We study ObjectGoal Navigation -- where a virtual robot situated in a new environment is asked to navigate to an object. Prior work has shown that imitation learning (IL) using behavior cloning (BC) on a dataset of human demonstrations achieves promising results. However, this has limitations -- 1) BC policies generalize poorly to new states, since the training mimics actions not their consequences, and 2) collecting demonstrations is expensive. On the other hand, reinforcement learning (RL) is trivially scalable, but requires careful reward engineering to achieve desirable behavior. We present PIRLNav, a two-stage learning scheme for BC pretraining on human demonstrations followed by RL-finetuning. This leads to a policy that achieves a success rate of $65.0\%$ on ObjectNav ($+5.0\%$ absolute over previous state-of-the-art). Using this BC$\rightarrow$RL training recipe, we present a rigorous empirical analysis of design choices. First, we investigate whether human demonstrations can be replaced with `free' (automatically generated) sources of demonstrations, e.g. shortest paths (SP) or task-agnostic frontier exploration (FE) trajectories. We find that BC$\rightarrow$RL on human demonstrations outperforms BC$\rightarrow$RL on SP and FE trajectories, even when controlled for same BC-pretraining success on train, and even on a subset of val episodes where BC-pretraining success favors the SP or FE policies. Next, we study how RL-finetuning performance scales with the size of the BC pretraining dataset. We find that as we increase the size of BC-pretraining dataset and get to high BC accuracies, improvements from RL-finetuning are smaller, and that $90\%$ of the performance of our best BC$\rightarrow$RL policy can be achieved with less than half the number of BC demonstrations. Finally, we analyze failure modes of our ObjectNav policies, and present guidelines for further improving them.
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Efficient transfer learning algorithms are key to the success of foundation models on diverse downstream tasks even with limited data. Recent works of \cite{basu2022equi} and \cite{kaba2022equivariance} propose group averaging (\textit{equitune}) and optimization-based methods, respectively, over features from group-transformed inputs to obtain equivariant outputs from non-equivariant neural networks. While \cite{kaba2022equivariance} are only concerned with training from scratch, we find that equitune performs poorly on equivariant zero-shot tasks despite good finetuning results. We hypothesize that this is because pretrained models provide better quality features for certain transformations than others and simply averaging them is deleterious. Hence, we propose $\lambda$-\textit{equitune} that averages the features using \textit{importance weights}, $\lambda$s. These weights are learned directly from the data using a small neural network, leading to excellent zero-shot and finetuned results that outperform equitune. Further, we prove that $\lambda$-equitune is equivariant and a universal approximator of equivariant functions. Additionally, we show that the method of \cite{kaba2022equivariance} used with appropriate loss functions, which we call \textit{equizero}, also gives excellent zero-shot and finetuned performance. Both equitune and equizero are special cases of $\lambda$-equitune. To show the simplicity and generality of our method, we validate on a wide range of diverse applications and models such as 1) image classification using CLIP, 2) deep Q-learning, 3) fairness in natural language generation (NLG), 4) compositional generalization in languages, and 5) image classification using pretrained CNNs such as Resnet and Alexnet.
Active learning (AL) aims to reduce labeling costs by querying the examples most beneficial for model learning. While the effectiveness of AL for fine-tuning transformer-based pre-trained language models (PLMs) has been demonstrated, it is less clear to what extent the AL gains obtained with one model transfer to others. We consider the problem of transferability of actively acquired datasets in text classification and investigate whether AL gains persist when a dataset built using AL coupled with a specific PLM is used to train a different PLM. We link the AL dataset transferability to the similarity of instances queried by the different PLMs and show that AL methods with similar acquisition sequences produce highly transferable datasets regardless of the models used. Additionally, we show that the similarity of acquisition sequences is influenced more by the choice of the AL method than the choice of the model.
The field of audio captioning has seen significant advancements in recent years, driven by the availability of large-scale audio datasets and advancements in deep learning techniques. In this technical report, we present our approach to audio captioning, focusing on the use of a pretrained speech-to-text Whisper model and pretraining on synthetic captions. We discuss our training procedures and present our experiments' results, which include model size variations, dataset mixtures, and other hyperparameters. Our findings demonstrate the impact of different training strategies on the performance of the audio captioning model. Our code and trained models are publicly available on GitHub and Hugging Face Hub.
Planetary science research involves analysing vast amounts of remote sensing data, which are often costly and time-consuming to annotate and process. One of the essential tasks in this field is geological mapping, which requires identifying and outlining regions of interest in planetary images, including geological features and landforms. However, manually labelling these images is a complex and challenging task that requires significant domain expertise and effort. To expedite this endeavour, we propose the use of knowledge distillation using the recently introduced cutting-edge Segment Anything (SAM) model. We demonstrate the effectiveness of this prompt-based foundation model for rapid annotation and quick adaptability to a prime use case of mapping planetary skylights. Our work reveals that with a small set of annotations obtained with the right prompts from the model and subsequently training a specialised domain decoder, we can achieve satisfactory semantic segmentation on this task. Key results indicate that the use of knowledge distillation can significantly reduce the effort required by domain experts for manual annotation and improve the efficiency of image segmentation tasks. This approach has the potential to accelerate extra-terrestrial discovery by automatically detecting and segmenting Martian landforms.
