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Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks.Skill learning offers one way of identifying these regularities by decomposing pre-collected experiences into a sequence of skills.A popular approach to skill learning is maximizing the likelihood of the pre-collected experience with latent variable models,where the latent variables represent the skills. However, there are often many solutions that maximize the likelihood equally well, including degenerate solutions. To address this underspecification, we propose a new objective that combines the maximum likelihood objective with a penalty on the description length of the skills. This penalty incentivizes the skills to maximally extract common structures from the experiences. Empirically, our objective learns skills that solve downstream tasks in fewer samples compared to skills learned from only maximizing likelihood. Further, while most prior works in the offline multi-task setting focus on tasks with low-dimensional observations, our objective can scale to challenging tasks with high-dimensional image observations.
Author Information
Yiding Jiang (Carnegie Mellon University)
Evan Liu (Stanford University)
Benjamin Eysenbach (CMU)

Assistant professor at Princeton working on self-supervised reinforcement learning (scaling, algorithms, theory, and applications).
J. Zico Kolter (Carnegie Mellon University / Bosch Center for AI)
Zico Kolter is an Assistant Professor in the School of Computer Science at Carnegie Mellon University, and also serves as Chief Scientist of AI Research for the Bosch Center for Artificial Intelligence. His work focuses on the intersection of machine learning and optimization, with a large focus on developing more robust, explainable, and rigorous methods in deep learning. In addition, he has worked on a number of application areas, highlighted by work on sustainability and smart energy systems. He is the recipient of the DARPA Young Faculty Award, and best paper awards at KDD, IJCAI, and PESGM.
Chelsea Finn (Stanford)
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David Duvenaud · J. Zico Kolter · Matthew Johnson -
2019 : Poster Presentations »
Rahul Mehta · Andrew Lampinen · Binghong Chen · Sergio Pascual-Diaz · Jordi Grau-Moya · Aldo Faisal · Jonathan Tompson · Yiren Lu · Khimya Khetarpal · Martin Klissarov · Pierre-Luc Bacon · Doina Precup · Thanard Kurutach · Aviv Tamar · Pieter Abbeel · Jinke He · Maximilian Igl · Shimon Whiteson · Wendelin Boehmer · Raphaël Marinier · Olivier Pietquin · Karol Hausman · Sergey Levine · Chelsea Finn · Tianhe Yu · Lisa Lee · Benjamin Eysenbach · Emilio Parisotto · Eric Xing · Ruslan Salakhutdinov · Hongyu Ren · Anima Anandkumar · Deepak Pathak · Christopher Lu · Trevor Darrell · Alexei Efros · Phillip Isola · Feng Liu · Bo Han · Gang Niu · Masashi Sugiyama · Saurabh Kumar · Janith Petangoda · Johan Ferret · James McClelland · Kara Liu · Animesh Garg · Robert Lange -
2019 : Poster Session »
Matthia Sabatelli · Adam Stooke · Amir Abdi · Paulo Rauber · Leonard Adolphs · Ian Osband · Hardik Meisheri · Karol Kurach · Johannes Ackermann · Matt Benatan · GUO ZHANG · Chen Tessler · Dinghan Shen · Mikayel Samvelyan · Riashat Islam · Murtaza Dalal · Luke Harries · Andrey Kurenkov · Konrad Żołna · Sudeep Dasari · Kristian Hartikainen · Ofir Nachum · Kimin Lee · Markus Holzleitner · Vu Nguyen · Francis Song · Christopher Grimm · Felipe Leno da Silva · Yuping Luo · Yifan Wu · Alex Lee · Thomas Paine · Wei-Yang Qu · Daniel Graves · Yannis Flet-Berliac · Yunhao Tang · Suraj Nair · Matthew Hausknecht · Akhil Bagaria · Simon Schmitt · Bowen Baker · Paavo Parmas · Benjamin Eysenbach · Lisa Lee · Siyu Lin · Daniel Seita · Abhishek Gupta · Riley Simmons-Edler · Yijie Guo · Kevin Corder · Vikash Kumar · Scott Fujimoto · Adam Lerer · Ignasi Clavera Gilaberte · Nicholas Rhinehart · Ashvin Nair · Ge Yang · Lingxiao Wang · Sungryull Sohn · J. Fernando Hernandez-Garcia · Xian Yeow Lee · Rupesh Srivastava · Khimya Khetarpal · Chenjun Xiao · Luckeciano Carvalho Melo · Rishabh Agarwal · Tianhe Yu · Glen Berseth · Devendra Singh Chaplot · Jie Tang · Anirudh Srinivasan · Tharun Kumar Reddy Medini · Aaron Havens · Misha Laskin · Asier Mujika · Rohan Saphal · Joseph Marino · Alex Ray · Joshua Achiam · Ajay Mandlekar · Zhuang Liu · Danijar Hafner · Zhiwen Tang · Ted Xiao · Michael Walton · Jeff Druce · Ferran Alet · Zhang-Wei Hong · Stephanie Chan · Anusha Nagabandi · Hao Liu · Hao Sun · Ge Liu · Dinesh Jayaraman · John Co-Reyes · Sophia Sanborn -
