations at a given timestep depends on past perturbations. We formally introduce temporally-coupled perturbations, presenting a novel challenge for existing robust RL methods. To tackle this challenge, we propose GRAD, a novel game-theoretic approach that treats the temporally-coupled robust RL problem as a partially-observable two-player zero-sum game. By finding an approximate equilibrium in this game, GRAD ensures the agent's robustness against temporally-coupled perturbations. Empirical experiments on a variety of continuous control tasks demonstrate that our proposed approach exhibits significant robustness advantages compared to baselines against both standard and temporally-coupled attacks, in both state and action spaces.

TACO: Temporal Latent Action-Driven Contrastive Loss for Visual Reinforcement Learning

Despite recent progress in reinforcement learning (RL) from raw pixel data, sample inefficiency continues to present a substantial obstacle. Prior works have attempted to address this challenge by creating self-supervised auxiliary tasks, aiming to enrich the agent's learned representations with control-relevant information for future state prediction. However, these objectives are often insufficient to learn representations that can represent the optimal policy or value function, and they often consider tasks with small, abstract discrete action spaces and thus overlook the importance of action representation learning in continuous control. In this paper, we introduce TACO: Temporal Action-driven Contrastive Learning, a simple yet powerful temporal contrastive learning approach that facilitates the concurrent acquisition of latent state and action representations for agents. TACO simultaneously learns a state and an action representation by optimizing the mutual information between representations of current states paired with action sequences and representations of the corresponding future states. Theoretically, TACO can be shown to learn state and action representations that encompass sufficient information for control, thereby improving sample efficiency. For online RL, TACO achieves 40% performance boost after one million environment interaction steps on average across nine challenging visual continuous control tasks from Deepmind Control Suite. In addition, we show that TACO can also serve as a plug-and-play module adding to existing offline visual RL methods to establish the new state-of-the-art performance for offline visual RL across offline datasets with varying quality.

Reviving Shift Equivariance in Vision Transformers

Shift equivariance is a fundamental principle that governs how we perceive the world - our recognition of an object remains invariant with respect to shifts. Transformers have gained immense popularity due to their effectiveness in both language and vision tasks. While the self-attention operator in vision transformers (ViT) is permutation-equivariant and thus shift-equivariant, patch embedding, positional encoding, and subsampled attention in ViT variants can disrupt this property, resulting in inconsistent predictions even under small shift perturbations. Although there is a growing trend in incorporating the inductive bias of convolutional neural networks (CNNs) into vision transformers, it does not fully address the issue. We propose an adaptive polyphase anchoring algorithm that can be seamlessly integrated into vision transformer models to ensure shift-equivariance in patch embedding and subsampled attention modules, such as window attention and global subsampled attention. Furthermore, we utilize depth-wise convolution to encode positional information. Our algorithms enable ViT, and its variants such as Twins to achieve 100% consistency with respect to input shift, demonstrate robustness to cropping, flipping, and affine transformations, and maintain consistent predictions even when the original models lose 20 percentage points on average when shifted by just a few pixels with Twins' accuracy dropping from 80.57% to 62.40%.

Large-Scale Distributed Learning via Private On-Device Locality-Sensitive Hashing

Locality-sensitive hashing (LSH) based frameworks have been used efficiently to select weight vectors in a dense hidden layer with high cosine similarity to an input, enabling dynamic pruning. While this type of scheme has been shown to improve computational training efficiency, existing algorithms require repeated randomized projection of the full layer weight, which is impractical for computational- and memory-constrained devices. In a distributed setting, deferring LSH analysis to a centralized host is (i) slow if the device cluster is large and (ii) requires access to input data which is forbidden in a federated context. Using a new family of hash functions, we develop one of the first private, personalized, and memory-efficient on-device LSH frameworks. Our framework enables privacy and personalization by allowing each device to generate hash tables, without the help of a central host, using device-specific hashing hyper-parameters (e.g. number of hash tables or hash length). Hash tables are generated with a compressed set of the full weights, and can be serially generated and discarded if the process is memory-intensive. This allows devices to avoid maintaining (i) the fully-sized model and (ii) large amounts of hash tables in local memory for LSH analysis. We prove several statistical and sensitivity properties of our hash functions, and experimentally demonstrate that our framework is competitive in training large-scale recommender networks compared to other LSH frameworks which assume unrestricted on-device capacity.

Rethinking Adversarial Policies: A Generalized Attack Formulation and Provable Defense in Multi-Agent RL

Most existing works consider direct perturbations of victim's state/action or the underlying transition dynamics to show vulnerability of reinforcement learning agents under adversarial attacks. However, such direct manipulation may not always be feasible in practice. In this paper, we consider another common and realistic attack setup: in a multi-agent RL setting with well-trained agents, during deployment time, the victim agent $\nu$ is exploited by an attacker who controls another agent $\alpha$ to act adversarially against the victim using an \textit{adversarial policy}. Prior attack models under such setup do not consider that the attacker can confront resistance and thus can only take partial control of the agent $\alpha$, as well as introducing perceivable ``abnormal'' behaviors that are easily detectable. A provable defense against these adversarial policies is also lacking. To resolve these issues, we introduce a more general attack formulation that models to what extent the adversary is able to control the agent to produce the adversarial policy. Based on such a generalized attack framework, the attacker can also regulate the state distribution shift caused by the attack through an attack budget, and thus produce stealthy adversarial policies that can exploit the victim agent. Furthermore, we provide the first provably robust defenses with convergence guarantee to the most robust victim policy via adversarial training with timescale separation, in sharp contrast to adversarial training in supervised learning which may only provide {\it empirical} defenses.

