NeurIPS 2016 Papers

Recurrent Neural Networks (RNNs) have become the state-of-the-art choice for extracting patterns from temporal sequences. Current RNN models are ill suited to process irregularly sampled data triggered by events generated in continuous time by sensors or other neurons. Such data can occur, for example, when the input comes from novel event-driven artificial sensors which generate sparse, asynchronous streams of events or from multiple conventional sensors with different update intervals. In this work, we introduce the Phased LSTM model, which extends the LSTM unit by adding a new time gate. This gate is controlled by a parametrized oscillation with a frequency range which require updates of the memory cell only during a small percentage of the cycle. Even with the sparse updates imposed by the oscillation, the Phased LSTM network achieves faster convergence than regular LSTMs on tasks which require learning of long sequences. The model naturally integrates inputs from sensors of arbitrary sampling rates, thereby opening new areas of investigation for processing asynchronous sensory events that carry timing information. It also greatly improves the performance of LSTMs in standard RNN applications, and does so with an order-of-magnitude fewer computes.

We present an intriguing discovery related to Random Fourier Features: replacing multiplication by a random Gaussian matrix with multiplication by a properly scaled random orthogonal matrix significantly decreases kernel approximation error. We call this technique Orthogonal Random Features (ORF), and provide theoretical and empirical justification for its effectiveness. Motivated by the discovery, we further propose Structured Orthogonal Random Features (SORF), which uses a class of structured discrete orthogonal matrices to speed up the computation. The method reduces the time cost from $\mathcal{O}(d^2)$ to $\mathcal{O}(d \log d)$, where $d$ is the data dimensionality, with almost no compromise in kernel approximation quality compared to ORF. Experiments on several datasets verify the effectiveness of ORF and SORF over the existing methods. We also provide discussions on using the same type of discrete orthogonal structure for a broader range of kernels and applications.

In online convex optimization it is well known that certain subclasses of objective functions are much easier than arbitrary convex functions. We are interested in designing adaptive methods that can automatically get fast rates in as many such subclasses as possible, without any manual tuning. Previous adaptive methods are able to interpolate between strongly convex and general convex functions. We present a new method, MetaGrad, that adapts to a much broader class of functions, including exp-concave and strongly convex functions, but also various types of stochastic and non-stochastic functions without any curvature. For instance, MetaGrad can achieve logarithmic regret on the unregularized hinge loss, even though it has no curvature, if the data come from a favourable probability distribution. MetaGrad's main feature is that it simultaneously considers multiple learning rates. Unlike all previous methods with provable regret guarantees, however, its learning rates are not monotonically decreasing over time and are not tuned based on a theoretically derived bound on the regret. Instead, they are weighted directly proportional to their empirical performance on the data using a tilted exponential weights master algorithm.

Matrix completion is a basic machine learning problem that has wide applications, especially in collaborative filtering and recommender systems. Simple non-convex optimization algorithms are popular and effective in practice. Despite recent progress in proving various non-convex algorithms converge from a good initial point, it remains unclear why random or arbitrary initialization suffices in practice. We prove that the commonly used non-convex objective function for matrix completion has no spurious local minima --- all local minima must also be global. Therefore, many popular optimization algorithms such as (stochastic) gradient descent can provably solve matrix completion with \textit{arbitrary} initialization in polynomial time.

Recently, several works have shown that natural modifications of the classical conditional gradient method (aka Frank-Wolfe algorithm) for constrained convex optimization, provably converge with a linear rate when the feasible set is a polytope, and the objective is smooth and strongly-convex. However, all of these results suffer from two significant shortcomings: i) large memory requirement due to the need to store an explicit convex decomposition of the current iterate, and as a consequence, large running-time overhead per iteration ii) the worst case convergence rate depends unfavorably on the dimension In this work we present a new conditional gradient variant and a corresponding analysis that improves on both of the above shortcomings. In particular, both memory and computation overheads are only linear in the dimension, and in addition, in case the optimal solution is sparse, the new convergence rate replaces a factor which is at least linear in the dimension in previous works, with a linear dependence on the number of non-zeros in the optimal solution At the heart of our method, and corresponding analysis, is a novel way to compute decomposition-invariant away-steps. While our theoretical guarantees do not apply to any polytope, they apply to several important structured polytopes that capture central concepts such as paths in graphs, perfect matchings in bipartite graphs, marginal distributions that arise in structured prediction tasks, and more. Our theoretical findings are complemented by empirical evidence that shows that our method delivers state-of-the-art performance.

We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The robot gathered over 400 hours of experience by executing more than 50K pokes on different objects. We propose a novel approach based on deep neural networks for modeling the dynamics of robot's interactions directly from images, by jointly estimating forward and inverse models of dynamics. The inverse model objective provides supervision to construct informative visual features, which the forward model can then predict and in turn regularize the feature space for the inverse model. The interplay between these two objectives creates useful, accurate models that can then be used for multi-step decision making. This formulation has the additional benefit that it is possible to learn forward models in an abstract feature space and thus alleviate the need of predicting pixels. Our experiments show that this joint modeling approach outperforms alternative methods. We also demonstrate that active data collection using the learned model further improves performance.

