Coaching: Learning and Using Environment and Agent Models ...pfr/thesis/defense-pppp.pdf · Thesis...

transcript

Coaching: Learning and UsingEnvironment and Agent Models for Advice

Patrick Riley

February 1, 2005

Thesis Committee:Manuela Veloso, Chair

Tom MitchellJack Mostow

Milind Tambe, University of Southern California

Coaching?

Environment

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Thesis Defense

Coaching?

Environment

Opponent

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Thesis Defense

Coaching?

Environment

Effectors

Perceptors

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Thesis Defense

Coaching?

Environment

Effectors

Perceptors

ObservationsGlobal, External(in specified

language)

Advice

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Thesis Defense

Coaching?

Environment

Effectors

Perceptors

language)

Advice

ObservationsPast

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Thesis Defense

Coaching?

Environment

Effectors

Perceptors

language)

Advice

ObservationsPast

Environment/AgentModels

ObservationHistory

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Thesis Question

What algorithms can be used byan automated coach agent toprovide advice to one or moreagents in order to improve their

performance?

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Outline

• Prologue

� Robot soccer environment� Coaching sub-questions

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Outline

• Prologue

• Technical sections

� Matching opponents to models� Learning/using environment models

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Outline

• Prologue

• Technical sections

� Matching opponents to models� Learning/using environment models

• Epilogue

� Relation to previous work� Review/overview of thesis contributions� Future work

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Motivating Environment:Simulated Robot Soccer

• Real time constraints

• Noisy actions

• Noisy and incompletesensation

• Near continuousstate/action spaces

• 22 distributed player agents

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Simulated Robot Soccer: Coaching

• Coach agent with global view and limited communication

� Coach does not see agent actions or intentions

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• Community created standard advice language named CLang

� Rule based� Conditions are logical combinations of world state atoms� Actions are recommended macro-actions like passing andpositioning

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Thesis Defense

• Community created standard advice language named CLang

� Rule based� Conditions are logical combinations of world state atoms� Actions are recommended macro-actions like passing andpositioning

• Basis for 4 years of coach competitions at RoboCup events

� Run different coaches with same teams

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My Questions in Coaching• What can the coach learn from observations?

� Opponent models; learn and/or select from given set� Learn environment models

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• How can models be used to get desired actions for agents?

� Plan a response to predicted behavior� Imitate a good team� Solve for universal plan

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• Once the coach has desired actions, how does the coachadapt advice to the agent abilities?

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Thesis Defense

• Once the coach has desired actions, how does the coachadapt advice to the agent abilities?

• What format does advice take?

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Thesis Defense

How to Study Coaching?

• Isolate questions with various domains

Advice Use

Models

Format

Advice

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Thesis Defense

Advice Use

Models

Format

AdvicePredator

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Thesis Defense

Advice Use

Models

Format

AdvicePredator

PreyRCSSMaze

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Thesis Defense

Advice Use

Models

Format

AdvicePredator

PreyRCSSMaze

Soccer

sub-game

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Thesis Defense

Advice Use

Models

Format

AdvicePredator

PreyRCSSMaze

Soccer

sub-game

Soccer

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Thesis Defense

Opponent Models

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Why Opponent Models?

• Dealing with opponents is a fertile area for advice

• Adapting to current opponent canmeanbetter performance

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Thesis Defense

Predicting Opponent Movement

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Predicting Opponent Movement

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Predicting Opponent MovementM : SW × Sp

O ×A → RpO

M Opponent model

SW Set of world states

p Players per team

SO Set of opponent states

A Planned actions of our team

RO Probability distributionover opponent states

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Thesis Defense

Predicting Opponent MovementM : SW × Sp

O ×A → RpO

M Opponent model

SW Set of world states

p Players per team

SO Set of opponent states

A Planned actions of our team

RO Probability distributionover opponent states

• Use predicted opponent movement to plan team actions

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Thesis Defense

Selecting Between Opponent Models

• Online, must make quick decisions with small amounts ofdata

• Rather than learning a new model from scratch, coach willselect between models from a prede�ned set

