Adversarial Environment Generation for Learning to Navigate the Web

Learning to autonomously navigate the web is a difficult sequential decision making task. The state and action spaces are large and combinatorial in nature, and websites are dynamic environments consisting of several pages. One of the bottlenecks of training web navigation agents is providing a learnable curriculum of training environments that can cover the large variety of real-world websites. Therefore, we propose using Adversarial Environment Generation (AEG) to generate challenging web environments in which to train reinforcement learning (RL) agents. We provide a new benchmarking environment, gMiniWoB, which enables an RL adversary to use compositional primitives to learn to generate arbitrarily complex websites. To train the adversary, we propose a new technique for maximizing regret using the difference in the scores obtained by a pair of navigator agents. Our results show that our approach significantly outperforms prior methods for minimax regret AEG. The regret objective trains the adversary to design a curriculum of environments that are "just-the-right-challenge" for the navigator agents; our results show that over time, the adversary learns to generate increasingly complex web navigation tasks. The navigator agents trained with our technique learn to complete challenging, high-dimensional web navigation tasks, such as form filling, booking a flight etc. We show that the navigator agent trained with our proposed Flexible b-PAIRED technique significantly outperforms competitive automatic curriculum generation baselines -- including a state-of-the-art RL web navigation approach -- on a set of challenging unseen test environments, and achieves more than 80% success rate on some tasks.

State Entropy Maximization with Random Encoders for Efficient Exploration

Recent exploration methods have proven to be a recipe for improving sample-efficiency in deep reinforcement learning (RL). However, efficient exploration in high-dimensional observation spaces still remains a challenge. This paper presents Random Encoders for Efficient Exploration (RE3), an exploration method that utilizes state entropy as an intrinsic reward. In order to estimate state entropy in environments with high-dimensional observations, we utilize a k-nearest neighbor entropy estimator in the low-dimensional representation space of a convolutional encoder. In particular, we find that the state entropy can be estimated in a stable and compute-efficient manner by utilizing a randomly initialized encoder, which is fixed throughout training. Our experiments show that RE3 significantly improves the sample-efficiency of both model-free and model-based RL methods on locomotion and navigation tasks from DeepMind Control Suite and MiniGrid benchmarks. We also show that RE3 allows learning diverse behaviors without extrinsic rewards, effectively improving sample-efficiency in downstream tasks. Source code and videos are available at https://sites.google.com/view/re3-rl.

Cross-Modal Contrastive Learning for Text-to-Image Generation

The output of text-to-image synthesis systems should be coherent, clear, photo-realistic scenes with high semantic fidelity to their conditioned text descriptions. Our Cross-Modal Contrastive Generative Adversarial Network (XMC-GAN) addresses this challenge by maximizing the mutual information between image and text. It does this via multiple contrastive losses which capture inter-modality and intra-modality correspondences. XMC-GAN uses an attentional self-modulation generator, which enforces strong text-image correspondence, and a contrastive discriminator, which acts as a critic as well as a feature encoder for contrastive learning. The quality of XMC-GAN's output is a major step up from previous models, as we show on three challenging datasets. On MS-COCO, not only does XMC-GAN improve state-of-the-art FID from 24.70 to 9.33, but--more importantly--people prefer XMC-GAN by 77.3 for image quality and 74.1 for image-text alignment, compared to three other recent models. XMC-GAN also generalizes to the challenging Localized Narratives dataset (which has longer, more detailed descriptions), improving state-of-the-art FID from 48.70 to 14.12. Lastly, we train and evaluate XMC-GAN on the challenging Open Images data, establishing a strong benchmark FID score of 26.91.

Evolving Reinforcement Learning Algorithms

We propose a method for meta-learning reinforcement learning algorithms by searching over the space of computational graphs which compute the loss function for a value-based model-free RL agent to optimize. The learned algorithms are domain-agnostic and can generalize to new environments not seen during training. Our method can both learn from scratch and bootstrap off known existing algorithms, like DQN, enabling interpretable modifications which improve performance. Learning from scratch on simple classical control and gridworld tasks, our method rediscovers the temporal-difference (TD) algorithm. Bootstrapped from DQN, we highlight two learned algorithms which obtain good generalization performance over other classical control tasks, gridworld type tasks, and Atari games. The analysis of the learned algorithm behavior shows resemblance to recently proposed RL algorithms that address overestimation in value-based methods.