The past few years have seen rapid progress in combining reinforcement learning (RL) with deep learning. Various breakthroughs ranging from games to robotics have spurred the interest in designing sophisticated RL algorithms and systems. However, the prevailing workflow in RL is to learn tabula rasa, which may incur computational inefficiency. This precludes continuous deployment of RL algorithms and potentially excludes researchers without large-scale computing resources. In many other areas of machine learning, the pretraining paradigm has shown to be effective in acquiring transferable knowledge, which can be utilized for a variety of downstream tasks. Recently, we saw a surge of interest in Pretraining for Deep RL with promising results. However, much of the research has been based on different experimental settings. Due to the nature of RL, pretraining in this field is faced with unique challenges and hence requires new design principles. In this survey, we seek to systematically review existing works in pretraining for deep reinforcement learning, provide a taxonomy of these methods, discuss each sub-field, and bring attention to open problems and future directions.
Partially-supervised instance segmentation is a task which requests segmenting objects from novel unseen categories via learning on limited seen categories with annotated masks thus eliminating demands of heavy annotation burden. The key to addressing this task is to build an effective class-agnostic mask segmentation model. Unlike previous methods that learn such models only on seen categories, in this paper, we propose a new method, named ContrastMask, which learns a mask segmentation model on both seen and unseen categories under a unified pixel-level contrastive learning framework. In this framework, annotated masks of seen categories and pseudo masks of unseen categories serve as a prior for contrastive learning, where features from the mask regions (foreground) are pulled together, and are contrasted against those from the background, and vice versa. Through this framework, feature discrimination between foreground and background is largely improved, facilitating learning of the class-agnostic mask segmentation model. Exhaustive experiments on the COCO dataset demonstrate the superiority of our method, which outperforms previous state-of-the-arts.
Unsupervised domain adaptation has recently emerged as an effective paradigm for generalizing deep neural networks to new target domains. However, there is still enormous potential to be tapped to reach the fully supervised performance. In this paper, we present a novel active learning strategy to assist knowledge transfer in the target domain, dubbed active domain adaptation. We start from an observation that energy-based models exhibit free energy biases when training (source) and test (target) data come from different distributions. Inspired by this inherent mechanism, we empirically reveal that a simple yet efficient energy-based sampling strategy sheds light on selecting the most valuable target samples than existing approaches requiring particular architectures or computation of the distances. Our algorithm, Energy-based Active Domain Adaptation (EADA), queries groups of targe data that incorporate both domain characteristic and instance uncertainty into every selection round. Meanwhile, by aligning the free energy of target data compact around the source domain via a regularization term, domain gap can be implicitly diminished. Through extensive experiments, we show that EADA surpasses state-of-the-art methods on well-known challenging benchmarks with substantial improvements, making it a useful option in the open world. Code is available at //github.com/BIT-DA/EADA.
Model-agnostic meta-learners aim to acquire meta-learned parameters from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. With the flexibility in the choice of models, those frameworks demonstrate appealing performance on a variety of domains such as few-shot image classification and reinforcement learning. However, one important limitation of such frameworks is that they seek a common initialization shared across the entire task distribution, substantially limiting the diversity of the task distributions that they are able to learn from. In this paper, we augment MAML with the capability to identify the mode of tasks sampled from a multimodal task distribution and adapt quickly through gradient updates. Specifically, we propose a multimodal MAML (MMAML) framework, which is able to modulate its meta-learned prior parameters according to the identified mode, allowing more efficient fast adaptation. We evaluate the proposed model on a diverse set of few-shot learning tasks, including regression, image classification, and reinforcement learning. The results not only demonstrate the effectiveness of our model in modulating the meta-learned prior in response to the characteristics of tasks but also show that training on a multimodal distribution can produce an improvement over unimodal training.
To quickly obtain new labeled data, we can choose crowdsourcing as an alternative way at lower cost in a short time. But as an exchange, crowd annotations from non-experts may be of lower quality than those from experts. In this paper, we propose an approach to performing crowd annotation learning for Chinese Named Entity Recognition (NER) to make full use of the noisy sequence labels from multiple annotators. Inspired by adversarial learning, our approach uses a common Bi-LSTM and a private Bi-LSTM for representing annotator-generic and -specific information. The annotator-generic information is the common knowledge for entities easily mastered by the crowd. Finally, we build our Chinese NE tagger based on the LSTM-CRF model. In our experiments, we create two data sets for Chinese NER tasks from two domains. The experimental results show that our system achieves better scores than strong baseline systems.
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