ICLR 2017 Papers

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and analytical dynamics models, which limits their generalization capability and often requires extensive application-specific feature and model engineering. In this work, we study how learned visual features, learned predictive dynamics models, and reinforcement learning can be combined to learn visual servoing mechanisms. We focus on target following, with the goal of designing algorithms that can learn a visual servo using low amounts of data of the target in question, to enable quick adaptation to new targets. Our approach is based on servoing the camera in the space of learned visual features, rather than image pixels or manually-designed keypoints. We demonstrate that standard deep features, in our case taken from a model trained for object classification, can be used together with a bilinear predictive model to learn an effective visual servo that is robust to visual variation, changes in viewing angle and appearance, and occlusions. A key component of our approach is to use a sample-efficient fitted Q-iteration algorithm to learn which features are best suited for the task at hand. We show that we can learn an effective visual servo on a complex synthetic car following benchmark using just 20 training trajectory samples for reinforcement learning. We demonstrate substantial improvement over a conventional approach based on image pixels or hand-designed keypoints, and we show an improvement in sample-efficiency of more than two orders of magnitude over standard model-free deep reinforcement learning algorithms. Videos are available at http://rll.berkeley.edu/visual_servoing.

Adversarial training provides a means of regularizing supervised learning algorithms while virtual adversarial training is able to extend supervised learning algorithms to the semi-supervised setting. However, both methods require making small perturbations to numerous entries of the input vector, which is inappropriate for sparse high-dimensional inputs such as one-hot word representations. We extend adversarial and virtual adversarial training to the text domain by applying perturbations to the word embeddings in a recurrent neural network rather than to the original input itself. The proposed method achieves state of the art results on multiple benchmark semi-supervised and purely supervised tasks. We provide visualizations and analysis showing that the learned word embeddings have improved in quality and that while training, the model is less prone to overfitting.

We propose a reparameterization of LSTM that brings the benefits of batch normalization to recurrent neural networks. Whereas previous works only apply batch normalization to the input-to-hidden transformation of RNNs, we demonstrate that it is both possible and beneficial to batch-normalize the hidden-to-hidden transition, thereby reducing internal covariate shift between time steps. We evaluate our proposal on various sequential problems such as sequence classification, language modeling and question answering. Our empirical results show that our batch-normalized LSTM consistently leads to faster convergence and improved generalization.

We introduce a hybrid CPU/GPU version of the Asynchronous Advantage Actor-Critic (A3C) algorithm, currently the state-of-the-art method in reinforcement learning for various gaming tasks. We analyze its computational traits and concentrate on aspects critical to leveraging the GPU's computational power. We introduce a system of queues and a dynamic scheduling strategy, potentially helpful for other asynchronous algorithms as well. Our hybrid CPU/GPU version of A3C, based on TensorFlow, achieves a significant speed up compared to a CPU implementation; we make it publicly available to other researchers at https://github.com/NVlabs/GA3C.

We consider scenarios from the real-time strategy game StarCraft as benchmarks for reinforcement learning algorithms. We focus on micromanagement, that is, the short-term, low-level control of team members during a battle. We propose several scenarios that are challenging for reinforcement learning algorithms because the state- action space is very large, and there is no obvious feature representation for the value functions. We describe our approach to tackle the micromanagement scenarios with deep neural network controllers from raw state features given by the game engine. We also present a heuristic reinforcement learning algorithm which combines direct exploration in the policy space and backpropagation. This algorithm collects traces for learning using deterministic policies, which appears much more efficient than, e.g., ε-greedy exploration. Experiments show that this algorithm allows to successfully learn non-trivial strategies for scenarios with armies of up to 15 agents, where both Q-learning and REINFORCE struggle.

The optimization of deep neural networks can be more challenging than the traditional convex optimization problems due to highly non-convex nature of the loss function, e.g. it can involve pathological landscapes such as saddle-surfaces that can be difficult to escape from for algorithms based on simple gradient descent. In this paper, we attack the problem of optimization of highly non-convex neural networks objectives by starting with a smoothed -- or mollified -- objective function which becomes more complex as the training proceeds. Our proposition is inspired by the recent studies in continuation methods: similarly to curriculum methods, we begin by learning an easier (possibly convex) objective function and let it evolve during training until it eventually becomes the original, difficult to optimize objective function. The complexity of the mollified networks is controlled by a single hyperparameter that is annealed during training. We show improvements on various difficult optimization tasks and establish a relationship between recent works on continuation methods for neural networks and mollifiers.