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Thesis Defense

Selecting Between Opponent Models

• Online, must make quick decisions with small amounts ofdata

• Rather than learning a new model from scratch, coach willselect between models from a prede�ned set

• Model chosen affects the plan generated

Model 1 Model 2 Model 3 Model 4 Model 5

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Thesis Defense

Selecting Between Opponent Models• Maintain probability distribution over set of models P [Mi]

• Use observation o = (w, s, a, e) to update with naive Bayes

w World state (ball location)s Starting opponent states (locations)a Team actions (ball movement)e Ending opponent states (locations)

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Thesis Defense

Selecting Between Opponent Models• Maintain probability distribution over set of models P [Mi]

• Use observation o = (w, s, a, e) to update with naive Bayes

w World state (ball location)s Starting opponent states (locations)a Team actions (ball movement)e Ending opponent states (locations)

P [Mi|o] = P [e1|w, s, a, Mi]P [e2|w, s, a, Mi] . . . P [ep|w, s, a, Mi]︸︷︷︸what opponent model calculates

P [w, s, a]P [o]︸︷︷︸

norm. constant

P [Mi]︸︷︷︸prior

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Thesis Defense

Can Models Be Recognized?

We presented an algorithm to select a model froma set. Does it select the correct one?

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• De�ne a set of �ve models

• De�ne a set of teams that (mostly) act like the models

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Thesis Defense

• De�ne a set of �ve models

• De�ne a set of teams that (mostly) act like the models

• Observe each of the �ve teams playing while the coachmakes plans

• For each of the teams, how often is the correct modelselected?

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Recognition Results

0 2 4 6 8 10 12 14 16

Number of Observations

No MovementAll to Ball

All DefensiveAll Offensive

One to Ball

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Environment Models

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Environment Model?

• Model the effects of possible agent actions on the state ofthe world

� Our algorithms learn an abstract Markov Decision Process

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Thesis Defense

Environment Model?

• Model the effects of possible agent actions on the state ofthe world

� Our algorithms learn an abstract Markov Decision Process

• A coach must have some knowledge to provide advice

• An environment model can be solved to get a desired actionpolicy for the agents

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Thesis Defense

Observations, ..., Advice

Observationsof PastExecution

Advice

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Thesis Defense

What are Observations?

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t, score, play mode,〈xball, yball,∆xball,∆yball〉〈x1, y1,∆x1∆y1, θ

