ICML 2023 论文列表

The ability to accurately locate and navigate to a specific object is a crucial capability for embodied agents that operate in the real world and interact with objects to complete tasks. Such object navigation tasks usually require large-scale training in visual environments with labeled objects, which generalizes poorly to novel objects in unknown environments. In this work, we present a novel zero-shot object navigation method, Exploration with Soft Commonsense constraints (ESC), that transfers commonsense knowledge in pre-trained models to open-world object navigation without any navigation experience nor any other training on the visual environments. First, ESC leverages a pre-trained vision and language model for open-world prompt-based grounding and a pre-trained commonsense language model for room and object reasoning. Then ESC converts commonsense knowledge into navigation actions by modeling it as soft logic predicates for efficient exploration. Extensive experiments on MP3D, HM3D, and RoboTHOR benchmarks show that our ESC method improves significantly over baselines, and achieves new state-of-the-art results for zero-shot object navigation (e.g., 288% relative Success Rate improvement than CoW on MP3D).

Deep models have achieved impressive progress in solving partial differential equations (PDEs). A burgeoning paradigm is learning neural operators to approximate the input-output mappings of PDEs. While previous deep models have explored the multiscale architectures and various operator designs, they are limited to learning the operators as a whole in the coordinate space. In real physical science problems, PDEs are complex coupled equations with numerical solvers relying on discretization into high-dimensional coordinate space, which cannot be precisely approximated by a single operator nor efficiently learned due to the curse of dimensionality. We present Latent Spectral Models (LSM) toward an efficient and precise solver for high-dimensional PDEs. Going beyond the coordinate space, LSM enables an attention-based hierarchical projection network to reduce the high-dimensional data into a compact latent space in linear time. Inspired by classical spectral methods in numerical analysis, we design a neural spectral block to solve PDEs in the latent space that approximates complex input-output mappings via learning multiple basis operators, enjoying nice theoretical guarantees for convergence and approximation. Experimentally, LSM achieves consistent state-of-the-art and yields a relative gain of 11.5% averaged on seven benchmarks covering both solid and fluid physics. Code is available at https://github.com/thuml/Latent-Spectral-Models.

Self-predictive unsupervised learning methods such as BYOL or SimSIAM have shown impressive results, and counter-intuitively, do not collapse to trivial representations. In this work, we aim at exploring the simplest possible mathematical arguments towards explaining the underlying mechanisms behind self-predictive unsupervised learning. We start with the observation that those methods crucially rely on the presence of a predictor network (and stop-gradient). With simple linear algebra, we show that when using a linear predictor, the optimal predictor is close to an orthogonal projection, and propose a general framework based on orthonormalization that enables to interpret and give intuition on why BYOL works. In addition, this framework demonstrates the crucial role of the exponential moving average and stop-gradient operator in BYOL as an efficient orthonormalization mechanism. We use these insights to propose four new closed-form predictor variants of BYOL to support our analysis. Our closed-form predictors outperform standard linear trainable predictor BYOL at 100 and 300 epochs (top-1 linear accuracy on ImageNet).

We present Language-Image Value learning (LIV), a unified objective for vision-language representation and reward learning from action-free videos with text annotations. Exploiting a novel connection between dual reinforcement learning and mutual information contrastive learning, the LIV objective trains a multi-modal representation that implicitly encodes a universal value function for tasks specified as language or image goals. We use LIV to pre-train the first control-centric vision-language representation from large human video datasets such as EpicKitchen. Given only a language or image goal, the pre-trained LIV model can assign dense rewards to each frame in videos of unseen robots or humans attempting that task in unseen environments. Further, when some target domain-specific data is available, the same objective can be used to fine-tune and improve LIV and even other pre-trained representations for robotic control and reward specification in that domain. In our experiments on several simulated and real-world robot environments, LIV models consistently outperform the best prior input state representations for imitation learning, as well as reward specification methods for policy synthesis. Our results validate the advantages of joint vision-language representation and reward learning within the unified, compact LIV framework.

