Timezone: »
We study the problem of modeling spatiotemporal trajectories over long time horizons using expert demonstrations. For instance, in sports, agents often choose action sequences with long-term goals in mind, such as achieving a certain strategic position. Conventional policy learning approaches, such as those based on Markov decision processes, generally fail at learning cohesive long-term behavior in such high-dimensional state spaces, and are only effective when fairly myopic decision-making yields the desired behavior. The key difficulty is that conventional models are ``single-scale'' and only learn a single state-action policy. We instead propose a hierarchical policy class that automatically reasons about both long-term and short-term goals, which we instantiate as a hierarchical neural network. We showcase our approach in a case study on learning to imitate demonstrated basketball trajectories, and show that it generates significantly more realistic trajectories compared to non-hierarchical baselines as judged by professional sports analysts.
Author Information
Stephan Zheng (Caltech)
Yisong Yue (Caltech)
Patrick Lucey (Stats)
More from the Same Authors
-
2021 : The Multi-Agent Behavior Dataset: Mouse Dyadic Social Interactions »
Jennifer J Sun · Tomomi Karigo · Dipam Chakraborty · Sharada Mohanty · Benjamin Wild · Quan Sun · Chen Chen · David Anderson · Pietro Perona · Yisong Yue · Ann Kennedy -
2021 : Empirical Study of Off-Policy Policy Evaluation for Reinforcement Learning »
Cameron Voloshin · Hoang Le · Nan Jiang · Yisong Yue -
2022 : Neurosymbolic Programming for Science »
Jennifer J Sun · Megan Tjandrasuwita · Atharva Sehgal · Armando Solar-Lezama · Swarat Chaudhuri · Yisong Yue · Omar Costilla Reyes -
2022 : SustainGym: A Benchmark Suite of Reinforcement Learning for Sustainability Applications »
Christopher Yeh · Victor Li · Rajeev Datta · Yisong Yue · Adam Wierman -
2023 Poster: Online Adaptive Policy Selection in Time-Varying Systems: No-Regret via Contractive Perturbations »
Yiheng Lin · James Preiss · Emile Anand · Yingying Li · Yisong Yue · Adam Wierman -
2023 Poster: SustainGym: Reinforcement Learning Environments for Sustainable Energy Systems »
Christopher Yeh · Victor Li · Rajeev Datta · Julio Arroyo · Nicolas Christianson · Chi Zhang · Yize Chen · Mohammad Mehdi Hosseini · Azarang Golmohammadi · Yuanyuan Shi · Yisong Yue · Adam Wierman -
2022 : Panel »
Jeevana Priya Inala · Pushmeet Kohli · Ann Kennedy · Sriram Rajamani · Yisong Yue -
2022 : Deep Neural Imputation: A Framework for Recovering Incomplete Brain Recordings »
Sabera Talukder · Jennifer J Sun · Matthew Leonard · Bingni Brunton · Yisong Yue -
2022 Poster: Policy Optimization with Linear Temporal Logic Constraints »
Cameron Voloshin · Hoang Le · Swarat Chaudhuri · Yisong Yue -
2021 : Panel B: Safe Learning and Decision Making in Uncertain and Unstructured Environments »
Yisong Yue · J. Zico Kolter · Ivan Dario D Jimenez Rodriguez · Dragos Margineantu · Animesh Garg · Melissa Greeff -
2021 : Learning for Agile Control in the Real World: Challenges and Opportunities »
Yisong Yue · Ivan Dario D Jimenez Rodriguez -
2021 Poster: Meta-Adaptive Nonlinear Control: Theory and Algorithms »
Guanya Shi · Kamyar Azizzadenesheli · Michael O'Connell · Soon-Jo Chung · Yisong Yue -