GFairHint: Improving Individual Fairness for Graph Neural Networks via Fairness Hint

Given the growing concerns about fairness in machine learning and the impressive performance of Graph Neural Networks (GNNs) on graph data learning, algorithmic fairness in GNNs has attracted significant attention. While many existing studies improve fairness at the group level, only a few works promote individual fairness, which renders similar outcomes for similar individuals. A desirable framework that promotes individual fairness should (1) balance between fairness and performance, (2) accommodate two commonly-used individual similarity measures (externally annotated and computed from input features), (3) generalize across various GNN models, and (4) be computationally efficient. Unfortunately, none of the prior work achieves all the desirables. In this work, we propose a novel method, GFairHint, which promotes individual fairness in GNNs and achieves all aforementioned desirables. GFairHint learns fairness representations through an auxiliary link prediction task, and then concatenates the representations with the learned node embeddings in original GNNs as a "fairness hint". Through extensive experimental investigations on five real-world graph datasets under three prevalent GNN models covering both individual similarity measures above, GFairHint achieves the best fairness results in almost all combinations of datasets with various backbone models, while generating comparable utility results, with much less computational cost compared to the previous state-of-the-art (SoTA) method.

On the Possibilities of AI-Generated Text Detection

Our work focuses on the challenge of detecting outputs generated by Large Language Models (LLMs) from those generated by humans. The ability to distinguish between the two is of utmost importance in numerous applications. However, the possibility and impossibility of such discernment have been subjects of debate within the community. Therefore, a central question is whether we can detect AI-generated text and, if so, when. In this work, we provide evidence that it should almost always be possible to detect the AI-generated text unless the distributions of human and machine generated texts are exactly the same over the entire support. This observation follows from the standard results in information theory and relies on the fact that if the machine text is becoming more like a human, we need more samples to detect it. We derive a precise sample complexity bound of AI-generated text detection, which tells how many samples are needed to detect. This gives rise to additional challenges of designing more complicated detectors that take in n samples to detect than just one, which is the scope of future research on this topic. Our empirical evaluations support our claim about the existence of better detectors demonstrating that AI-Generated text detection should be achievable in the majority of scenarios. Our results emphasize the importance of continued research in this area

Exploring and Exploiting Decision Boundary Dynamics for Adversarial Robustness

The robustness of a deep classifier can be characterized by its margins: the decision boundary's distances to natural data points. However, it is unclear whether existing robust training methods effectively increase the margin for each vulnerable point during training. To understand this, we propose a continuous-time framework for quantifying the relative speed of the decision boundary with respect to each individual point. Through visualizing the moving speed of the decision boundary under Adversarial Training, one of the most effective robust training algorithms, a surprising moving-behavior is revealed: the decision boundary moves away from some vulnerable points but simultaneously moves closer to others, decreasing their margins. To alleviate these conflicting dynamics of the decision boundary, we propose Dynamics-aware Robust Training (DyART), which encourages the decision boundary to engage in movement that prioritizes increasing smaller margins. In contrast to prior works, DyART directly operates on the margins rather than their indirect approximations, allowing for more targeted and effective robustness improvement. Experiments on the CIFAR-10 and Tiny-ImageNet datasets verify that DyART alleviates the conflicting dynamics of the decision boundary and obtains improved robustness under various perturbation sizes compared to the state-of-the-art defenses. Our code is available at https://github.com/Yuancheng-Xu/Dynamics-Aware-Robust-Training.

Is Model Ensemble Necessary? Model-based RL via a Single Model with Lipschitz Regularized Value Function

Probabilistic dynamics model ensemble is widely used in existing model-based reinforcement learning methods as it outperforms a single dynamics model in both asymptotic performance and sample efficiency. In this paper, we provide both practical and theoretical insights on the empirical success of the probabilistic dynamics model ensemble through the lens of Lipschitz continuity. We find that, for a value function, the stronger the Lipschitz condition is, the smaller the gap between the true dynamics- and learned dynamics-induced Bellman operators is, thus enabling the converged value function to be closer to the optimal value function. Hence, we hypothesize that the key functionality of the probabilistic dynamics model ensemble is to regularize the Lipschitz condition of the value function using generated samples. To test this hypothesis, we devise two practical robust training mechanisms through computing the adversarial noise and regularizing the value network's spectral norm to directly regularize the Lipschitz condition of the value functions. Empirical results show that combined with our mechanisms, model-based RL algorithms with a single dynamics model outperform those with an ensemble of probabilistic dynamics models. These findings not only support the theoretical insight, but also provide a practical solution for developing computationally efficient model-based RL algorithms.

STEERING: Stein Information Directed Exploration for Model-Based Reinforcement Learning

Directed Exploration is a crucial challenge in reinforcement learning (RL), especially when rewards are sparse. Information-directed sampling (IDS), which optimizes the information ratio, seeks to do so by augmenting regret with information gain. However, estimating information gain is computationally intractable or relies on restrictive assumptions which prohibit its use in many practical instances. In this work, we posit an alternative exploration incentive in terms of the integral probability metric (IPM) between a current estimate of the transition model and the unknown optimal, which under suitable conditions, can be computed in closed form with the kernelized Stein discrepancy (KSD). Based on KSD, we develop a novel algorithm STEERING: \textbf{STE}in information dir\textbf{E}cted exploration for model-based \textbf{R}einforcement Learn\textbf{ING}. To enable its derivation, we develop fundamentally new variants of KSD for discrete conditional distributions. We further establish that STEERING archives sublinear Bayesian regret, improving upon prior learning rates of information-augmented MBRL, IDS included. Experimentally, we show that the proposed algorithm is computationally affordable and outperforms several prior approaches.