Automatic Album Sequencing

Album sequencing is a critical part of the album production process. Recently, a data-driven approach was proposed that sequences general collections of independent media by extracting the narrative essence of the items in the collections. While this approach implies an album sequencing technique, it is not widely accessible to a less technical audience, requiring advanced knowledge of machine learning techniques to use. To address this, we introduce a new user-friendly web-based tool that allows a less technical audience to upload music tracks, execute this technique in one click, and subsequently presents the result in a clean visualization to the user. To both increase the number of templates available to the user and address shortcomings of previous work, we also introduce a new direct transformer-based album sequencing method. We find that our more direct method outperforms a random baseline but does not reach the same performance as the narrative essence approach. Both methods are included in our web-based user interface, and this -- alongside a full copy of our implementation -- is publicly available at https://github.com/dylanashley/automatic-album-sequencing

Scaling Value Iteration Networks to 5000 Layers for Extreme Long-Term Planning

The Value Iteration Network (VIN) is an end-to-end differentiable architecture that performs value iteration on a latent MDP for planning in reinforcement learning (RL). However, VINs struggle to scale to long-term and large-scale planning tasks, such as navigating a $100\times 100$ maze -- a task which typically requires thousands of planning steps to solve. We observe that this deficiency is due to two issues: the representation capacity of the latent MDP and the planning module's depth. We address these by augmenting the latent MDP with a dynamic transition kernel, dramatically improving its representational capacity, and, to mitigate the vanishing gradient problem, introducing an "adaptive highway loss" that constructs skip connections to improve gradient flow. We evaluate our method on both 2D maze navigation environments and the ViZDoom 3D navigation benchmark. We find that our new method, named Dynamic Transition VIN (DT-VIN), easily scales to 5000 layers and casually solves challenging versions of the above tasks. Altogether, we believe that DT-VIN represents a concrete step forward in performing long-term large-scale planning in RL environments.

Towards a Robust Soft Baby Robot With Rich Interaction Ability for Advanced Machine Learning Algorithms

Artificial intelligence has made great strides in many areas lately, yet it has had comparatively little success in general-use robotics. We believe one of the reasons for this is the disconnect between traditional robotic design and the properties needed for open-ended, creativity-based AI systems. To that end, we, taking selective inspiration from nature, build a robust, partially soft robotic limb with a large action space, rich sensory data stream from multiple cameras, and the ability to connect with others to enhance the action space and data stream. As a proof of concept, we train two contemporary machine learning algorithms to perform a simple target-finding task. Altogether, we believe that this design serves as a first step to building a robot tailor-made for achieving artificial general intelligence.

Mindstorms in Natural Language-Based Societies of Mind

Both Minsky's "society of mind" and Schmidhuber's "learning to think" inspire diverse societies of large multimodal neural networks (NNs) that solve problems by interviewing each other in a "mindstorm." Recent implementations of NN-based societies of minds consist of large language models (LLMs) and other NN-based experts communicating through a natural language interface. In doing so, they overcome the limitations of single LLMs, improving multimodal zero-shot reasoning. In these natural language-based societies of mind (NLSOMs), new agents -- all communicating through the same universal symbolic language -- are easily added in a modular fashion. To demonstrate the power of NLSOMs, we assemble and experiment with several of them (having up to 129 members), leveraging mindstorms in them to solve some practical AI tasks: visual question answering, image captioning, text-to-image synthesis, 3D generation, egocentric retrieval, embodied AI, and general language-based task solving. We view this as a starting point towards much larger NLSOMs with billions of agents-some of which may be humans. And with this emergence of great societies of heterogeneous minds, many new research questions have suddenly become paramount to the future of artificial intelligence. What should be the social structure of an NLSOM? What would be the (dis)advantages of having a monarchical rather than a democratic structure? How can principles of NN economies be used to maximize the total reward of a reinforcement learning NLSOM? In this work, we identify, discuss, and try to answer some of these questions.