B1 , θN

1 , view1, . . .〉〈x2, y2,∆x2∆y2, θ

B2 , θN

2 , view2, . . .〉...〈x22, y22,∆x22∆y22, θ

B22, θ

N22, view22, . . .〉

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Thesis Defense

B1 , θN

1 , view1, . . .〉〈x2, y2,∆x2∆y2, θ

B2 , θN

2 , view2, . . .〉...〈x22, y22,∆x22∆y22, θ

B22, θ

N22, view22, . . .〉

• Only state, no actions

� But produced by agents taking actions

• Externally visible global view

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Thesis Defense

B1 , θN

1 , view1, . . .〉〈x2, y2,∆x2∆y2, θ

B2 , θN

2 , view2, . . .〉...〈x22, y22,∆x22∆y22, θ

B22, θ

N22, view22, . . .〉

• Only state, no actions

� But produced by agents taking actions

• Externally visible global view

• Observation logs exists for many processes, not just soccer

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Thesis Defense

Observations, Markov Chain, ..., Advice

Advice

AbstractMarkov Chain

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Thesis Defense

Observations to Markov Chain

ObservedExecutions

ObservedStateTransitions

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Thesis Defense

ObservedExecutions

s1 s72

s1 s12

AbstractStateTransitions

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Thesis Defense

ObservedExecutions

s1 s72

s1 s12

Forevery

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Thesis Defense

ObservedExecutions

s1 s72

s1 s12

Forevery

0.4CombineTransitions

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Thesis Defense

State Abstraction in Robot Soccer

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Thesis Defense

Goal Ball possession

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Thesis Defense

Ball grid

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Thesis Defense

Ball grid Player occupancy

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Thesis Defense

Observations to Markov Chain: Formalism

ObservationData

StateAbstract

s′i ∈ S

s′9 → s′

3 → s′2 → s′

s′3 → s′

9 → s′3 → s′

〈S, B: S → S ∪ ε〉

S Set of observation states

S Set of abstract states

B Abstraction function

TMC Transition function

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Thesis Defense

ObservationData

StateAbstract

s′i ∈ S

s′9 → s′

3 → s′2 → s′

s′3 → s′

9 → s′3 → s′

〈S, B: S → S ∪ ε〉

ExtractObserve

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ObservationData

StateAbstract

s′i ∈ S

s′9 → s′

3 → s′2 → s′

s′3 → s′

9 → s′3 → s′

〈S, B: S → S ∪ ε〉

ExtractObserve

AbstractStateTraces

si ∈ Ss2 → s1 → s2...s1 → s2 → s1...

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Thesis Defense

ObservationData

StateAbstract

s′i ∈ S

s′9 → s′

3 → s′2 → s′

s′3 → s′

9 → s′3 → s′

〈S, B: S → S ∪ ε〉

ExtractObserve

AbstractStateTraces

si ∈ Ss2 → s1 → s2...s1 → s2 → s1...

Combine

MarkovChain

〈S, TMC〉

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Observations, MC, MDP, ..., Advice

Advice

AbstractMarkov Chain State Action

Abstract Abstract

InstantiateAbstractActions

Abstract MDP

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Markov Chain to MDP

How to infer actions from Markov Chain?

• Solution: Introduce abstractaction templates

� Sets of primary andsecondary transitions

� Non-deterministic, but noprobabilities

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Thesis Defense

Markov Chain to MDP

Primary Secondary

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Thesis Defense

Markov Chain to MDP

Primary Secondary

• Same action templates for different agents

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Markov Chain to MDP: Example

Markov Chain

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

Resulting MDP

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

Resulting MDP

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

Resulting MDP

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

Resulting MDP

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Thesis Defense

Markov Chain

Action

Templates

Primary

Secondary

Resulting MDP

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Thesis Defense

Observations, MC, MDP, Policy, Advice

Advice

AbstractMarkov Chain State Action

Abstract Abstract

InstantiateAbstractActions

Abstract MDP

Policy

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Thesis Defense

Adding Rewards

• We have learned an abstract transition model

� MDP is currently reward-less

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Thesis Defense

Adding Rewards

• We have learned an abstract transition model

� MDP is currently reward-less

• Model can not be solved for an action policy until rewardsare added

• The same transition model can be used for many differentreward signals

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Thesis Defense

MDP to Advice

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Thesis Defense

MDP to Advice

MDP RewardSignal

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Thesis Defense

MDP to Advice

MDP RewardSignal

+ = Policy

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Thesis Defense

MDP to Advice

MDP RewardSignal

+ = Policy

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Thesis Defense

Formalism

ChainMarkov

〈S, TMC〉

A Set of abstract actions

Cp, Cs Primary, Secondarytransition descriptions

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Thesis Defense

Formalism

ChainMarkov

〈S, TMC〉

ActionsAssociate

Abstract Actions

〈A, Cp, Cs〉

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Thesis Defense

Formalism

ChainMarkov

〈S, TMC〉

ActionsAssociate

Abstract Actions

〈A, Cp, Cs〉

〈S, A, TMDP , R〉

(Abstract) MDP

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Thesis Defense

Formalism

ChainMarkov

〈S, TMC〉

ActionsAssociate

Abstract Actions

〈A, Cp, Cs〉

(Abstract) MDP

Add rewards RewardR

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Thesis Defense

Formalism

ChainMarkov

〈S, TMC〉

ActionsAssociate

Abstract Actions

〈A, Cp, Cs〉

(Abstract) MDP

Add rewards RewardR(Abstract) MDP

with reward

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Thesis Defense

Empirical: Flawed OpponentCan our learning algorithm exploit an opponent's strategy?