Training graph neural networks (GNNs) is extremely time consuming because sparse graph-based operations are hard to be accelerated by community hardware. Prior art successfully reduces the computation cost of dense matrix based operations (e.g., convolution and linear) via sampling-based approximation. However, unlike dense matrices, sparse matrices are stored in the irregular data format such that each row/column may have different number of non-zero entries. Thus, compared to the dense counterpart, approximating sparse operations has two unique challenges (1) we cannot directly control the efficiency of approximated sparse operation since the computation is only executed on non-zero entries; (2) sampling sparse matrices is much more inefficient due to the irregular data format. To address the issues, our key idea is to control the accuracy-efficiency trade off by optimizing computation resource allocation layer-wisely and epoch-wisely. For the first challenge, we customize the computation resource to different sparse operations, while limit the total used resource below a certain budget. For the second challenge, we cache previous sampled sparse matrices to reduce the epoch-wise sampling overhead. Finally, we propose a switching mechanisms to improve the generalization of GNNs trained with approximated operations. To this end, we propose Randomized Sparse Computation. In practice, rsc can achieve up to 11.6X speedup for a single sparse operation and 1.6X end-to-end wall-clock time speedup with almost no accuracy drop.

In conventional supervised classification, true labels are required for individual instances. However, it could be prohibitive to collect the true labels for individual instances, due to privacy concerns or unaffordable annotation costs. This motivates the study on classification from aggregate observations (CFAO), where the supervision is provided to groups of instances, instead of individual instances. CFAO is a generalized learning framework that contains various learning problems, such as multiple-instance learning and learning from label proportions. The goal of this paper is to present a novel universal method of CFAO, which holds an unbiased estimator of the classification risk for arbitrary losses---previous research failed to achieve this goal. Practically, our method works by weighing the importance of each instance and each label in the group, which provides purified supervision for the classifier to learn. Theoretically, our proposed method not only guarantees the risk consistency due to the unbiased risk estimator but also can be compatible with arbitrary losses. Extensive experiments on various problems of CFAO demonstrate the superiority of our proposed method.

The advent of large language models trained on code (code LLMs) has led to significant progress in language-to-code generation. State-of-the-art approaches in this area combine LLM decoding with sample pruning and reranking using test cases or heuristics based on the execution results. However, it is challenging to obtain test cases for many real-world language-to-code applications, and heuristics cannot well capture the semantic features of the execution results, such as data type and value range, which often indicates the correctness of the program. In this work, we propose LEVER, a simple approach to improve language-to-code generation by learning to verify the generated programs with their execution results. Specifically, we train verifiers to determine whether a program sampled from the LLMs is correct or not based on the natural language input, the program itself and its execution results. The sampled programs are reranked by combining the verification score with the LLM generation probability, and marginalizing over programs with the same execution results. On four datasets across the domains of table QA, math QA and basic Python programming, LEVER consistently improves over the base code LLMs (4.6% to 10.9% with code-davinci-002) and achieves new state-of-the-art results on all of them.

We present new algorithms for optimizing non-smooth, non-convex stochastic objectives based on a novel analysis technique. This improves the current best-known complexity for finding a $(\delta,\epsilon)$-stationary point from $O(\epsilon^{-4}\delta^{-1})$ stochastic gradient queries to $O(\epsilon^{-3}\delta^{-1})$, which we also show to be optimal. Our primary technique is a reduction from non-smooth non-convex optimization to *online learning*, after which our results follow from standard regret bounds in online learning. For *deterministic and second-order smooth* objectives, applying more advanced optimistic online learning techniques enables a new complexity of $O(\epsilon^{-1.5}\delta^{-0.5})$. Our improved non-smooth analysis also immediately recovers all optimal or best-known results for finding $\epsilon$ stationary points of smooth or second-order smooth objectives in both stochastic and deterministic settings.

Spiking neural networks (SNNs) with biologically inspired spatio-temporal dynamics demonstrate superior energy efficiency on neuromorphic architectures. Error backpropagation in SNNs is prohibited by the all-or-none nature of spikes. The existing solution circumvents this problem by a relaxation on the gradient calculation using a continuous function with a constant relaxation de- gree, so-called surrogate gradient learning. Nevertheless, such a solution introduces additional smoothing error on spike firing which leads to the gradients being estimated inaccurately. Thus, how to adaptively adjust the relaxation degree and eliminate smoothing error progressively is crucial. Here, we propose a methodology such that training a prototype neural network will evolve into training an SNN gradually by fusing the learnable relaxation degree into the network with random spike noise. In this way, the network learns adaptively the accurate gradients of loss landscape in SNNs. The theoretical analysis further shows optimization on such a noisy network could be evolved into optimization on the embedded SNN with shared weights progressively. Moreover, The experiments on static images, dynamic event streams, speech, and instrumental sounds show the proposed method achieves state-of-the-art performance across all the datasets with remarkable robustness on different relaxation degrees.