Generative Adversarial Networks (GANs) have recently demonstrated the capability to synthesize compelling real-world images, such as room interiors, album covers, manga, faces, birds, and flowers. While existing models can synthesize images based on global constraints such as a class label or caption, they do not provide control over pose or object location. We propose a new model, the Generative Adversarial What-Where Network (GAWWN), that synthesizes images given instructions describing what content to draw in which location. We show high-quality 128 × 128 image synthesis on the Caltech-UCSD Birds dataset, conditioned on both informal text descriptions and also object location. Our system exposes control over both the bounding box around the bird and its constituent parts. By modeling the conditional distributions over part locations, our system also enables conditioning on arbitrary subsets of parts (e.g. only the beak and tail), yielding an efficient interface for picking part locations.

This paper deals with price optimization, which is to find the best pricing strategy that maximizes revenue or profit, on the basis of demand forecasting models. Though recent advances in regression technologies have made it possible to reveal price-demand relationship of a number of multiple products, most existing price optimization methods, such as mixed integer programming formulation, cannot handle tens or hundreds of products because of their high computational costs. To cope with this problem, this paper proposes a novel approach based on network flow algorithms. We reveal a connection between supermodularity of the revenue and cross elasticity of demand. On the basis of this connection, we propose an efficient algorithm that employs network flow algorithms. The proposed algorithm can handle hundreds or thousands of products, and returns an exact optimal solution under an assumption regarding cross elasticity of demand. Even in case in which the assumption does not hold, the proposed algorithm can efficiently find approximate solutions as good as can other state-of-the-art methods, as empirical results show.

Two semimetrics on probability distributions are proposed, given as the sum of differences of expectations of analytic functions evaluated at spatial or frequency locations (i.e, features). The features are chosen so as to maximize the distinguishability of the distributions, by optimizing a lower bound on test power for a statistical test using these features. The result is a parsimonious and interpretable indication of how and where two distributions differ locally. An empirical estimate of the test power criterion converges with increasing sample size, ensuring the quality of the returned features. In real-world benchmarks on high-dimensional text and image data, linear-time tests using the proposed semimetrics achieve comparable performance to the state-of-the-art quadratic-time maximum mean discrepancy test, while returning human-interpretable features that explain the test results.

We study the cost function for hierarchical clusterings introduced by [Dasgupta, 2015] where hierarchies are treated as first-class objects rather than deriving their cost from projections into flat clusters. It was also shown in [Dasgupta, 2015] that a top-down algorithm returns a hierarchical clustering of cost at most (O\left(\alpha

In this work we develop a theory of hierarchical clustering for graphs. Our modelling assumption is that graphs are sampled from a graphon, which is a powerful and general model for generating graphs and analyzing large networks. Graphons are a far richer class of graph models than stochastic blockmodels, the primary setting for recent progress in the statistical theory of graph clustering. We define what it means for an algorithm to produce the ``correct" clustering, give sufficient conditions in which a method is statistically consistent, and provide an explicit algorithm satisfying these properties.

Expectation Maximization (EM) is among the most popular algorithms for estimating parameters of statistical models. However, EM, which is an iterative algorithm based on the maximum likelihood principle, is generally only guaranteed to find stationary points of the likelihood objective, and these points may be far from any maximizer. This article addresses this disconnect between the statistical principles behind EM and its algorithmic properties. Specifically, it provides a global analysis of EM for specific models in which the observations comprise an i.i.d. sample from a mixture of two Gaussians. This is achieved by (i) studying the sequence of parameters from idealized execution of EM in the infinite sample limit, and fully characterizing the limit points of the sequence in terms of the initial parameters; and then (ii) based on this convergence analysis, establishing statistical consistency (or lack thereof) for the actual sequence of parameters produced by EM.

In stochastic convex optimization the goal is to minimize a convex function $F(x) \doteq \E_{f\sim D}[f(x)]$ over a convex set $\K \subset \R^d$ where $D$ is some unknown distribution and each $f(\cdot)$ in the support of $D$ is convex over $\K$. The optimization is based on i.i.d.~samples $f^1,f^2,\ldots,f^n$ from $D$. A common approach to such problems is empirical risk minimization (ERM) that optimizes $F_S(x) \doteq \frac{1}{n}\sum_{i\leq n} f^i(x)$. Here we consider the question of how many samples are necessary for ERM to succeed and the closely related question of uniform convergence of $F_S$ to $F$ over $\K$. We demonstrate that in the standard $\ell_p/\ell_q$ setting of Lipschitz-bounded functions over a $\K$ of bounded radius, ERM requires sample size that scales linearly with the dimension $d$. This nearly matches standard upper bounds and improves on $\Omega(\log d)$ dependence proved for $\ell_2/\ell_2$ setting in (Shalev-Shwartz et al. 2009). In stark contrast, these problems can be solved using dimension-independent number of samples for $\ell_2/\ell_2$ setting and $\log d$ dependence for $\ell_1/\ell_\infty$ setting using other approaches. We also demonstrate that for a more general class of range-bounded (but not Lipschitz-bounded) stochastic convex programs an even stronger gap appears already in dimension 2.

