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Zhaolin Ren

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6 papers

2 author rows

IROS Conference 2025 Conference Paper

Offline Imitation Learning upon Arbitrary Demonstrations by Pre-Training Dynamics Representations

Haitong Ma
Bo Dai 0001
Zhaolin Ren
Yebin Wang
Na Li 0002

Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducing a pre-training stage that learns dynamics representations, derived from factorizations of the transition dynamics. We first theoretically justify that the optimal decision variable of offline IL lies in the representation space, significantly reducing the parameters to learn in the downstream IL. Moreover, the dynamics representations can be learned from arbitrary data collected with the same dynamics, allowing the reuse of massive non-expert data and mitigating the limited data issues. We present a tractable loss function inspired by noise contrastive estimation to learn the dynamics representations at the pre-training stage. Experiments on MuJoCo demonstrate that our proposed algorithm can mimic expert policies with as few as a single trajectory. Experiments on real quadrupeds show that we can leverage pre-trained dynamics representations from simulator data to learn to walk from a few real-world demonstrations.

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NeurIPS Conference 2024 Conference Paper

Enhancing Preference-based Linear Bandits via Human Response Time

Shen Li
Yuyang Zhang
Zhaolin Ren
Claire Liang
Na Li
Julie A. Shah

Interactive preference learning systems infer human preferences by presenting queries as pairs of options and collecting binary choices. Although binary choices are simple and widely used, they provide limited information about preference strength. To address this, we leverage human response times, which are inversely related to preference strength, as an additional signal. We propose a computationally efficient method that combines choices and response times to estimate human utility functions, grounded in the EZ diffusion model from psychology. Theoretical and empirical analyses show that for queries with strong preferences, response times complement choices by providing extra information about preference strength, leading to significantly improved utility estimation. We incorporate this estimator into preference-based linear bandits for fixed-budget best-arm identification. Simulations on three real-world datasets demonstrate that using response times significantly accelerates preference learning compared to choice-only approaches. Additional materials, such as code, slides, and talk video, are available at https: //shenlirobot. github. io/pages/NeurIPS24. html.

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IROS Conference 2024 Conference Paper

Skill Transfer and Discovery for Sim-to-Real Learning: A Representation-Based Viewpoint

Haitong Ma
Zhaolin Ren
Bo Dai 0001
Na Li 0002

We study sim-to-real skill transfer and discovery in the context of robotics control using representation learning. We draw inspiration from spectral decomposition of Markov decision processes. The spectral decomposition brings about representation that can linearly represent the state-action value function induced by any policies, thus can be regarded as skills. The skill representations are transferable across arbitrary tasks with the same transition dynamics. Moreover, to handle the sim-to-real gap in the dynamics, we propose a skill discovery algorithm that learns new skills caused by the sim-to-real gap from real-world data. We promote the discovery of new skills by enforcing orthogonal constraints between the skills to learn and the skills from simulators, and then synthesize the policy using the enlarged skill sets. We demonstrate our methodology by transferring quadrotor controllers from simulators to Crazyflie 2. 1 quadrotors. We show that we can learn the skill representations from a single simulator task and transfer these to multiple different real-world tasks including hovering, taking off, landing and trajectory tracking. Our skill discovery approach helps narrow the sim-to-real gap and improve the real-world controller performance by up to 30. 2%.

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ICML Conference 2023 Conference Paper

Escaping saddle points in zeroth-order optimization: the power of two-point estimators

Zhaolin Ren
Yujie Tang 0002
Na Li 0002

Two-point zeroth order methods are important in many applications of zeroth-order optimization arising in robotics, wind farms, power systems, online optimization, and adversarial robustness to black-box attacks in deep neural networks, where the problem can be high-dimensional and/or time-varying. Furthermore, such problems may be nonconvex and contain saddle points. While existing works have shown that zeroth-order methods utilizing $\Omega(d)$ function valuations per iteration (with $d$ denoting the problem dimension) can escape saddle points efficiently, it remains an open question if zeroth-order methods based on two-point estimators can escape saddle points. In this paper, we show that by adding an appropriate isotropic perturbation at each iteration, a zeroth-order algorithm based on $2m$ (for any $1 \leq m \leq d$) function evaluations per iteration can not only find $\epsilon$-second order stationary points polynomially fast, but do so using only $\tilde{O}(\frac{d}{m\epsilon^{2}\bar{\psi}})$ function evaluations, where $\bar{\psi} \geq \tilde{\Omega}(\sqrt{\epsilon})$ is a parameter capturing the extent to which the function of interest exhibits the strict saddle property.

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ICLR Conference 2023 Conference Paper

FedDAR: Federated Domain-Aware Representation Learning

Aoxiao Zhong
Hao He
Zhaolin Ren
Na Li 0002
Quanzheng Li

Cross-silo Federated learning (FL) has become a promising tool in machine learning applications for healthcare. It allows hospitals/institutions to train models with sufficient data while the data is kept private. To make sure the FL model is robust when facing heterogeneous data among FL clients, most efforts focus on personalizing models for clients. However, the latent relationships between clients' data are ignored. In this work, we focus on a special non-iid FL problem, called Domain-mixed FL, where each client's data distribution is assumed to be a mixture of several predefined domains. Recognizing the diversity of domains and the similarity within domains, we propose a novel method, FedDAR, which learns a domain shared representation and domain-wise personalized prediction heads in a decoupled manner. For simplified linear regression settings, we have theoretically proved that FedDAR enjoys a linear convergence rate. For general settings, we have performed intensive empirical studies on both synthetic and real-world medical datasets which demonstrate its superiority over prior FL methods. Our code is available at https://github.com/zlz0414/FedDAR.

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AAAI Conference 2020 Conference Paper

Delay-Adaptive Distributed Stochastic Optimization

Zhaolin Ren
Zhengyuan Zhou
Linhai Qiu
Ajay Deshpande
Jayant Kalagnanam

In large-scale optimization problems, distributed asynchronous stochastic gradient descent (DASGD) is a commonly used algorithm. In most applications, there are often a large number of computing nodes asynchronously computing gradient information. As such, the gradient information received at a given iteration is often stale. In the presence of such delays, which can be unbounded, the convergence of DASGD is uncertain. The contribution of this paper is twofold. First, we propose a delay-adaptive variant of DASGD where we adjust each iteration’s step-size based on the size of the delay, and prove asymptotic convergence of the algorithm on variationally coherent stochastic problems, a class of functions which properly includes convex, quasiconvex and star-convex functions. Second, we extend the convergence results of standard DASGD, used usually for problems with bounded domains, to problems with unbounded domains. In this way, we extend the frontier of theoretical guarantees for distributed asynchronous optimization, and provide new insights for practitioners working on large-scale optimization problems.

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