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Thesis Defense

• Test against a team with a �aw that we program

� Known set of states and actions will have high value

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Thesis Defense

• Test against a team with a �aw that we program

� Known set of states and actions will have high value

• Opponent team (on right) will not go into corridor below

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Thesis Defense

Empirical: Flawed Opponent ResultsTraining

Team Score Difference Mean Ball X % AttackingSMEKACM4

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Thesis Defense

Team Score Difference Mean Ball X % AttackingSM 12.2 [11.3, 13.2] 19.0 [18.93, 19.11] 43%EKA 7.3 [6.5, 8.1] 14.6 [14.47, 14.65] 35%CM4 0.7 [0.4, 1.0] 1.1 [1.04, 1.16] 24%

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Thesis Defense

Team Score Difference Mean Ball X % AttackingSM 12.2 [11.3, 13.2] 19.0 [18.93, 19.11] 43%EKA 7.3 [6.5, 8.1] 14.6 [14.47, 14.65] 35%CM4 0.7 [0.4, 1.0] 1.1 [1.04, 1.16] 24%

TestingCM4 3.1 [2.5, 3.7] 9.5 [9.46, 9.64] 35%

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Thesis Defense

Empirical: Flawed Opponent Results

• Each dot represents a location of the ball when our teamowned the ball

Training

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Thesis Defense

Empirical: Flawed Opponent Results

• Each dot represents a location of the ball when our teamowned the ball

Training Testing

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Thesis Defense

Soccer is Complicated!

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Thesis Defense

Soccer is Complicated!

• Team of advice receivers

• Team of opponents

• Infrequent, hard to achieve reward

� Unclear evaluation metrics

• Unknown optimal policy

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Thesis Defense

Introducing RCSSMaze• Continuous state/action spaces, partial observability

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Thesis Defense

• Single executing agent receiving advice

� �Wall� agents execute �xed movement behaviors

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Thesis Defense

• Single executing agent receiving advice

� �Wall� agents execute �xed movement behaviors

• We approximately know the optimal policy

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Thesis Defense

RCSSMaze TrainingCan our algorithm learn a model for effective advice?

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Thesis Defense

RCSSMaze TrainingCan our algorithm learn a model for effective advice?

• Training data (240 minutes)

� Agent randomly picks one of given points� Heads directly to point until reached or reset to start� 5% of time, heads in a random direction

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Thesis Defense

RCSSMaze Rewards

• We can put reward wherever we want

Reward 1

Reward 0

Reward 2

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Thesis Defense

RCSSMaze Results

• A trial begins when the agent is at the start state

• A trial ends when

� A positive reward is received� The agent is reset to the start state

• A successful trial is one that receives positive reward

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Thesis Defense

RCSSMaze Results

• A trial begins when the agent is at the start state

• A trial ends when

� A positive reward is received� The agent is reset to the start state

• A successful trial is one that receives positive reward

Reward % in Training % with MDP0 < 1% 64%1 1% 60%2 7% 93%

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Thesis Defense

MDP Learning and Other Domains

• We used the MDP for advice, but environment models areuseful in other contexts

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Thesis Defense

• Algorithm inputs

� External observations (do not need to see inside agents'heads)

� Abstract state space� Abstract action templates

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Thesis Defense

• Algorithm inputs

� External observations (do not need to see inside agents'heads)

� Abstract state space� Abstract action templates

• Apply any reward function

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Thesis Defense

Summary andPrevious and Future Work

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Thesis Defense

Coaching and Previous WorkIntelligent Tutoring Systems

• Systems to instruct human students

• Generally used with complete and correct expert model

• Focused on humans

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Thesis Defense

Coaching and Previous WorkIntelligent Tutoring Systems

• Systems to instruct human students

• Generally used with complete and correct expert model

• Focused on humans

Agents Taking Advice

• Lots of Reinforcement Learning [e.g. Maclin and Shavlik,1996]