2019 : Coffee Break & Poster Session »
Samia Mohinta · Andrea Agostinelli · Alexandra Moringen · Jee Hang Lee · Yat Long Lo · Wolfgang Maass · Blue Sheffer · Colin Bredenberg · Benjamin Eysenbach · Liyu Xia · Efstratios Markou · Jan Lichtenberg · Pierre Richemond · Tony Zhang · JB Lanier · Baihan Lin · William Fedus · Glen Berseth · Marta Sarrico · Matthew Crosby · Stephen McAleer · Sina Ghiassian · Franz Scherr · Guillaume Bellec · Darjan Salaj · Arinbjörn Kolbeinsson · Matthew Rosenberg · Jaehoon Shin · Sang Wan Lee · Guillermo Cecchi · Irina Rish · Elias Hajek -
2019 Workshop: Learning with Rich Experience: Integration of Learning Paradigms »
Zhiting Hu · Andrew Wilson · Chelsea Finn · Lisa Lee · Taylor Berg-Kirkpatrick · Ruslan Salakhutdinov · Eric Xing -
2019 Poster: Learning Stable Deep Dynamics Models »
J. Zico Kolter · Gaurav Manek -
2019 Poster: Search on the Replay Buffer: Bridging Planning and Reinforcement Learning »
Benjamin Eysenbach · Russ Salakhutdinov · Sergey Levine -
2019 Poster: Adversarial Music: Real world Audio Adversary against Wake-word Detection System »
Juncheng Li · Shuhui Qu · Xinjian Li · Joseph Szurley · J. Zico Kolter · Florian Metze -
2019 Spotlight: Adversarial Music: Real world Audio Adversary against Wake-word Detection System »
Juncheng Li · Shuhui Qu · Xinjian Li · Joseph Szurley · J. Zico Kolter · Florian Metze -
2019 Poster: Differentiable Convex Optimization Layers »
Akshay Agrawal · Brandon Amos · Shane Barratt · Stephen Boyd · Steven Diamond · J. Zico Kolter -
2019 Poster: Unsupervised Curricula for Visual Meta-Reinforcement Learning »
Allan Jabri · Kyle Hsu · Abhishek Gupta · Benjamin Eysenbach · Sergey Levine · Chelsea Finn -
2019 Poster: Language as an Abstraction for Hierarchical Deep Reinforcement Learning »
YiDing Jiang · Shixiang (Shane) Gu · Kevin Murphy · Chelsea Finn -
2019 Spotlight: Unsupervised Curricula for Visual Meta-Reinforcement Learning »
Allan Jabri · Kyle Hsu · Abhishek Gupta · Benjamin Eysenbach · Sergey Levine · Chelsea Finn -
2019 Poster: Uniform convergence may be unable to explain generalization in deep learning »
Vaishnavh Nagarajan · J. Zico Kolter -
2019 Poster: Deep Equilibrium Models »
Shaojie Bai · J. Zico Kolter · Vladlen Koltun -
2019 Spotlight: Deep Equilibrium Models »
Shaojie Bai · J. Zico Kolter · Vladlen Koltun -
2019 Oral: Uniform convergence may be unable to explain generalization in deep learning »
Vaishnavh Nagarajan · J. Zico Kolter -
2018 : Talk 1: Zico Kolter - Differentiable Physics and Control »
J. Zico Kolter -
2018 Poster: Differentiable MPC for End-to-end Planning and Control »
Brandon Amos · Ivan Jimenez · Jacob I Sacks · Byron Boots · J. Zico Kolter -
2018 Poster: End-to-End Differentiable Physics for Learning and Control »
Filipe de Avila Belbute Peres · Kevin Smith · Kelsey Allen · Josh Tenenbaum · J. Zico Kolter -
2018 Spotlight: End-to-End Differentiable Physics for Learning and Control »
Filipe de Avila Belbute Peres · Kevin Smith · Kelsey Allen · Josh Tenenbaum · J. Zico Kolter -
2018 Poster: Scaling provable adversarial defenses »
Eric Wong · Frank Schmidt · Jan Hendrik Metzen · J. Zico Kolter -
2018 Tutorial: Adversarial Robustness: Theory and Practice »
J. Zico Kolter · Aleksander Madry -
2017 : Provable defenses against adversarial examples via the convex outer adversarial polytope »
J. Zico Kolter -
2017 Poster: Gradient descent GAN optimization is locally stable »
Vaishnavh Nagarajan · J. Zico Kolter -
2017 Oral: Gradient descent GAN optimization is locally stable »
Vaishnavh Nagarajan · J. Zico Kolter -
2017 Poster: Task-based End-to-end Model Learning in Stochastic Optimization »
Priya Donti · J. Zico Kolter · Brandon Amos -
2016 Poster: The Multiple Quantile Graphical Model »
Alnur Ali · J. Zico Kolter · Ryan Tibshirani -
2013 Workshop: Machine Learning for Sustainability »
Edwin Bonilla · Thomas Dietterich · Theodoros Damoulas · Andreas Krause · Daniel Sheldon · Iadine Chades · J. Zico Kolter · Bistra Dilkina · Carla Gomes · Hugo P Simao -
2011 Workshop: Machine Learning for Sustainability »
Thomas Dietterich · J. Zico Kolter · Matthew A Brown -
2011 Poster: The Fixed Points of Off-Policy TD »
J. Zico Kolter -
2011 Spotlight: The Fixed Points of Off-Policy TD »
J. Zico Kolter -
2010 Poster: Energy Disaggregation via Discriminative Sparse Coding »
J. Zico Kolter · Siddarth Batra · Andrew Y Ng -
2009 Mini Symposium: Machine Learning for Sustainability »
J. Zico Kolter · Thomas Dietterich · 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