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Preference-based reinforcement learning (RL) has shown potential for teaching agents to perform the target tasks without a costly, pre-defined reward function by learning the reward with a supervisor’s preference between the two agent behaviors. However, preference-based learning often requires a large amount of human feedback, making it difficult to apply this approach to various applications. This data-efficiency problem, on the other hand, has been typically addressed by using unlabeled samples or data augmentation techniques in the context of supervised learning. Motivated by the recent success of these approaches, we present SURF, a semi-supervised reward learning framework that utilizes a large amount of unlabeled samples with data augmentation. In order to leverage unlabeled samples for reward learning, we infer pseudo-labels of the unlabeled samples based on the confidence of the preference predictor. To further improve the label-efficiency of reward learning, we introduce a new data augmentation that temporally crops consecutive subsequences from the original behaviors. Our experiments demonstrate that our approach significantly improves the feedback-efficiency of the state-of-the-art preference-based method on a variety of locomotion and robotic manipulation tasks.
Author Information
Jongjin Park (KAIST)
Younggyo Seo (KAIST)
Jinwoo Shin (KAIST)
Honglak Lee (U. Michigan)
Pieter Abbeel (UC Berkeley & Covariant)
Pieter Abbeel is Professor and Director of the Robot Learning Lab at UC Berkeley [2008- ], Co-Director of the Berkeley AI Research (BAIR) Lab, Co-Founder of covariant.ai [2017- ], Co-Founder of Gradescope [2014- ], Advisor to OpenAI, Founding Faculty Partner AI@TheHouse venture fund, Advisor to many AI/Robotics start-ups. He works in machine learning and robotics. In particular his research focuses on making robots learn from people (apprenticeship learning), how to make robots learn through their own trial and error (reinforcement learning), and how to speed up skill acquisition through learning-to-learn (meta-learning). His robots have learned advanced helicopter aerobatics, knot-tying, basic assembly, organizing laundry, locomotion, and vision-based robotic manipulation. He has won numerous awards, including best paper awards at ICML, NIPS and ICRA, early career awards from NSF, Darpa, ONR, AFOSR, Sloan, TR35, IEEE, and the Presidential Early Career Award for Scientists and Engineers (PECASE). Pieter's work is frequently featured in the popular press, including New York Times, BBC, Bloomberg, Wall Street Journal, Wired, Forbes, Tech Review, NPR.
Kimin Lee (UC Berkeley)
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Jeremy Maitin-Shepard · Viren Jain · Michal Januszewski · Peter Li · Pieter Abbeel -
2016 Poster: InfoGAN: Interpretable Representation Learning by Information Maximizing Generative Adversarial Nets »
Xi Chen · Peter Chen · Yan Duan · Rein Houthooft · John Schulman · Ilya Sutskever · Pieter Abbeel -
2016 Poster: VIME: Variational Information Maximizing Exploration »
Rein Houthooft · Xi Chen · Peter Chen · Yan Duan · John Schulman · Filip De Turck · Pieter Abbeel -
2016 Poster: Synthesis of MCMC and Belief Propagation »
Sungsoo Ahn · Michael Chertkov · Jinwoo Shin -
2016 Poster: Value Iteration Networks »
Aviv Tamar · Sergey Levine · Pieter Abbeel · YI WU · Garrett Thomas -
2016 Oral: Synthesis of MCMC and Belief Propagation »
Sungsoo Ahn · Michael Chertkov · Jinwoo Shin -
2016 Oral: Value Iteration Networks »
Aviv Tamar · Sergey Levine · Pieter Abbeel · YI WU · Garrett Thomas -
2016 Poster: Cooperative Inverse Reinforcement Learning »
Dylan Hadfield-Menell · Stuart J Russell · Pieter Abbeel · Anca Dragan -
2016 Tutorial: Deep Reinforcement Learning Through Policy Optimization »
Pieter Abbeel · John Schulman -
2015 : Deep Learning for Real-Time Atari Game Play Using Offline Monte-Carlo Tree Search Planning »
Honglak Lee -
2015 Workshop: Deep Reinforcement Learning »
Pieter Abbeel · John Schulman · Satinder Singh · David Silver -
2015 Symposium: Deep Learning Symposium »
Yoshua Bengio · Marc'Aurelio Ranzato · Honglak Lee · Max Welling · Andrew Y Ng -
2015 Poster: Gradient Estimation Using Stochastic Computation Graphs »
John Schulman · Nicolas Heess · Theophane Weber · Pieter Abbeel -
2015 Poster: Deep Visual Analogy-Making »
Scott E Reed · Yi Zhang · Yuting Zhang · Honglak Lee -
2015 Poster: Action-Conditional Video Prediction using Deep Networks in Atari Games »
