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Is Conditional Generative Modeling all you need for Decision-Making?
Anurag Ajay · Yilun Du · Abhi Gupta · Josh Tenenbaum · Tommi Jaakkola · Pulkit Agrawal

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in Foundation Models for Decision Making »
Event URL: https://openreview.net/forum?id=SUnVLf3djD7 »

Recent improvements in conditional generative modeling have made it possible to generate high-quality images from language descriptions alone. We investigate whether these methods can directly address the problem of sequential decision-making. We view decision-making not through the lens of reinforcement learning (RL), but rather through conditional generative modeling. To our surprise, we find that our formulation leads to policies that can outperform existing offline RL approaches across standard benchmarks. By modeling a policy as a return-conditional generative model, we avoid the need for dynamic programming and subsequently eliminate many of the complexities that come with traditional offline RL. We further demonstrate the advantages of modeling policies as conditional generative models by considering two other conditioning variables: constraints and skills. Conditioning on a single constraint or skill during training leads to behaviors at test-time that can satisfy several constraints together or demonstrate a composition of skills. Our results illustrate that conditional generative modeling is a powerful tool for decision-making.

Author Information

Anurag Ajay (MIT)
Yilun Du (Massachusetts Institute of Technology)
Abhi Gupta (MIT)
Josh Tenenbaum (MIT)

Josh Tenenbaum is an Associate Professor of Computational Cognitive Science at MIT in the Department of Brain and Cognitive Sciences and the Computer Science and Artificial Intelligence Laboratory (CSAIL). He received his PhD from MIT in 1999, and was an Assistant Professor at Stanford University from 1999 to 2002. He studies learning and inference in humans and machines, with the twin goals of understanding human intelligence in computational terms and bringing computers closer to human capacities. He focuses on problems of inductive generalization from limited data -- learning concepts and word meanings, inferring causal relations or goals -- and learning abstract knowledge that supports these inductive leaps in the form of probabilistic generative models or 'intuitive theories'. He has also developed several novel machine learning methods inspired by human learning and perception, most notably Isomap, an approach to unsupervised learning of nonlinear manifolds in high-dimensional data. He has been Associate Editor for the journal Cognitive Science, has been active on program committees for the CogSci and NIPS conferences, and has co-organized a number of workshops, tutorials and summer schools in human and machine learning. Several of his papers have received outstanding paper awards or best student paper awards at the IEEE Computer Vision and Pattern Recognition (CVPR), NIPS, and Cognitive Science conferences. He is the recipient of the New Investigator Award from the Society for Mathematical Psychology (2005), the Early Investigator Award from the Society of Experimental Psychologists (2007), and the Distinguished Scientific Award for Early Career Contribution to Psychology (in the area of cognition and human learning) from the American Psychological Association (2008).

Tommi Jaakkola (MIT)

Tommi Jaakkola is a professor of Electrical Engineering and Computer Science at MIT. He received an M.Sc. degree in theoretical physics from Helsinki University of Technology, and Ph.D. from MIT in computational neuroscience. Following a Sloan postdoctoral fellowship in computational molecular biology, he joined the MIT faculty in 1998. His research interests include statistical inference, graphical models, and large scale modern estimation problems with predominantly incomplete data.

Pulkit Agrawal (MIT)

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