Seeding - the task of finding initial cluster centers - is critical in obtaining high-quality clusterings for k-Means. However, k-means++ seeding, the state of the art algorithm, does not scale well to massive datasets as it is inherently sequential and requires k full passes through the data. It was recently shown that Markov chain Monte Carlo sampling can be used to efficiently approximate the seeding step of k-means++. However, this result requires assumptions on the data generating distribution. We propose a simple yet fast seeding algorithm that produces

Example-based explanations are widely used in the effort to improve the interpretability of highly complex distributions. However, prototypes alone are rarely sufficient to represent the gist of the complexity. In order for users to construct better mental models and understand complex data distributions, we also need {\em criticism} to explain what are \textit{not} captured by prototypes. Motivated by the Bayesian model criticism framework, we develop \texttt{MMD-critic} which efficiently learns prototypes and criticism, designed to aid human interpretability. A human subject pilot study shows that the \texttt{MMD-critic} selects prototypes and criticism that are useful to facilitate human understanding and reasoning. We also evaluate the prototypes selected by \texttt{MMD-critic} via a nearest prototype classifier, showing competitive performance compared to baselines.

A model of associative memory is studied, which stores and reliably retrieves many more patterns than the number of neurons in the network. We propose a simple duality between this dense associative memory and neural networks commonly used in deep learning. On the associative memory side of this duality, a family of models that smoothly interpolates between two limiting cases can be constructed. One limit is referred to as the feature-matching mode of pattern recognition, and the other one as the prototype regime. On the deep learning side of the duality, this family corresponds to feedforward neural networks with one hidden layer and various activation functions, which transmit the activities of the visible neurons to the hidden layer. This family of activation functions includes logistics, rectified linear units, and rectified polynomials of higher degrees. The proposed duality makes it possible to apply energy-based intuition from associative memory to analyze computational properties of neural networks with unusual activation functions - the higher rectified polynomials which until now have not been used in deep learning. The utility of the dense memories is illustrated for two test cases: the logical gate XOR and the recognition of handwritten digits from the MNIST data set.

In this paper, we prove a conjecture published in 1989 and also partially address an open problem announced at the Conference on Learning Theory (COLT) 2015. For an expected loss function of a deep nonlinear neural network, we prove the following statements under the independence assumption adopted from recent work: 1) the function is non-convex and non-concave, 2) every local minimum is a global minimum, 3) every critical point that is not a global minimum is a saddle point, and 4) the property of saddle points differs for shallow networks (with three layers) and deeper networks (with more than three layers). Moreover, we prove that the same four statements hold for deep linear neural networks with any depth, any widths and no unrealistic assumptions. As a result, we present an instance, for which we can answer to the following question: how difficult to directly train a deep model in theory? It is more difficult than the classical machine learning models (because of the non-convexity), but not too difficult (because of the nonexistence of poor local minima and the property of the saddle points). We note that even though we have advanced the theoretical foundations of deep learning, there is still a gap between theory and practice.

Predicting the behavior of human participants in strategic settings is an important problem in many domains. Most existing work either assumes that participants are perfectly rational, or attempts to directly model each participant's cognitive processes based on insights from cognitive psychology and experimental economics. In this work, we present an alternative, a deep learning approach that automatically performs cognitive modeling without relying on such expert knowledge. We introduce a novel architecture that allows a single network to generalize across different input and output dimensions by using matrix units rather than scalar units, and show that its performance significantly outperforms that of the previous state of the art, which relies on expert-constructed features.

We propose a framework for Semi-Supervised Active Clustering framework (SSAC), where the learner is allowed to interact with a domain expert, asking whether two given instances belong to the same cluster or not. We study the query and computational complexity of clustering in this framework. We consider a setting where the expert conforms to a center-based clustering with a notion of margin. We show that there is a trade off between computational complexity and query complexity; We prove that for the case of $k$-means clustering (i.e., when the expert conforms to a solution of $k$-means), having access to relatively few such queries allows efficient solutions to otherwise NP hard problems. In particular, we provide a probabilistic polynomial-time (BPP) algorithm for clustering in this setting that asks $O\big(k^2\log k + k\log n)$ same-cluster queries and runs with time complexity $O\big(kn\log n)$ (where $k$ is the number of clusters and $n$ is the number of instances). The success of the algorithm is guaranteed for data satisfying the margin condition under which, without queries, we show that the problem is NP hard. We also prove a lower bound on the number of queries needed to have a computationally efficient clustering algorithm in this setting.