• How to operationalize advice? [e.g. Mostow, 1981]

• Use some similar techniques to incorporate advice, but realconcern is giving advice

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Thesis Defense

Coaching and Previous WorkAbstract/Factored Markov Decision Processes

• Ef�cient reasoning by learning/using abstractions [e.g.Dearden and Boutilier, 1997, Uther and Veloso, 2002]

• Factored representations [Dean and Kanazawa, 1989] andtheir applications [e.g. Guestrin et al., 2001]

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Thesis Defense

Coaching and Previous WorkAbstract/Factored Markov Decision Processes

• Ef�cient reasoning by learning/using abstractions [e.g.Dearden and Boutilier, 1997, Uther and Veloso, 2002]

• Factored representations [Dean and Kanazawa, 1989] andtheir applications [e.g. Guestrin et al., 2001]

Coaching in Robot Soccer

• This thesis grew with and helped de�ne this �eld

• Early coachingwork dealt with formations [Takahashi, 2000]

• ISAAC [Raines et al., 2000]

• Opponent modeling [Steffens, 2002, Kuhlmann et al., 2004]

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

Observations

Current

(Logs)

Observations

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

Observations

Current

(Logs)

Observations

Advice Formatting

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

Observations

Current

(Logs)

Observations

Advice Formatting

Learning Expert’s

Coding

Models

Opponent

Selection

Planning Response

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

Observations

Current

(Logs)

Observations

Advice Formatting

Learning Expert’s

Coding

Models

Opponent

Selection

Planning Response

Learning

Models

Environment

Policy Solver

Policies

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Thesis Defense

Big Picture Summary

Advice to Agents

Observations

Environment

Observations

Current

(Logs)

Observations

Advice Formatting

Learning Expert’s

Coding

Models

Opponent

Selection

Planning Response

Learning

Models

Environment

Policy Solver

Policies

Adaptation to Advice Receivers

Models

Receiver

Advice

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Thesis Defense

Contributions• Several opponent model representations, with learning andadvice generation algorithms (in robot soccer)

• Algorithms for learning an abstract MDP from observations,given state abstraction, and abstract action templates

• Study of adapting advice in a predator-prey environmentconsidering limitation and communication bandwidth

• Multi-Agent Simple Temporal Networks: novel multi-agentplan representation and accompanying execution algorithm

• Largest empirical study of coaching in simulated robot soccer(5000 games/2500 hours)

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Thesis Defense

Future Work: Abstract MDP Learning

• Recursive Learning and Veri�cation of Abstract MarkovDecision Processes

• Learning Hierarchical Semi-Markov Decision Processes fromExternal Observation

• Re�ning State Abstractions for Markov Decision ProcessLearning

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Thesis Defense

Future Work:Adapting to Advice Receivers

• Learning About Agents While Giving Advice

• Talking Back: How Advice Receivers Can Help Their Coaches

• What I See and What I Don't: What a Coach Needs to KnowAbout Partial Observability

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Thesis Defense

Questions?

Patrick RileyThesis Defense

Why is the Coach a Separate Agent?

• Some of the reasoning described could be done by a singleexecuting agent

• Advice language provides abstraction to work across agents

• Agent systems will be more distributed

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Thesis Defense

Why Coaching?

Disclaimer: This isn't a philosophy talk

Coach/agent separation is a forced distribution

• Why would/should one make their agent system like this?

• Agent systems will be more distributed � how will agentsinteract?

