ICLR 2018 Papers

Reinforcement learning algorithms can train agents that solve problems in complex, interesting environments. Normally, the complexity of the trained agent is closely related to the complexity of the environment. This suggests that a highly capable agent requires a complex environment for training. In this paper, we point out that a competitive multi-agent environment trained with self-play can produce behaviors that are far more complex than the environment itself. We also point out that such environments come with a natural curriculum, because for any skill level, an environment full of agents of this level will have the right level of difficulty. This work introduces several competitive multi-agent environments where agents compete in a 3D world with simulated physics. The trained agents learn a wide variety of complex and interesting skills, even though the environment themselves are relatively simple. The skills include behaviors such as running, blocking, ducking, tackling, fooling opponents, kicking, and defending using both arms and legs. A highlight of the learned behaviors can be found here: https://goo.gl/eR7fbX

Inspired by the principles of speed reading, we introduce Skim-RNN, a recurrent neural network (RNN) that dynamically decides to update only a small fraction of the hidden state for relatively unimportant input tokens. Skim-RNN gives a significant computational advantage over an RNN that always updates the entire hidden state. Skim-RNN uses the same input and output interfaces as a standard RNN and can be easily used instead of RNNs in existing models. In our experiments, we show that Skim-RNN can achieve significantly reduced computational cost without losing accuracy compared to standard RNNs across five different natural language tasks. In addition, we demonstrate that the trade-off between accuracy and speed of Skim-RNN can be dynamically controlled during inference time in a stable manner. Our analysis also shows that Skim-RNN running on a single CPU offers lower latency compared to standard RNNs on GPUs.

We present a generalization bound for feedforward neural networks in terms of the product of the spectral norm of the layers and the Frobenius norm of the weights. The generalization bound is derived using a PAC-Bayes analysis.

Model-free reinforcement learning (RL) has been proven to be a powerful, general tool for learning complex behaviors. However, its sample efficiency is often impractically large for solving challenging real-world problems, even for off-policy algorithms such as Q-learning. A limiting factor in classic model-free RL is that the learning signal consists only of scalar rewards, ignoring much of the rich information contained in state transition tuples. Model-based RL uses this information, by training a predictive model, but often does not achieve the same asymptotic performance as model-free RL due to model bias. We introduce temporal difference models (TDMs), a family of goal-conditioned value functions that can be trained with model-free learning and used for model-based control. TDMs combine the benefits of model-free and model-based RL: they leverage the rich information in state transitions to learn very efficiently, while still attaining asymptotic performance that exceeds that of direct model-based RL methods. Our experimental results show that, on a range of continuous control tasks, TDMs provide a substantial improvement in efficiency compared to state-of-the-art model-based and model-free methods.

In recent years, deep learning techniques have been developed to improve the performance of program synthesis from input-output examples. Albeit its significant progress, the programs that can be synthesized by state-of-the-art approaches are still simple in terms of their complexity. In this work, we move a significant step forward along this direction by proposing a new class of challenging tasks in the domain of program synthesis from input-output examples: learning a context-free parser from pairs of input programs and their parse trees. We show that this class of tasks are much more challenging than previously studied tasks, and the test accuracy of existing approaches is almost 0%. We tackle the challenges by developing three novel techniques inspired by three novel observations, which reveal the key ingredients of using deep learning to synthesize a complex program. First, the use of a non-differentiable machine is the key to effectively restrict the search space. Thus our proposed approach learns a neural program operating a domain-specific non-differentiable machine. Second, recursion is the key to achieve generalizability. Thus, we bake-in the notion of recursion in the design of our non-differentiable machine. Third, reinforcement learning is the key to learn how to operate the non-differentiable machine, but it is also hard to train the model effectively with existing reinforcement learning algorithms from a cold boot. We develop a novel two-phase reinforcement learning-based search algorithm to overcome this issue. In our evaluation, we show that using our novel approach, neural parsing programs can be learned to achieve 100% test accuracy on test inputs that are 500x longer than the training samples.

Adversarial neural networks solve many important problems in data science, but are notoriously difficult to train. These difficulties come from the fact that optimal weights for adversarial nets correspond to saddle points, and not minimizers, of the loss function. The alternating stochastic gradient methods typically used for such problems do not reliably converge to saddle points, and when convergence does happen it is often highly sensitive to learning rates. We propose a simple modification of stochastic gradient descent that stabilizes adversarial networks. We show, both in theory and practice, that the proposed method reliably converges to saddle points. This makes adversarial networks less likely to "collapse," and enables faster training with larger learning rates.