Usually bilingual word vectors are trained "online''. Mikolov et al. showed they can also be found "offline"; whereby two pre-trained embeddings are aligned with a linear transformation, using dictionaries compiled from expert knowledge. In this work, we prove that the linear transformation between two spaces should be orthogonal. This transformation can be obtained using the singular value decomposition. We introduce a novel "inverted softmax" for identifying translation pairs, with which we improve the precision @1 of Mikolov's original mapping from 34% to 43%, when translating a test set composed of both common and rare English words into Italian. Orthogonal transformations are more robust to noise, enabling us to learn the transformation without expert bilingual signal by constructing a "pseudo-dictionary" from the identical character strings which appear in both languages, achieving 40% precision on the same test set. Finally, we extend our method to retrieve the true translations of English sentences from a corpus of 200k Italian sentences with a precision @1 of 68%.

Yes, they do. This paper provides the first empirical demonstration that deep convolutional models really need to be both deep and convolutional, even when trained with methods such as distillation that allow small or shallow models of high accuracy to be trained. Although previous research showed that shallow feed-forward nets sometimes can learn the complex functions previously learned by deep nets while using the same number of parameters as the deep models they mimic, in this paper we demonstrate that the same methods cannot be used to train accurate models on CIFAR-10 unless the student models contain multiple layers of convolution. Although the student models do not have to be as deep as the teacher model they mimic, the students need multiple convolutional layers to learn functions of comparable accuracy as the deep convolutional teacher.

In this paper, we propose to equip Generative Adversarial Networks with the ability to produce direct energy estimates for samples. Specifically, we propose a flexible adversarial training framework, and prove this framework not only ensures the generator converges to the true data distribution, but also enables the discriminator to retain the density information at the global optimal. We derive the analytic form of the induced solution, and analyze the properties. In order to make the proposed framework trainable in practice, we introduce two effective approximation techniques. Empirically, the experiment results closely match our theoretical analysis, verifying the discriminator is able to recover the energy of data distribution.

An intriguing property of deep neural networks is the existence of adversarial examples, which can transfer among different architectures. These transferable adversarial examples may severely hinder deep neural network-based applications. Previous works mostly study the transferability using small scale datasets. In this work, we are the first to conduct an extensive study of the transferability over large models and a large scale dataset, and we are also the first to study the transferability of targeted adversarial examples with their target labels. We study both non-targeted and targeted adversarial examples, and show that while transferable non-targeted adversarial examples are easy to find, targeted adversarial examples generated using existing approaches almost never transfer with their target labels. Therefore, we propose novel ensemble-based approaches to generating transferable adversarial examples. Using such approaches, we observe a large proportion of targeted adversarial examples that are able to transfer with their target labels for the first time. We also present some geometric studies to help understanding the transferable adversarial examples. Finally, we show that the adversarial examples generated using ensemble-based approaches can successfully attack Clarifai.com, which is a black-box image classification system.

Sample complexity and safety are major challenges when learning policies with reinforcement learning for real-world tasks, especially when the policies are represented using rich function approximators like deep neural networks. Model-based methods where the real-world target domain is approximated using a simulated source domain provide an avenue to tackle the above challenges by augmenting real data with simulated data. However, discrepancies between the simulated source domain and the target domain pose a challenge for simulated training. We introduce the EPOpt algorithm, which uses an ensemble of simulated source domains and a form of adversarial training to learn policies that are robust and generalize to a broad range of possible target domains, including to unmodeled effects. Further, the probability distribution over source domains in the ensemble can be adapted using data from the target domain and approximate Bayesian methods, to progressively make it a better approximation. Thus, learning on a model ensemble, along with source domain adaptation, provides the benefit of both robustness and learning.

Although various scalable deep learning software packages have been proposed, it remains unclear how to best leverage parallel and distributed computing infrastructure to accelerate their training and deployment. Moreover, the effectiveness of existing parallel and distributed systems varies widely based on the neural network architecture and dataset under consideration. In order to efficiently explore the space of scalable deep learning systems and quickly diagnose their effectiveness for a given problem instance, we introduce an analytical performance model called Paleo. Our key observation is that a neural network architecture carries with it a declarative specification of the computational requirements associated with its training and evaluation. By extracting these requirements from a given architecture and mapping them to a specific point within the design space of software, hardware and communication strategies, Paleo can efficiently and accurately model the expected scalability and performance of a putative deep learning system. We show that Paleo is robust to the choice of network architecture, hardware, software, communication schemes, and parallelization strategies. We further demonstrate its ability to accurately model various recently published scalability results for CNNs such as NiN, Inception and AlexNet.

Sequence-to-sequence models rely on a fixed decomposition of the target sequences into a sequence of tokens that may be words, word-pieces or characters. The choice of these tokens and the decomposition of the target sequences into a sequence of tokens is often static, and independent of the input, output data domains. This can potentially lead to a sub-optimal choice of token dictionaries, as the decomposition is not informed by the particular problem being solved. In this paper we present Latent Sequence Decompositions (LSD), a framework in which the decomposition of sequences into constituent tokens is learnt during the training of the model. The decomposition depends both on the input sequence and on the output sequence. In LSD, during training, the model samples decompositions incrementally, from left to right by locally sampling between valid extensions. We experiment with the Wall Street Journal speech recognition task. Our LSD model achieves 12.9% WER compared to a character baseline of 14.8% WER. When combined with a convolutional network on the encoder, we achieve a WER of 9.6%.