• Knowledge transfer will not always be easy

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Thesis Defense

Coaching Problem Properties

• Team goals

• External, observing coach

• Advice, not control

• Access to past behavior logs

• Advice at execution, not training

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Thesis Defense

Coaching Problem Dimensions

• Online vs. of�ine learning

• One-time vs occasional vs. continual advice

• Advice as actions vs. macro-actions vs. plans

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Thesis Defense

Coaching General Lessons

• The coach and advice receivers are a tightly coupled system

• Coach learning will require iteration to achieve the bestperformance

• A tradeoff exists in how much of the state space to coverwith advice versus how good the advice is

• Different observability by the coach and agents can beignored somewhat, but will need to be considered at times

• Analyzing the past behavior of an agent is most useful onlyif the future will look similar to the past

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Thesis Defense

Empirical: Circle Passing

• By using a domain smaller than the whole soccer game, canbetter isolate effects

• Setup

� Give the players a �xed action strategy� Because of noise, coach will see other possible actionresults

• Coach learns a model, then gives advice

• Different rewards lead to different agent behaviors

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Thesis Defense

Circle Passing: Setup

• Six players trying to pass in acircle

• Not all passes are successful

• Some kicks result in passes toother players or a dribble

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Thesis Defense

Circle Passing: Reward

• Can apply any rewardfunction

• We'll describe one (morein the thesis)

• In the middle (miskicksfrom several players gohere)

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Thesis Defense

Circle Passing: Results

• We consider a trial a success if:

� From a random starting position� Reward is received within 200 cycles (20 seconds)

Success % During Training 40%Success % With Advice 88%

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Thesis Defense

RCSSMaze: Recursive Learning

# Rew. (Training) % Success (Testing)TrainingData

R0 R1 R2 R0 R1 R2

Original 11 115 1055 64% 60% 93%From R0 676 0 0 82% n/a n/aFrom R1 1 2909 0 0% 67% n/aFrom R2 0 0 9088 n/a n/a 78%

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Thesis Defense

ReferencesT. Dean and K. Kanazawa. A model for reasoning about persistence and causation. Computational Intelligence, 76(1�2):3�74,

Richard Dearden and Craig Boutilier. Abstraction and approximate decision theoretic planning. Arti�cial Intelligence, 89(1):219�283, 1997.

Diana Gordon and Devika Dubramanian. A multi-strategy learning scheme for knowledge assimilation in embedded agents.Informatica, 17, 1993.

Carlos Guestrin, Daphne Koller, and Ronald Parr. Multiagent planning with factored mdps. In Advances in Neural InformationProcessing Systems 14, 2001.

Gregory Kuhlmann, Peter Stone, and Justin Lallinger. The champion UT Austin Villa 2003 simulator online coach team. In DanielPolani, Brett Browning, Andrea Bonarini, and Kazuo Yoshida, editors, RoboCup-2003: Robot Soccer World Cup VII. SpringerVerlag, Berlin, 2004. To appear.

Richard Maclin and Jude W. Shavlik. Creating advice-taking reinforcement learners. Machine Learning, 22:251�282, 1996.

Jack Mostow. Mechanical Transformation of Task Heuristics into Operational Procedures. PhD thesis, Carnegie Mellon University,1981.

Taylor Raines, Milind Tambe, and Stacy Marsella. Automated assistant to aid humans in understanding team behaviors. InProceedings of the Fourth International Conference on Autonomous Agents (Agents-2000), 2000.

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Timo Steffens. Feature-based declarative opponent-modelling in multi-agent systems. Master's thesis, Institute of CognitiveScience Osnabrück, 2002. URL citeseer.nj.nec.com/steffens02featurebased.html.

Tomoichi Takahashi. Kasugabito III. In Veloso, Pagello, and Kitano, editors, RoboCup-99: Robot Soccer World Cup III, number1856 in Lecture Notes in Arti�cial Intelligence, pages 592�595. Springer-Verlag, Berlin, 2000.

William Uther and Manuela Veloso. TTree: Tree-based state generalization with temporally abstract actions. In Proceedings ofSARA-2002, Edmonton, Canada, August 2002.

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Coaching: Learning and Using Environment and Agent Models ...pfr/thesis/defense-pppp.pdf · Thesis...

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