Few-shot Sequence Learning with Transformers

Few-shot algorithms aim at learning new tasks provided only a handful of training examples. In this work we investigate few-shot learning in the setting where the data points are sequences of tokens and propose an efficient learning algorithm based on Transformers. In the simplest setting, we append a token to an input sequence which represents the particular task to be undertaken, and show that the embedding of this token can be optimized on the fly given few labeled examples. Our approach does not require complicated changes to the model architecture such as adapter layers nor computing second order derivatives as is currently popular in the meta-learning and few-shot learning literature. We demonstrate our approach on a variety of tasks, and analyze the generalization properties of several model variants and baseline approaches. In particular, we show that compositional task descriptors can improve performance. Experiments show that our approach works at least as well as other methods, while being more computationally efficient.

Text-to-Image Generation Grounded by Fine-Grained User Attention

Localized Narratives is a dataset with detailed natural language descriptions of images paired with mouse traces that provide a sparse, fine-grained visual grounding for phrases. We propose TReCS, a sequential model that exploits this grounding to generate images. TReCS uses descriptions to retrieve segmentation masks and predict object labels aligned with mouse traces. These alignments are used to select and position masks to generate a fully covered segmentation canvas; the final image is produced by a segmentation-to-image generator using this canvas. This multi-step, retrieval-based approach outperforms existing direct text-to-image generation models on both automatic metrics and human evaluations: overall, its generated images are more photo-realistic and better match descriptions.

What's in a Loss Function for Image Classification?

It is common to use the softmax cross-entropy loss to train neural networks on classification datasets where a single class label is assigned to each example. However, it has been shown that modifying softmax cross-entropy with label smoothing or regularizers such as dropout can lead to higher performance. This paper studies a variety of loss functions and output layer regularization strategies on image classification tasks. We observe meaningful differences in model predictions, accuracy, calibration, and out-of-distribution robustness for networks trained with different objectives. However, differences in hidden representations of networks trained with different objectives are restricted to the last few layers; representational similarity reveals no differences among network layers that are not close to the output. We show that all objectives that improve over vanilla softmax loss produce greater class separation in the penultimate layer of the network, which potentially accounts for improved performance on the original task, but results in features that transfer worse to other tasks.

Reinforcement Learning for Sparse-Reward Object-Interaction Tasks in First-person Simulated 3D Environments

First-person object-interaction tasks in high-fidelity, 3D, simulated environments such as the AI2Thor virtual home-environment pose significant sample-efficiency challenges for reinforcement learning (RL) agents learning from sparse task rewards. To alleviate these challenges, prior work has provided extensive supervision via a combination of reward-shaping, ground-truth object-information, and expert demonstrations. In this work, we show that one can learn object-interaction tasks from scratch without supervision by learning an attentive object-model as an auxiliary task during task learning with an object-centric relational RL agent. Our key insight is that learning an object-model that incorporates object-attention into forward prediction provides a dense learning signal for unsupervised representation learning of both objects and their relationships. This, in turn, enables faster policy learning for an object-centric relational RL agent. We demonstrate our agent by introducing a set of challenging object-interaction tasks in the AI2Thor environment where learning with our attentive object-model is key to strong performance. Specifically, we compare our agent and relational RL agents with alternative auxiliary tasks to a relational RL agent equipped with ground-truth object-information, and show that learning with our object-model best closes the performance gap in terms of both learning speed and maximum success rate. Additionally, we find that incorporating object-attention into an object-model's forward predictions is key to learning representations which capture object-category and object-state.

Bridging Imagination and Reality for Model-Based Deep Reinforcement Learning

Sample efficiency has been one of the major challenges for deep reinforcement learning. Recently, model-based reinforcement learning has been proposed to address this challenge by performing planning on imaginary trajectories with a learned world model. However, world model learning may suffer from overfitting to training trajectories, and thus model-based value estimation and policy search will be pone to be sucked in an inferior local policy. In this paper, we propose a novel model-based reinforcement learning algorithm, called BrIdging Reality and Dream (BIRD). It maximizes the mutual information between imaginary and real trajectories so that the policy improvement learned from imaginary trajectories can be easily generalized to real trajectories. We demonstrate that our approach improves sample efficiency of model-based planning, and achieves state-of-the-art performance on challenging visual control benchmarks.

i-Mix: A Strategy for Regularizing Contrastive Representation Learning

Contrastive representation learning has shown to be an effective way of learning representations from unlabeled data. However, much progress has been made in vision domains relying on data augmentations carefully designed using domain knowledge. In this work, we propose i-Mix, a simple yet effective regularization strategy for improving contrastive representation learning in both vision and non-vision domains. We cast contrastive learning as training a non-parametric classifier by assigning a unique virtual class to each data in a batch. Then, data instances are mixed in both the input and virtual label spaces, providing more augmented data during training. In experiments, we demonstrate that i-Mix consistently improves the quality of self-supervised representations across domains, resulting in significant performance gains on downstream tasks. Furthermore, we confirm its regularization effect via extensive ablation studies across model and dataset sizes.