We consider online learning in multi-player smooth monotone games. Existing algorithms have limitations such as (1) being only applicable to strongly monotone games; (2) lacking the no-regret guarantee; (3) having only asymptotic or slow $\mathcal{O}(\frac{1}{\sqrt{T}})$ last-iterate convergence rate to a Nash equilibrium. While the $\mathcal{O}(\frac{1}{\sqrt{T}})$ rate is tight for a large class of algorithms including the well-studied extragradient algorithm and optimistic gradient algorithm, it is not optimal for all gradient-based algorithms. We propose the *accelerated optimistic gradient* (AOG) algorithm, the first doubly optimal no-regret learning algorithm for smooth monotone games. Namely, our algorithm achieves both (i) the optimal $\mathcal{O}(\sqrt{T})$ regret in the adversarial setting under smooth and convex loss functions and (ii) the optimal $\mathcal{O}(\frac{1}{T})$ last-iterate convergence rate to a Nash equilibrium in multi-player smooth monotone games. As a byproduct of the accelerated last-iterate convergence rate, we further show that each player suffers only an $\mathcal{O}(\log T)$ individual *worst-case dynamic regret*, providing an exponential improvement over the previous state-of-the-art $\mathcal{O}(\sqrt{T})$ bound.

Large Language Models (LLMs) have achieved great success in solving difficult tasks across many domains, but such success comes with a high computation cost, and inference latency. As developers and third parties customize these models, the need to provide efficient inference has increased. Many efforts have attempted to reduce inference cost through model compression techniques such as pruning and distillation. However, these techniques either require labeled data, or are time-consuming as they require the compressed model to be retrained to regain accuracy. In this paper, we propose a gradient-free structured pruning framework that uses only unlabeled data. An evaluation on the GLUE and SQuAD benchmarks using BERT$_{BASE}$ and DistilBERT illustrates the effectiveness of the proposed approach. By only using the weights of the pre-trained model and unlabeled data, in a matter of a few minutes on a single GPU, up to 40% of the original FLOP count can be reduced with less than a $4\%$ accuracy loss across all tasks considered.

Subgraphs of a larger global graph may be distributed across multiple devices, and only locally accessible due to privacy restrictions, although there may be links between subgraphs. Recently proposed subgraph Federated Learning (FL) methods deal with those missing links across local subgraphs while distributively training Graph Neural Networks (GNNs) on them. However, they have overlooked the inevitable heterogeneity between subgraphs comprising different communities of a global graph, consequently collapsing the incompatible knowledge from local GNN models. To this end, we introduce a new subgraph FL problem, personalized subgraph FL, which focuses on the joint improvement of the interrelated local GNNs rather than learning a single global model, and propose a novel framework, FEDerated Personalized sUBgraph learning (FED-PUB), to tackle it. Since the server cannot access the subgraph in each client, FED-PUB utilizes functional embeddings of the local GNNs using random graphs as inputs to compute similarities between them, and use the similarities to perform weighted averaging for server-side aggregation. Further, it learns a personalized sparse mask at each client to select and update only the subgraph-relevant subset of the aggregated parameters. We validate our FED-PUB for its subgraph FL performance on six datasets, considering both non-overlapping and overlapping subgraphs, on which it significantly outperforms relevant baselines. Our code is available at https://github.com/JinheonBaek/FED-PUB.

Fair representation learning (FRL) is a popular class of methods aiming to produce fair classifiers via data preprocessing. Recent regulatory directives stress the need for FRL methods that provide practical certificates, i.e., provable upper bounds on the unfairness of any downstream classifier trained on preprocessed data, which directly provides assurance in a practical scenario. Creating such FRL methods is an important challenge that remains unsolved. In this work, we address that challenge and introduce FARE (Fairness with Restricted Encoders), the first FRL method with practical fairness certificates. FARE is based on our key insight that restricting the representation space of the encoder enables the derivation of practical guarantees, while still permitting favorable accuracy-fairness tradeoffs for suitable instantiations, such as one we propose based on fair trees. To produce a practical certificate, we develop and apply a statistical procedure that computes a finite sample high-confidence upper bound on the unfairness of any downstream classifier trained on FARE embeddings. In our comprehensive experimental evaluation, we demonstrate that FARE produces practical certificates that are tight and often even comparable with purely empirical results obtained by prior methods, which establishes the practical value of our approach.

