End-To-End AI

AI for Prosthetics Week 6: General Techniques of RL

This week, we take a step back from the competition and study common techniques used in Reinforcement Learning.

AI for Prosthetics Week 5: Understanding the Reward

The goal of reinforcement learning is defined by the reward signal - to maximize the cumulative reward throughout an episode. In some ways, the reward is the most important aspect of the environment for the agent: even if it does not know about values of states or actions (like Evolutionary Strategies), if it can consistently get high return (cumulative reward), it is a great agent.

AI for Prosthetics Week 3-4: Understanding the Observation Space

The observation can be roughly divided into five components: the body parts, the joints, the muscles, the forces, and the center of mass. For each body part component, the agent observes its position, velocity, acceleration, rotation, rotational velocity, and rotational acceleration.

AI for Prosthetics Week 2: Understanding the Action Space

Last week, we saw how a valid action has 19 numbers, each between 0 and 1. The 19 numbers represented the amount of force to put to each muscle. I know barely anything about muscles, so I decided to manually go through all the muscles to understand the effects of each muscle...

AI for Prosthetics Week 1: Understanding the Challenge

The AI for Prosthetics challenge is one of NIPS 2018 Competition tracks. In this challenge, the participants seek to build an agent that can make a 3D model of human with prosthetics run. This challenge is a continuation of the Learning to Run challenge (shown below) that was part of NIPS 2017 Competition Track. The challenge was enhanced in three ways...

Jupyter Notebook extensions to enhance your efficiency

Jupyter Notebook is a great tool that allows you to integrate live code, equations, visualizations and narrative text into a document. It is used extensively in data science. However, for developers who have used IDEs with abundant features, the simplicity of Jupyter Notebook might be problematic.

Bias-variance Tradeoff in Reinforcement Learning

Bias-variance tradeoff is a familiar term to most people who learned machine learning. In the context of Machine Learning, bias and variance refers to the model: a model that underfits the data has high bias, whereas a model that overfits the data has high variance. In Reinforcement Learning, we consider another bias-variance tradeoff.

I learned DQNs with OpenAI competition

On April, OpenAI held a two-month-long competition called the Retro Contest where participants had to develop an agent that can achieve perform well on unseen custom-made stages of Sonic the Hedgehog. The agents were limited to 100 million steps per stage and 12 hours of time on a VM with 6 E5-2690v3 cores, 56GB of RAM, and a single K80 GPU.

Effective Data: Partition

To train a good model, you need lots of data. Luckily, over the last few decades, collecting data has become much easier. However, there is little value to data if you use it incorrectly. Even if you double or triple the dataset manually or through data augmentation, without proper partition of data, you will be left clueless on how helpful adding more data was.