The success of neural network methods for computing word embeddings has motivated methods for generating semantic embeddings of longer pieces of text, such as sentences and paragraphs. Surprisingly, Wieting et al (ICLR'16) showed that such complicated methods are outperformed, especially in out-of-domain (transfer learning) settings, by simpler methods involving mild retraining of word embeddings and basic linear regression. The method of Wieting et al. requires retraining with a substantial labeled dataset such as Paraphrase Database (Ganitkevitch et al., 2013). The current paper goes further, showing that the following completely unsupervised sentence embedding is a formidable baseline: Use word embeddings computed using one of the popular methods on unlabeled corpus like Wikipedia, represent the sentence by a weighted average of the word vectors, and then modify them a bit using PCA/SVD. This weighting improves performance by about 10% to 30% in textual similarity tasks, and beats sophisticated supervised methods including RNN's and LSTM's. It even improves Wieting et al.'s embeddings. This simple method should be used as the baseline to beat in future, especially when labeled training data is scarce or nonexistent. The paper also gives a theoretical explanation of the success of the above unsupervised method using a latent variable generative model for sentences, which is a simple extension of the model in Arora et al. (TACL'16) with new "smoothing" terms that allow for words occurring out of context, as well as high probabilities for words like and, not in all contexts.

Transferring knowledge from prior source tasks in solving a new target task can be useful in several learning applications. The application of transfer poses two serious challenges which have not been adequately addressed. First, the agent should be able to avoid negative transfer, which happens when the transfer hampers or slows down the learning instead of helping it. Second, the agent should be able to selectively transfer, which is the ability to select and transfer from different and multiple source tasks for different parts of the state space of the target task. We propose A2T (Attend Adapt and Transfer), an attentive deep architecture which adapts and transfers from these source tasks. Our model is generic enough to effect transfer of either policies or value functions. Empirical evaluations on different learning algorithms show that A2T is an effective architecture for transfer by being able to avoid negative transfer while transferring selectively from multiple source tasks in the same domain.

Learning an interpretable factorised representation of the independent data generative factors of the world without supervision is an important precursor for the development of artificial intelligence that is able to learn and reason in the same way that humans do. We introduce beta-VAE, a new state-of-the-art framework for automated discovery of interpretable factorised latent representations from raw image data in a completely unsupervised manner. Our approach is a modification of the variational autoencoder (VAE) framework. We introduce an adjustable hyperparameter beta that balances latent channel capacity and independence constraints with reconstruction accuracy. We demonstrate that beta-VAE with appropriately tuned beta > 1 qualitatively outperforms VAE (beta = 1), as well as state of the art unsupervised (InfoGAN) and semi-supervised (DC-IGN) approaches to disentangled factor learning on a variety of datasets (celebA, faces and chairs). Furthermore, we devise a protocol to quantitatively compare the degree of disentanglement learnt by different models, and show that our approach also significantly outperforms all baselines quantitatively. Unlike InfoGAN, beta-VAE is stable to train, makes few assumptions about the data and relies on tuning a single hyperparameter, which can be directly optimised through a hyper parameter search using weakly labelled data or through heuristic visual inspection for purely unsupervised data.

In this paper we propose a novel model for unconditional audio generation task that generates one audio sample at a time. We show that our model which profits from combining memory-less modules, namely autoregressive multilayer perceptron, and stateful recurrent neural networks in a hierarchical structure is de facto powerful to capture the underlying sources of variations in temporal domain for very long time on three datasets of different nature. Human evaluation on the generated samples indicate that our model is preferred over competing models. We also show how each component of the model contributes to the exhibited performance.

We use reinforcement learning to learn tree-structured neural networks for computing representations of natural language sentences. In contrast with prior work on tree-structured models, in which the trees are either provided as input or predicted using supervision from explicit treebank annotations, the tree structures in this work are optimized to improve performance on a downstream task. Experiments demonstrate the benefit of learning task-specific composition orders, outperforming both sequential encoders and recursive encoders based on treebank annotations. We analyze the induced trees and show that while they discover some linguistically intuitive structures (e.g., noun phrases, simple verb phrases), they are different than conventional English syntactic structures.

Attention plays a critical role in human visual experience. Furthermore, it has recently been demonstrated that attention can also play an important role in the context of applying artificial neural networks to a variety of tasks from fields such as computer vision and NLP. In this work we show that, by properly defining attention for convolutional neural networks, we can actually use this type of information in order to significantly improve the performance of a student CNN network by forcing it to mimic the attention maps of a powerful teacher network. To that end, we propose several novel methods of transferring attention, showing consistent improvement across a variety of datasets and convolutional neural network architectures.