Active Representation Learning for General Task Space with Applications
  in Robotics
Yifang Chen Yingbing Huang Simon S. Du Kevin Jamieson Guanya Shi
Representation learning based on multi-task pretraining has become a powerful
approach in many domains. In particular, task-aware representation learning
aims to learn an optimal representation for a specific target task by sampling
data from a set of source tasks, while task-agnostic representation learning
seeks to learn a universal representation for a class of tasks. In this paper,
we propose a general and versatile algorithmic and theoretic framework for
\textit{active representation learning}, where the learner optimally chooses
which source tasks to sample from. This framework, along with a tractable meta
algorithm, allows most arbitrary target and source task spaces (from discrete
to continuous), covers both task-aware and task-agnostic settings, and is
compatible with deep representation learning practices. We provide several
instantiations under this framework, from bilinear and feature-based nonlinear
to general nonlinear cases. In the bilinear case, by leveraging the non-uniform
spectrum of the task representation and the calibrated source-target relevance,
we prove that the sample complexity to achieve $\varepsilon$-excess risk on
target scales with $ (k^*)^2 \|v^*\|_2^2 \varepsilon^{-2}$ where $k^*$ is the
effective dimension of the target and $\|v^*\|_2^2 \in (0,1]$ represents the
connection between source and target space. Compared to the passive one, this
can save up to $\frac{1}{d_W}$ of sample complexity, where $d_W$ is the task
space dimension. Finally, we demonstrate different instantiations of our meta
algorithm in synthetic datasets and robotics problems, from pendulum
simulations to real-world drone flight datasets. On average, our algorithms
outperform baselines by $20\%-70\%$.