Large-scale distributed training requires significant communication bandwidth for gradient exchange that limits the scalability of multi-node training, and requires expensive high-bandwidth network infrastructure. The situation gets even worse with distributed training on mobile devices (federated learning), which suffers from higher latency, lower throughput, and intermittent poor connections. In this paper, we find 99.9% of the gradient exchange in distributed SGD is redundant, and propose Deep Gradient Compression (DGC) to greatly reduce the communication bandwidth. To preserve accuracy during compression, DGC employs four methods: momentum correction, local gradient clipping, momentum factor masking, and warm-up training. We have applied Deep Gradient Compression to image classification, speech recognition, and language modeling with multiple datasets including Cifar10, ImageNet, Penn Treebank, and Librispeech Corpus. On these scenarios, Deep Gradient Compression achieves a gradient compression ratio from 270x to 600x without losing accuracy, cutting the gradient size of ResNet-50 from 97MB to 0.35MB, and for DeepSpeech from 488MB to 0.74MB. Deep gradient compression enables large-scale distributed training on inexpensive commodity 1Gbps Ethernet and facilitates distributed training on mobile.

We leverage recent insights from second-order optimisation for neural networks to construct a Kronecker factored Laplace approximation to the posterior over the weights of a trained network. Our approximation requires no modification of the training procedure, enabling practitioners to estimate the uncertainty of their models currently used in production without having to retrain them. We extensively compare our method to using Dropout and a diagonal Laplace approximation for estimating the uncertainty of a network. We demonstrate that our Kronecker factored method leads to better uncertainty estimates on out-of-distribution data and is more robust to simple adversarial attacks. Our approach only requires calculating two square curvature factor matrices for each layer. Their size is equal to the respective square of the input and output size of the layer, making the method efficient both computationally and in terms of memory usage. We illustrate its scalability by applying it to a state-of-the-art convolutional network architecture.

We introduce a new dataset of logical entailments for the purpose of measuring models' ability to capture and exploit the structure of logical expressions against an entailment prediction task. We use this task to compare a series of architectures which are ubiquitous in the sequence-processing literature, in addition to a new model class---PossibleWorldNets---which computes entailment as a ``convolution over possible worlds''. Results show that convolutional networks present the wrong inductive bias for this class of problems relative to LSTM RNNs, tree-structured neural networks outperform LSTM RNNs due to their enhanced ability to exploit the syntax of logic, and PossibleWorldNets outperform all benchmarks.

Generative adversarial networks (GANs) evolved into one of the most successful unsupervised techniques for generating realistic images. Even though it has recently been shown that GAN training converges, GAN models often end up in local Nash equilibria that are associated with mode collapse or otherwise fail to model the target distribution. We introduce Coulomb GANs, which pose the GAN learning problem as a potential field, where generated samples are attracted to training set samples but repel each other. The discriminator learns a potential field while the generator decreases the energy by moving its samples along the vector (force) field determined by the gradient of the potential field. Through decreasing the energy, the GAN model learns to generate samples according to the whole target distribution and does not only cover some of its modes. We prove that Coulomb GANs possess only one Nash equilibrium which is optimal in the sense that the model distribution equals the target distribution. We show the efficacy of Coulomb GANs on LSUN bedrooms, CelebA faces, CIFAR-10 and the Google Billion Word text generation.

We describe a simple scheme that allows an agent to learn about its environment in an unsupervised manner. Our scheme pits two versions of the same agent, Alice and Bob, against one another. Alice proposes a task for Bob to complete; and then Bob attempts to complete the task. In this work we will focus on two kinds of environments: (nearly) reversible environments and environments that can be reset. Alice will "propose" the task by doing a sequence of actions and then Bob must undo or repeat them, respectively. Via an appropriate reward structure, Alice and Bob automatically generate a curriculum of exploration, enabling unsupervised training of the agent. When Bob is deployed on an RL task within the environment, this unsupervised training reduces the number of supervised episodes needed to learn, and in some cases converges to a higher reward.

Collecting a large dataset with high quality annotations is expensive and time-consuming. Recently, Shrivastava et al. (2017) propose Simulated+Unsupervised (S+U) learning: It first learns a mapping from synthetic data to real data, translates a large amount of labeled synthetic data to the ones that resemble real data, and then trains a learning model on the translated data. Bousmalis et al. (2017) propose a similar framework that jointly trains a translation mapping and a learning model. While these algorithms are shown to achieve the state-of-the-art performances on various tasks, it may have a room for improvement, as they do not fully leverage flexibility of data simulation process and consider only the forward (synthetic to real) mapping. While these algorithms are shown to achieve the state-of-the-art performances on various tasks, it may have a room for improvement, as it does not fully leverage flexibility of data simulation process and consider only the forward (synthetic to real) mapping. Inspired by this limitation, we propose a new S+U learning algorithm, which fully leverage the flexibility of data simulators and bidirectional mappings between synthetic data and real data. We show that our approach achieves the improved performance on the gaze estimation task, outperforming (Shrivastava et al., 2017).

We compare and analyze sequential, random access, and stack memory architectures for recurrent neural network language models. Our experiments on the Penn Treebank and Wikitext-2 datasets show that stack-based memory architectures consistently achieve the best performance in terms of held out perplexity. We also propose a generalization to existing continuous stack models (Joulin & Mikolov,2015; Grefenstette et al., 2015) to allow a variable number of pop operations more naturally that further improves performance. We further evaluate these language models in terms of their ability to capture non-local syntactic dependencies on a subject-verb agreement dataset (Linzen et al., 2016) and establish new state of the art results using memory augmented language models. Our results demonstrate the value of stack-structured memory for explaining the distribution of words in natural language, in line with linguistic theories claiming a context-free backbone for natural language.