Junhyuk Oh · Xiaoxiao Guo · Honglak Lee · Richard L Lewis · Satinder Singh -
2015 Spotlight: Action-Conditional Video Prediction using Deep Networks in Atari Games »
Junhyuk Oh · Xiaoxiao Guo · Honglak Lee · Richard L Lewis · Satinder Singh -
2015 Oral: Deep Visual Analogy-Making »
Scott E Reed · Yi Zhang · Yuting Zhang · Honglak Lee -
2015 Poster: Learning Structured Output Representation using Deep Conditional Generative Models »
Kihyuk Sohn · Honglak Lee · Xinchen Yan -
2015 Poster: Minimum Weight Perfect Matching via Blossom Belief Propagation »
Sungsoo Ahn · Sejun Park · Michael Chertkov · Jinwoo Shin -
2015 Spotlight: Minimum Weight Perfect Matching via Blossom Belief Propagation »
Sungsoo Ahn · Sejun Park · Michael Chertkov · Jinwoo Shin -
2015 Poster: Weakly-supervised Disentangling with Recurrent Transformations for 3D View Synthesis »
Jimei Yang · Scott E Reed · Ming-Hsuan Yang · Honglak Lee -
2014 Workshop: Novel Trends and Applications in Reinforcement Learning »
Csaba Szepesvari · Marc Deisenroth · Sergey Levine · Pedro Ortega · Brian Ziebart · Emma Brunskill · Naftali Tishby · Gerhard Neumann · Daniel Lee · Sridhar Mahadevan · Pieter Abbeel · David Silver · Vicenç Gómez -
2014 Workshop: Representation and Learning Methods for Complex Outputs »
Richard Zemel · Dale Schuurmans · Kilian Q Weinberger · Yuhong Guo · Jia Deng · Francesco Dinuzzo · Hal Daumé III · Honglak Lee · Noah A Smith · Richard Sutton · Jiaqian YU · Vitaly Kuznetsov · Luke Vilnis · Hanchen Xiong · Calvin Murdock · Thomas Unterthiner · Jean-Francis Roy · Martin Renqiang Min · Hichem SAHBI · Fabio Massimo Zanzotto -
2014 Poster: Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics »
Sergey Levine · Pieter Abbeel -
2014 Spotlight: Learning Neural Network Policies with Guided Policy Search under Unknown Dynamics »
Sergey Levine · Pieter Abbeel -
2014 Poster: Deep Learning for Real-Time Atari Game Play Using Offline Monte-Carlo Tree Search Planning »
Xiaoxiao Guo · Satinder Singh · Honglak Lee · Richard L Lewis · Xiaoshi Wang -
2014 Poster: Improved Multimodal Deep Learning with Variation of Information »
Kihyuk Sohn · Wenling Shang · Honglak Lee -
2013 Poster: Robust Image Denoising with Multi-Column Deep Neural Networks »
Forest Agostinelli · Michael R Anderson · Honglak Lee -
2013 Poster: A Graphical Transformation for Belief Propagation: Maximum Weight Matchings and Odd-Sized Cycles »
Jinwoo Shin · Andrew E Gelfand · Misha Chertkov -
2012 Poster: Near Optimal Chernoff Bounds for Markov Decision Processes »
Teodor Mihai Moldovan · Pieter Abbeel -
2012 Spotlight: Near Optimal Chernoff Bounds for Markov Decision Processes »
Teodor Mihai Moldovan · Pieter Abbeel -
2012 Poster: Learning to Align from Scratch »
Gary B Huang · Marwan A Mattar · Honglak Lee · Erik Learned-Miller -
2010 Workshop: Deep Learning and Unsupervised Feature Learning »
Honglak Lee · Marc'Aurelio Ranzato · Yoshua Bengio · Geoffrey E Hinton · Yann LeCun · Andrew Y Ng -
2010 Spotlight: On a Connection between Importance Sampling and the Likelihood Ratio Policy Gradient »
Jie Tang · Pieter Abbeel -
2010 Poster: On a Connection between Importance Sampling and the Likelihood Ratio Policy Gradient »
Jie Tang · Pieter Abbeel -
2009 Poster: Unsupervised feature learning for audio classification using convolutional deep belief networks »
Honglak Lee · Peter Pham · Yan Largman · Andrew Y Ng -
2007 Poster: Sparse deep belief net model for visual area V2 »
Honglak Lee · Ekanadham Chaitanya · Andrew Y Ng -
2007 Spotlight: Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion »
J. Zico Kolter · Pieter Abbeel · Andrew Y Ng -
2007 Poster: Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion »
J. Zico Kolter · Pieter Abbeel · Andrew Y Ng -
2006 Poster: Max-margin classification of incomplete data »
Gal Chechik · Geremy Heitz · Gal Elidan · Pieter Abbeel · Daphne Koller -
2006 Spotlight: Max-margin classification of incomplete data »
Gal Chechik · Geremy Heitz · Gal Elidan · Pieter Abbeel · Daphne Koller -
2006 Poster: An Application of Reinforcement Learning to Aerobatic Helicopter Flight »
Pieter Abbeel · Adam P Coates · Andrew Y Ng · Morgan Quigley -
2006 Talk: An Application of Reinforcement Learning to Aerobatic Helicopter Flight »
Pieter Abbeel · Adam P Coates · Andrew Y Ng · Morgan Quigley -
2006 Poster: Efficient sparse coding algorithms, end-stopping and nCRF surround suppression »
Honglak Lee · Alexis Battle · Raina Rajat · Andrew Y Ng