No abstract

No abstract

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline learning algorithms. Previous work focused on manually designing the data collection policy, and on tasks where suitable policies can easily be designed, such as random picking policies for collecting data about object grasping. For more complex tasks, however, it may be difficult to find a data collection policy that explores the environment effectively, and produces data that is diverse enough for the downstream task. In this work, we propose that data collection policies should actively explore the environment to collect diverse data. In particular, we develop a simple-yet-effective goal-conditioned reinforcementlearning method that actively focuses data collection on novel observations, thereby collecting a diverse data-set. We evaluate our method on simulated robot manipulation tasks with visual inputs and show that the improved diversity of active data collection leads to significant improvements in the downstream learning tasks.

No abstract

We present a sound and complete algorithm for recovering causal graphs from observed, non-interventional data, in the possible presence of latent confounders and selection bias. We rely on the causal Markov and faithfulness assumptions and recover the equivalence class of the underlying causal graph by performing a series of conditional independence (CI) tests between observed variables. We propose a single step that is applied iteratively, such that the independence and causal relations entailed from the resulting graph, after any iteration, is correct and becomes more informative with successive iteration. Essentially, we tie the size of the CI condition set to its distance from the tested nodes on the resulting graph. Each iteration refines the skeleton and orientation by performing CI tests having condition sets that are larger than in the preceding iteration. In an iteration, condition sets of CI tests are constructed from nodes that are within a specified search distance, and the sizes of these condition sets is equal to this search distance. The algorithm then iteratively increases the search distance along with the condition set sizes. Thus, each iteration refines a graph, that was recovered by previous iterations having smaller condition sets-having a higher statistical power. We demonstrate that our algorithm requires significantly fewer CI tests and smaller condition sets compared to the FCI algorithm. This is evident for both recovering the true underlying graph using a perfect CI oracle, and accurately estimating the graph using limited observed data.