Generating Diverse Indoor Furniture Arrangements

We present a method for generating arrangements of indoor furniture from human-designed furniture layout data. Our method creates arrangements that target specified diversity, such as the total price of all furniture in the room and the number of pieces placed. To generate realistic furniture arrangement, we train a generative adversarial network (GAN) on human-designed layouts. To target specific diversity in the arrangements, we optimize the latent space of the GAN via a quality diversity algorithm to generate a diverse arrangement collection. Experiments show our approach discovers a set of arrangements that are similar to human-designed layouts but varies in price and number of furniture pieces.

Deep Surrogate Assisted Generation of Environments

Recent progress in reinforcement learning (RL) has started producing generally capable agents that can solve a distribution of complex environments. These agents are typically tested on fixed, human-authored environments. On the other hand, quality diversity (QD) optimization has been proven to be an effective component of environment generation algorithms, which can generate collections of high-quality environments that are diverse in the resulting agent behaviors. However, these algorithms require potentially expensive simulations of agents on newly generated environments. We propose Deep Surrogate Assisted Generation of Environments (DSAGE), a sample-efficient QD environment generation algorithm that maintains a deep surrogate model for predicting agent behaviors in new environments. Results in two benchmark domains show that DSAGE significantly outperforms existing QD environment generation algorithms in discovering collections of environments that elicit diverse behaviors of a state-of-the-art RL agent and a planning agent.

Covariance Matrix Adaptation MAP-Annealing

Single-objective optimization algorithms search for the single highest-quality solution with respect to an objective. In contrast, quality diversity (QD) optimization algorithms, such as Covariance Matrix Adaptation MAP-Elites (CMA-ME), search for a collection of solutions that are both high-quality with respect to an objective and diverse with respect to specified measure functions. We propose a new quality diversity algorithm, Covariance Matrix Adaptation MAP-Annealing (CMA-MAE), which bridges the gap between single-objective optimization and QD optimization. We prove that CMA-MAE smoothly blends between the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) single-objective optimizer and CMA-ME by gradually annealing a discount function with a scalar learning rate. We show that CMA-MAE has better performance than the current state-of-the-art QD algorithms on several benchmark domains and that its performance is empirically invariant to the archive resolution and robust to the discount function learning rate.

Learning Performance Graphs from Demonstrations via Task-Based Evaluations

In the learning from demonstration (LfD) paradigm, understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions that lead to undesirable or unsafe control policies. Recent work has proposed an LfD framework where a user provides a set of formal task specifications to guide LfD, to address the challenge of reward shaping. However, in this framework, specifications are manually ordered in a performance graph (a partial order that specifies relative importance between the specifications). The main contribution of this paper is an algorithm to learn the performance graph directly from the user-provided demonstrations, and show that the reward functions generated using the learned performance graph generate similar policies to those from manually specified performance graphs. We perform a user study that shows that priorities specified by users on behaviors in a simulated highway driving domain match the automatically inferred performance graph. This establishes that we can accurately evaluate user demonstrations with respect to task specifications without expert criteria.

Approximating Gradients for Differentiable Quality Diversity in Reinforcement Learning

Consider a walking agent that must adapt to damage. To approach this task, we can train a collection of policies and have the agent select a suitable policy when damaged. Training this collection may be viewed as a quality diversity (QD) optimization problem, where we search for solutions (policies) which maximize an objective (walking forward) while spanning a set of measures (measurable characteristics). Recent work shows that differentiable quality diversity (DQD) algorithms greatly accelerate QD optimization when exact gradients are available for the objective and measures. However, such gradients are typically unavailable in RL settings due to non-differentiable environments. To apply DQD in RL settings, we propose to approximate objective and measure gradients with evolution strategies and actor-critic methods. We develop two variants of the DQD algorithm CMA-MEGA, each with different gradient approximations, and evaluate them on four simulated walking tasks. One variant achieves comparable performance (QD score) with the state-of-the-art PGA-MAP-Elites in two tasks. The other variant performs comparably in all tasks but is less efficient than PGA-MAP-Elites in two tasks. These results provide insight into the limitations of CMA-MEGA in domains that require rigorous optimization of the objective and where exact gradients are unavailable.

Using Design Metaphors to Understand User Expectations of Socially Interactive Robot Embodiments

The physical design of a robot suggests expectations of that robot's functionality for human users and collaborators. When those expectations align with the true capabilities of the robot, interaction with the robot is enhanced. However, misalignment of those expectations can result in an unsatisfying interaction. This paper uses Mechanical Turk to evaluate user expectation through the use of design metaphors as applied to a wide range of robot embodiments. The first study (N=382) associates crowd-sourced design metaphors to different robot embodiments. The second study (N=803) assesses initial social expectations of robot embodiments. The final study (N=805) addresses the degree of abstraction of the design metaphors and the functional expectations projected on robot embodiments. Together, these results can guide robot designers toward aligning user expectations with true robot capabilities, facilitating positive human-robot interaction.

Deep Surrogate Assisted MAP-Elites for Automated Hearthstone Deckbuilding

We study the problem of efficiently generating high-quality and diverse content in games. Previous work on automated deckbuilding in Hearthstone shows that the quality diversity algorithm MAP-Elites can generate a collection of high-performing decks with diverse strategic gameplay. However, MAP-Elites requires a large number of expensive evaluations to discover the diverse collection of decks. We propose assisting MAP-Elites with a deep surrogate model trained online to predict game outcomes with respect to candidate decks. MAP-Elites discovers a diverse dataset to improve the surrogate model accuracy, while the surrogate model helps guide MAP-Elites towards promising new content. In a Hearthstone deckbuilding case study, we show that our approach improves the sample efficiency of MAP-Elites and outperforms a model trained offline with random decks, as well as a linear surrogate model baseline, setting a new state-of-the-art for quality diversity approaches in the application domain of automated Hearthstone deckbuilding.

Towards Transferring Human Preferences from Canonical to Actual Assembly Tasks

To assist human users according to their individual preference in assembly tasks, robots typically require user demonstrations in the given task. However, providing demonstrations in actual assembly tasks can be tedious and time-consuming. Our thesis is that we can learn user preferences in assembly tasks from demonstrations in a representative canonical task. Inspired by previous work in economy of human movement, we propose to represent user preferences as a linear function of abstract task-agnostic features, such as movement and physical and mental effort required by the user. For each user, we learn their preference from demonstrations in a canonical task and use the learned preference to anticipate their actions in the actual assembly task without any user demonstrations in the actual task. We evaluate our proposed method in a model-airplane assembly study and show that preferences can be effectively transferred from canonical to actual assembly tasks, enabling robots to anticipate user actions.

Illuminating Diverse Neural Cellular Automata for Level Generation

We present a method of generating a collection of neural cellular automata (NCA) to design video game levels. While NCAs have so far only been trained via supervised learning, we present a quality diversity (QD) approach to generating a collection of NCA level generators. By framing the problem as a QD problem, our approach can train diverse level generators, whose output levels vary based on aesthetic or functional criteria. To efficiently generate NCAs, we train generators via Covariance Matrix Adaptation MAP-Elites (CMA-ME), a quality diversity algorithm which specializes in continuous search spaces. We apply our new method to generate level generators for several 2D tile-based games: a maze game, Sokoban, and Zelda. Our results show that CMA-ME can generate small NCAs that are diverse yet capable, often satisfying complex solvability criteria for deterministic agents. We compare against a Compositional Pattern-Producing Network (CPPN) baseline trained to produce diverse collections of generators and show that the NCA representation yields a better exploration of level-space.