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1. PEBBLE: Feedback-Efficient Interactive Reinforcement Learning via Relabeling Experience and Unsupervised Pre-training

   Lee, Kimin; Smith, Laura; Abbeel, Pieter (July 2021, International Conference on Machine Learning)

   null (Ed.)

   Conveying complex objectives to reinforcement learning (RL) agents can often be difficult, involving meticulous design of reward functions that are sufficiently informative yet easy enough to provide. Human-in-the-loop RL methods allow practitioners to instead interactively teach agents through tailored feedback; however, such approaches have been challenging to scale since human feedback is very expensive. In this work, we aim to make this process more sample- and feedback-efficient. We present an off-policy, interactive RL algorithm that capitalizes on the strengths of both feedback and off-policy learning. Specifically, we learn a reward model by actively querying a teacher’s preferences between two clips of behavior and use it to train an agent. To enable off-policy learning, we relabel all the agent’s past experience when its reward model changes. We additionally show that pre-training our agents with unsupervised exploration substantially increases the mileage of its queries. We demonstrate that our approach is capable of learning tasks of higher complexity than previously considered by human-in-the-loop methods, including a variety of locomotion and robotic manipulation skills. We also show that our method is able to utilize real-time human feedback to effectively prevent reward exploitation and learn new behaviors that are difficult to specify with standard reward functions. 

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2. Influencing Reinforcement Learning through Natural Language Guidance

   https://doi.org/10.32473/flairs.v34i1.128472  

   Tasrin, Tasmia; Nahian, Md Sultan; Perera, Habarakadage; Harrison, Brent (May 2021, The International FLAIRS Conference Proceedings)

   null (Ed.)

   Interactive reinforcement learning (IRL) agents use human feedback or instruction to help them learn in complex environments. Often, this feedback comes in the form of a discrete signal that’s either positive or negative. While informative, this information can be difficult to generalize on its own. In this work, we explore how natural language advice can be used to provide a richer feedback signal to a reinforcement learning agent by extending policy shaping, a well-known IRL technique. Usually policy shaping employs a human feedback policy to help an agent to learn more about how to achieve its goal. In our case, we replace this human feedback policy with policy generated based on natural language advice. We aim to inspect if the generated natural language reasoning provides support to a deep RL agent to decide its actions successfully in any given environment. So, we design our model with three networks: first one is the experience driven, next is the advice generator and third one is the advice driven. While the experience driven RL agent chooses its actions being influenced by the environmental reward, the advice driven neural network with generated feedback by the advice generator for any new state selects its actions to assist the RL agent to better policy shaping. 

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3. Combining imitation and deep reinforcement learning to human-level performance on a virtual foraging task

   https://doi.org/10.1177/10597123231201655  

   Giammarino, Vittorio; Dunne, Matthew F; Moore, Kylie N; Hasselmo, Michael E; Stern, Chantal E; Paschalidis, Ioannis Ch (September 2023, Adaptive Behavior)

   We develop a framework to learn bio-inspired foraging policies using human data. We conduct an experiment where humans are virtually immersed in an open field foraging environment and are trained to collect the highest amount of rewards. A Markov Decision Process (MDP) framework is introduced to model the human decision dynamics. Then, Imitation Learning (IL) based on maximum likelihood estimation is used to train Neural Networks (NN) that map human decisions to observed states. The results show that passive imitation substantially underperforms humans. We further refine the human-inspired policies via Reinforcement Learning (RL) using the on-policy Proximal Policy Optimization (PPO) algorithm which shows better stability than other algorithms and can steadily improve the policies pre-trained with IL. We show that the combination of IL and RL match human performance and that the artificial agents trained with our approach can quickly adapt to reward distribution shift. We finally show that good performance and robustness to reward distribution shift strongly depend on combining allocentric information with an egocentric representation of the environment. 

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4. An Imitation Learning Method with Multi-Virtual Agents for Microgrid Energy Optimization under Interrupted Periods

   https://doi.org/10.1109/PESGM51994.2024.10689197  

   Lin, Yanbin; Ni, Zhen; Tang, Yufei (July 2024, IEEE)

   Existing computer analytic methods for the microgrid system, such as reinforcement learning (RL) methods, suffer from a long-term problem with the empirical assumption of the reward function. To alleviate this limitation, we propose a multi-virtual-agent imitation learning (MAIL) approach to learn the dispatch policy under different power supply interrupted periods. Specifically, we utilize the idea of generative adversarial imitation learning method to do direct policy mapping, instead of learning from manually designed reward functions. Multi-virtual agents are used for exploring the relationship of uncertainties and corresponding actions in different microgrid environments in parallel. With the help of a deep neural network, the proposed MAIL approach can enhance robust ability by minimizing the maximum crossover discriminators to cover more interrupted cases. Case studies show that the proposed MAIL approach can learn the dispatch policies as well as the expert method and outperform other existing RL methods. 

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5. Can Differentiable Decision Trees Enable Interpretable Reward Learning from Human Feedback?

   Kalra, Akansha; Brown, Daniel S (August 2024, Reinforcement Learning Journal (RLJ))

   Reinforcement Learning from Human Feedback (RLHF) has emerged as a popular paradigm for capturing human intent to alleviate the challenges of hand-crafting the reward values. Despite the increasing interest in RLHF, most works learn black box reward functions that while expressive are difficult to interpret and often require running the whole costly process of RL before we can even decipher if these frameworks are actually aligned with human preferences. We propose and evaluate a novel approach for learning expressive and interpretable reward functions from preferences using Differentiable Decision Trees (DDTs). Our experiments across several domains, including CartPole, Visual Gridworld environments and Atari games, provide evidence that the tree structure of our learned reward function is useful in determining the extent to which the reward function is aligned with human preferences. We also provide experimental evidence that not only shows that reward DDTs can often achieve competitive RL performance when compared with larger capacity deep neural network reward functions but also demonstrates the diagnostic utility of our framework in checking alignment of learned reward functions. We also observe that the choice between soft and hard (argmax) output of reward DDT reveals a tension between wanting highly shaped rewards to ensure good RL performance, while also wanting simpler, more interpretable rewards. Videos and code, are available at: https://sites.google.com/view/ddt-rlhf 

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