Current fake audio detection algorithms have achieved promising performances on most datasets. However, their performance may be significantly degraded when dealing with audio of a different dataset. The orthogonal weight modification to overcome catastrophic forgetting does not consider the similarity of genuine audio across different datasets. To overcome this limitation, we propose a continual learning algorithm for fake audio detection to overcome catastrophic forgetting, called Regularized Adaptive Weight Modification (RAWM). When fine-tuning a detection network, our approach adaptively computes the direction of weight modification according to the ratio of genuine utterances and fake utterances. The adaptive modification direction ensures the network can effectively detect fake audio on the new dataset while preserving its knowledge of old model, thus mitigating catastrophic forgetting. In addition, genuine audio collected from quite different acoustic conditions may skew their feature distribution, so we introduce a regularization constraint to force the network to remember the old distribution in this regard. Our method can easily be generalized to related fields, like speech emotion recognition. We also evaluate our approach across multiple datasets and obtain a significant performance improvement on cross-dataset experiments.

In online reinforcement learning (RL), instead of employing standard structural assumptions on Markov decision processes (MDPs), using a certain coverage condition (original from offline RL) is enough to ensure sample-efficient guarantees (Xie et al. 2023). In this work, we focus on this new direction by digging more possible and general coverage conditions, and study the potential and the utility of them in efficient online RL. We identify more concepts, including the $L^p$ variant of concentrability, the density ratio realizability, and trade-off on the partial/rest coverage condition, that can be also beneficial to sample-efficient online RL, achieving improved regret bound. Furthermore, if exploratory offline data are used, under our coverage conditions, both statistically and computationally efficient guarantees can be achieved for online RL. Besides, even though the MDP structure is given, e.g., linear MDP, we elucidate that, good coverage conditions are still beneficial to obtain faster regret bound beyond $\widetilde{\mathcal{O}}(\sqrt{T})$ and even a logarithmic order regret. These results provide a good justification for the usage of general coverage conditions in efficient online RL.

Vision Transformer (ViT) is an attention-based model architecture that has demonstrated superior performance on many computer vision tasks. However, its security properties, in particular, the robustness against adversarial attacks, are yet to be thoroughly studied. Recent works have shown that ViT is vulnerable to attention-based adversarial patch attacks, which cover 1-3% area of the input image using adversarial patches and degrades the model accuracy to 0%. This work provides a generic study targeting the attention-based patch attack. First, we experimentally observe that adversarial patches only activate in a few layers and become lazy during attention updating. According to experiments, we study the theory of how a small adversarial patch perturbates the whole model. Based on understanding adversarial patch attacks, we propose a simple but efficient defense that correctly detects more than 95% of adversarial patches.

We develop a framework for non-asymptotic analysis of deterministic samplers used for diffusion generative modeling. Several recent works have analyzed stochastic samplers using tools like Girsanov's theorem and a chain rule variant of the interpolation argument. Unfortunately, these techniques give vacuous bounds when applied to deterministic samplers. We give a new operational interpretation for deterministic sampling by showing that one step along the probability flow ODE can be expressed as two steps: 1) a restoration step that runs gradient ascent on the conditional log-likelihood at some infinitesimally previous time, and 2) a degradation step that runs the forward process using noise pointing back towards the current iterate. This perspective allows us to extend denoising diffusion implicit models to general, non-linear forward processes. We then develop the first polynomial convergence bounds for these samplers under mild conditions on the data distribution.

The deployment and training of neural networks on edge computing devices pose many challenges. The low memory nature of edge devices is often one of the biggest limiting factors encountered in the deployment of large neural network models. Tensor rematerialization or recompute is a way to address high memory requirements for neural network training and inference. In this paper we consider the problem of execution time minimization of compute graphs subject to a memory budget. In particular, we develop a new constraint programming formulation called Moccasin with only $O(n)$ integer variables, where $n$ is the number of nodes in the compute graph. This is a significant improvement over the works in the recent literature that propose formulations with $O(n^2)$ Boolean variables. We present numerical studies that show that our approach is up to an order of magnitude faster than recent work especially for large-scale graphs.

We introduce a novel class of sample-based explanations we term *high-dimensional representers*, that can be used to explain the predictions of a regularized high-dimensional model in terms of importance weights for each of the training samples. Our workhorse is a novel representer theorem for general regularized high-dimensional models, which decomposes the model prediction in terms of contributions from each of the training samples: with positive (negative) values corresponding to positive (negative) impact training samples to the model's prediction. We derive consequences for the canonical instances of $\ell_1$ regularized sparse models and nuclear norm regularized low-rank models. As a case study, we further investigate the application of low-rank models in the context of collaborative filtering, where we instantiate high-dimensional representers for specific popular classes of models. Finally, we study the empirical performance of our proposed methods on three real-world binary classification datasets and two recommender system datasets. We also showcase the utility of high-dimensional representers in explaining model recommendations.