On Narrative Information and the Distillation of Stories

The act of telling stories is a fundamental part of what it means to be human. This work introduces the concept of narrative information, which we define to be the overlap in information space between a story and the items that compose the story. Using contrastive learning methods, we show how modern artificial neural networks can be leveraged to distill stories and extract a representation of the narrative information. We then demonstrate how evolutionary algorithms can leverage this to extract a set of narrative templates and how these templates -- in tandem with a novel curve-fitting algorithm we introduce -- can reorder music albums to automatically induce stories in them. In the process of doing so, we give strong statistical evidence that these narrative information templates are present in existing albums. While we experiment only with music albums here, the premises of our work extend to any form of (largely) independent media.

Upside-Down Reinforcement Learning Can Diverge in Stochastic Environments With Episodic Resets

Upside-Down Reinforcement Learning (UDRL) is an approach for solving RL problems that does not require value functions and uses only supervised learning, where the targets for given inputs in a dataset do not change over time. Ghosh et al. proved that Goal-Conditional Supervised Learning (GCSL) -- which can be viewed as a simplified version of UDRL -- optimizes a lower bound on goal-reaching performance. This raises expectations that such algorithms may enjoy guaranteed convergence to the optimal policy in arbitrary environments, similar to certain well-known traditional RL algorithms. Here we show that for a specific episodic UDRL algorithm (eUDRL, including GCSL), this is not the case, and give the causes of this limitation. To do so, we first introduce a helpful rewrite of eUDRL as a recursive policy update. This formulation helps to disprove its convergence to the optimal policy for a wide class of stochastic environments. Finally, we provide a concrete example of a very simple environment where eUDRL diverges. Since the primary aim of this paper is to present a negative result, and the best counterexamples are the simplest ones, we restrict all discussions to finite (discrete) environments, ignoring issues of function approximation and limited sample size.

All You Need Is Supervised Learning: From Imitation Learning to Meta-RL With Upside Down RL

Upside down reinforcement learning (UDRL) flips the conventional use of the return in the objective function in RL upside down, by taking returns as input and predicting actions. UDRL is based purely on supervised learning, and bypasses some prominent issues in RL: bootstrapping, off-policy corrections, and discount factors. While previous work with UDRL demonstrated it in a traditional online RL setting, here we show that this single algorithm can also work in the imitation learning and offline RL settings, be extended to the goal-conditioned RL setting, and even the meta-RL setting. With a general agent architecture, a single UDRL agent can learn across all paradigms.

Learning Relative Return Policies With Upside-Down Reinforcement Learning

Lately, there has been a resurgence of interest in using supervised learning to solve reinforcement learning problems. Recent work in this area has largely focused on learning command-conditioned policies. We investigate the potential of one such method -- upside-down reinforcement learning -- to work with commands that specify a desired relationship between some scalar value and the observed return. We show that upside-down reinforcement learning can learn to carry out such commands online in a tabular bandit setting and in CartPole with non-linear function approximation. By doing so, we demonstrate the power of this family of methods and open the way for their practical use under more complicated command structures.

Automatic Embedding of Stories Into Collections of Independent Media

We look at how machine learning techniques that derive properties of items in a collection of independent media can be used to automatically embed stories into such collections. To do so, we use models that extract the tempo of songs to make a music playlist follow a narrative arc. Our work specifies an open-source tool that uses pre-trained neural network models to extract the global tempo of a set of raw audio files and applies these measures to create a narrative-following playlist. This tool is available at https://github.com/dylanashley/playlist-story-builder/releases/tag/v1.0.0

Reward-Weighted Regression Converges to a Global Optimum

Reward-Weighted Regression (RWR) belongs to a family of widely known iterative Reinforcement Learning algorithms based on the Expectation-Maximization framework. In this family, learning at each iteration consists of sampling a batch of trajectories using the current policy and fitting a new policy to maximize a return-weighted log-likelihood of actions. Although RWR is known to yield monotonic improvement of the policy under certain circumstances, whether and under which conditions RWR converges to the optimal policy have remained open questions. In this paper, we provide for the first time a proof that RWR converges to a global optimum when no function approximation is used.