We present a new neural text to speech (TTS) method that is able to transform text to speech in voices that are sampled in the wild. Unlike other systems, our solution is able to deal with unconstrained voice samples and without requiring aligned phonemes or linguistic features. The network architecture is simpler than those in the existing literature and is based on a novel shifting buffer working memory. The same buffer is used for estimating the attention, computing the output audio, and for updating the buffer itself. The input sentence is encoded using a context-free lookup table that contains one entry per character or phoneme. The speakers are similarly represented by a short vector that can also be fitted to new identities, even with only a few samples. Variability in the generated speech is achieved by priming the buffer prior to generating the audio. Experimental results on several datasets demonstrate convincing capabilities, making TTS accessible to a wider range of applications. In order to promote reproducibility, we release our source code and models.

We analyze the convergence of (stochastic) gradient descent algorithm for learning a convolutional filter with Rectified Linear Unit (ReLU) activation function. Our analysis does not rely on any specific form of the input distribution and our proofs only use the definition of ReLU, in contrast with previous works that are restricted to standard Gaussian input. We show that (stochastic) gradient descent with random initialization can learn the convolutional filter in polynomial time and the convergence rate depends on the smoothness of the input distribution and the closeness of patches. To the best of our knowledge, this is the first recovery guarantee of gradient-based algorithms for convolutional filter on non-Gaussian input distributions. Our theory also justifies the two-stage learning rate strategy in deep neural networks. While our focus is theoretical, we also present experiments that justify our theoretical findings.

Convolutional neural networks have demonstrated high accuracy on various tasks in recent years. However, they are extremely vulnerable to adversarial examples. For example, imperceptible perturbations added to clean images can cause convolutional neural networks to fail. In this paper, we propose to utilize randomization at inference time to mitigate adversarial effects. Specifically, we use two randomization operations: random resizing, which resizes the input images to a random size, and random padding, which pads zeros around the input images in a random manner. Extensive experiments demonstrate that the proposed randomization method is very effective at defending against both single-step and iterative attacks. Our method provides the following advantages: 1) no additional training or fine-tuning, 2) very few additional computations, 3) compatible with other adversarial defense methods. By combining the proposed randomization method with an adversarially trained model, it achieves a normalized score of 0.924 (ranked No.2 among 107 defense teams) in the NIPS 2017 adversarial examples defense challenge, which is far better than using adversarial training alone with a normalized score of 0.773 (ranked No.56). The code is public available at https://github.com/cihangxie/NIPS2017_adv_challenge_defense.

We propose a novel deep network architecture for lifelong learning which we refer to as Dynamically Expandable Network (DEN), that can dynamically decide its network capacity as it trains on a sequence of tasks, to learn a compact overlapping knowledge sharing structure among tasks. DEN is efficiently trained in an online manner by performing selective retraining, dynamically expands network capacity upon arrival of each task with only the necessary number of units, and effectively prevents semantic drift by splitting/duplicating units and timestamping them. We validate DEN on multiple public datasets in lifelong learning scenarios on multiple public datasets, on which it not only significantly outperforms existing lifelong learning methods for deep networks, but also achieves the same level of performance as the batch model with substantially fewer number of parameters.

There are many applications scenarios for which the computational performance and memory footprint of the prediction phase of Deep Neural Networks (DNNs) need to be optimized. Binary Deep Neural Networks (BDNNs) have been shown to be an effective way of achieving this objective. In this paper, we show how Convolutional Neural Networks (CNNs) can be implemented using binary representations. Espresso is a compact, yet powerful library written in C/CUDA that features all the functionalities required for the forward propagation of CNNs, in a binary file less than 400KB, without any external dependencies. Although it is mainly designed to take advantage of massive GPU parallelism, Espresso also provides an equivalent CPU implementation for CNNs. Espresso provides special convolutional and dense layers for BCNNs, leveraging bit-packing and bit-wise computations for efficient execution. These techniques provide a speed-up of matrix-multiplication routines, and at the same time, reduce memory usage when storing parameters and activations. We experimentally show that Espresso is significantly faster than existing implementations of optimized binary neural networks (~ 2 orders of magnitude). Espresso is released under the Apache 2.0 license and is available at http://github.com/organization/project.

Ability to continuously learn and adapt from limited experience in nonstationary environments is an important milestone on the path towards general intelligence. In this paper, we cast the problem of continuous adaptation into the learning-to-learn framework. We develop a simple gradient-based meta-learning algorithm suitable for adaptation in dynamically changing and adversarial scenarios. Additionally, we design a new multi-agent competitive environment, RoboSumo, and define iterated adaptation games for testing various aspects of continuous adaptation. We demonstrate that meta-learning enables significantly more efficient adaptation than reactive baselines in the few-shot regime. Our experiments with a population of agents that learn and compete suggest that meta-learners are the fittest.