2021 Poster: DeepGEM: Generalized Expectation-Maximization for Blind Inversion »
Angela Gao · Jorge Castellanos · Yisong Yue · Zachary Ross · Katherine Bouman -
2021 Poster: Iterative Amortized Policy Optimization »
Joseph Marino · Alexandre Piche · Alessandro Davide Ialongo · Yisong Yue -
2020 Workshop: Learning Meets Combinatorial Algorithms »
Marin Vlastelica · Jialin Song · Aaron Ferber · Brandon Amos · Georg Martius · Bistra Dilkina · Yisong Yue -
2020 Poster: Online Optimization with Memory and Competitive Control »
Guanya Shi · Yiheng Lin · Soon-Jo Chung · Yisong Yue · Adam Wierman -
2020 Poster: A General Large Neighborhood Search Framework for Solving Integer Linear Programs »
Jialin Song · ravi lanka · Yisong Yue · Bistra Dilkina -
2020 Poster: Learning compositional functions via multiplicative weight updates »
Jeremy Bernstein · Jiawei Zhao · Markus Meister · Ming-Yu Liu · Anima Anandkumar · Yisong Yue -
2020 Poster: Learning Differentiable Programs with Admissible Neural Heuristics »
Ameesh Shah · Eric Zhan · Jennifer J Sun · Abhinav Verma · Yisong Yue · Swarat Chaudhuri -
2020 Poster: On the distance between two neural networks and the stability of learning »
Jeremy Bernstein · Arash Vahdat · Yisong Yue · Ming-Yu Liu -
2020 Poster: The Power of Predictions in Online Control »
Chenkai Yu · Guanya Shi · Soon-Jo Chung · Yisong Yue · Adam Wierman -
2019 Workshop: Safety and Robustness in Decision-making »
Mohammad Ghavamzadeh · Shie Mannor · Yisong Yue · Marek Petrik · Yinlam Chow -
2019 Poster: Imitation-Projected Programmatic Reinforcement Learning »
Abhinav Verma · Hoang Le · Yisong Yue · Swarat Chaudhuri -
2019 Poster: NAOMI: Non-Autoregressive Multiresolution Sequence Imputation »
Yukai Liu · Rose Yu · Stephan Zheng · Eric Zhan · Yisong Yue -
2019 Poster: Teaching Multiple Concepts to a Forgetful Learner »
Anette Hunziker · Yuxin Chen · Oisin Mac Aodha · Manuel Gomez Rodriguez · Andreas Krause · Pietro Perona · Yisong Yue · Adish Singla -
2019 Poster: Landmark Ordinal Embedding »
Nikhil Ghosh · Yuxin Chen · Yisong Yue -
2018 : Yisong Yue »
Yisong Yue -
2018 Poster: Understanding the Role of Adaptivity in Machine Teaching: The Case of Version Space Learners »
Yuxin Chen · Adish Singla · Oisin Mac Aodha · Pietro Perona · Yisong Yue -
2018 Poster: A General Method for Amortizing Variational Filtering »
Joseph Marino · Milan Cvitkovic · Yisong Yue -
2017 : Contributed Talks 1 »
Cinjon Resnick · Ying Wen · Stephan Zheng · Mukul Bhutani · Edward Choi -
2017 : Coffee break and Poster Session II »
Mohamed Kane · Albert Haque · Vagelis Papalexakis · John Guibas · Peter Li · Carlos Arias · Eric Nalisnick · Padhraic Smyth · Frank Rudzicz · Xia Zhu · Theodore Willke · Noemie Elhadad · Hans Raffauf · Harini Suresh · Paroma Varma · Yisong Yue · Ognjen (Oggi) Rudovic · Luca Foschini · Syed Rameel Ahmad · Hasham ul Haq · Valerio Maggio · Giuseppe Jurman · Sonali Parbhoo · Pouya Bashivan · Jyoti Islam · Mirco Musolesi · Chris Wu · Alexander Ratner · Jared Dunnmon · Cristóbal Esteban · Aram Galstyan · Greg Ver Steeg · Hrant Khachatrian · Marc Górriz · Mihaela van der Schaar · Anton Nemchenko · Manasi Patwardhan · Tanay Tandon -
2015 Poster: Smooth Interactive Submodular Set Cover »
Bryan He · Yisong Yue -
2015 Demonstration: Data-Driven Speech Animation »
Yisong Yue · Iain Matthews