A Method for Animating Children’s Drawings of the Human Figure
Harrison Jesse Smith, Qingyuan Zheng, Yifei Li, Somya Jain, Jessica K. Hodgins
Conference on Neural Information Processing Systems (NeurIPS)
Building generally capable agents is a grand challenge for deep reinforcement learning (RL). To approach this challenge practically, we outline two key desiderata: 1) to facilitate generalization, exploration should be task agnostic; 2) to facilitate scalability, exploration policies should collect large quantities of data without costly centralized retraining. Combining these two properties, we introduce the reward-free deployment efficiency setting, a new paradigm for RL research. We then present CASCADE, a novel approach for self-supervised exploration in this new setting. CASCADE seeks to learn a world model by collecting data with a population of agents, using an information theoretic objective inspired by Bayesian Active Learning. CASCADE achieves this by specifically maximizing the diversity of trajectories sampled by the population through a novel cascading objective. We provide theoretical intuition for CASCADE which we show in a tabular setting improves upon naïve approaches that do not account for population diversity. We then demonstrate that CASCADE collects diverse task-agnostic datasets and learns agents that generalize zero-shot to novel, unseen downstream tasks on Atari, MiniGrid, Crafter and the DM Control Suite. Code and videos are available at https://yingchenxu.com/cascade/.
Harrison Jesse Smith, Qingyuan Zheng, Yifei Li, Somya Jain, Jessica K. Hodgins
Yunbo Zhang, Deepak Gopinath, Yuting Ye, Jessica Hodgins, Greg Turk, Jungdam Won
Simran Arora, Patrick Lewis, Angela Fan, Jacob Kahn, Christopher Ré