Output Feedback Tube MPC-Guided Data Augmentation for Robust, Efficient Sensorimotor Policy Learning
Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often data-inefficient, requiring the collection of a large number of demonstrations and producing policies with limited robustness to uncertainties. In this work, we combine IL with an output feedback robust tube model predictive controller (RTMPC) to co-generate demonstrations and a data augmentation strategy to efficiently learn neural network-based sensorimotor policies. Thanks to the augmented data, we reduce the computation time and the number of demonstrations needed by IL, while providing robustness to sensing and process uncertainty. We tailor our approach to the task of learning a trajectory tracking visuomotor policy for an aerial robot, leveraging a 3D mesh of the environment as part of the data augmentation process. We numerically demonstrate that our method can learn a robust visuomotor policy from a single demonstration--a two-orders of magnitude improvement in demonstration efficiency compared to existing IL methods.
相關內容
A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce the number of interactions with the physical environment by learning control policies from historical data. However, their performances suffer from the lack of exploration and the distributional shifts in trajectories once controllers are updated. Moreover, most RL methods require that all states are directly observed, which is difficult to be attained in many settings. To overcome these challenges, we propose a trajectory generation algorithm, which adaptively generates new trajectories as if the system is being operated and explored under the updated control policies. Motivated by the fundamental lemma for linear systems, assuming sufficient excitation, we generate trajectories from linear combinations of historical trajectories. For linear feedback control, we prove that the algorithm generates trajectories with the exact distribution as if they are sampled from the real system using the updated control policy. In particular, the algorithm extends to systems where the states are not directly observed. Experiments show that the proposed method significantly reduces the number of sampled data needed for RL algorithms.
The rapidly evolving industry demands high accuracy of the models without the need for time-consuming and computationally expensive experiments required for fine-tuning. Moreover, a model and training pipeline, which was once carefully optimized for a specific dataset, rarely generalizes well to training on a different dataset. This makes it unrealistic to have carefully fine-tuned models for each use case. To solve this, we propose an alternative approach that also forms a backbone of Intel Geti platform: a dataset-agnostic template for object detection trainings, consisting of carefully chosen and pre-trained models together with a robust training pipeline for further training. Our solution works out-of-the-box and provides a strong baseline on a wide range of datasets. It can be used on its own or as a starting point for further fine-tuning for specific use cases when needed. We obtained dataset-agnostic templates by performing parallel training on a corpus of datasets and optimizing the choice of architectures and training tricks with respect to the average results on the whole corpora. We examined a number of architectures, taking into account the performance-accuracy trade-off. Consequently, we propose 3 finalists, VFNet, ATSS, and SSD, that can be deployed on CPU using the OpenVINO toolkit. The source code is available as a part of the OpenVINO Training Extensions (//github.com/openvinotoolkit/training_extensions}
Adversarial training is one of the most powerful methods to improve the robustness of pre-trained language models (PLMs). However, this approach is typically more expensive than traditional fine-tuning because of the necessity to generate adversarial examples via gradient descent. Delving into the optimization process of adversarial training, we find that robust connectivity patterns emerge in the early training phase (typically $0.15\sim0.3$ epochs), far before parameters converge. Inspired by this finding, we dig out robust early-bird tickets (i.e., subnetworks) to develop an efficient adversarial training method: (1) searching for robust tickets with structured sparsity in the early stage; (2) fine-tuning robust tickets in the remaining time. To extract the robust tickets as early as possible, we design a ticket convergence metric to automatically terminate the searching process. Experiments show that the proposed efficient adversarial training method can achieve up to $7\times \sim 13 \times$ training speedups while maintaining comparable or even better robustness compared to the most competitive state-of-the-art adversarial training methods.
Recent work has improved language models (LMs) remarkably by equipping them with a non-parametric memory component. However, most existing approaches only introduce mem-ories at testing time or represent them using a separately trained encoder, resulting in suboptimal training of the language model. In this work, we present TRIME, a novel yet simple training approach designed for training LMs with memory augmentation. Our approach uses a training objective that directly takes in-batch examples as accessible memory. We also present new methods for memory construction and data batching, which are used for adapting to different sets of memories--local, long-term, and external memory--at testing time. We evaluate TRIME on multiple language modeling and machine translation benchmarks and show that it is able to achieve significant improvements across all the settings. Concretely, TRIME reduces the perplexity from 18.70 to 15.37 on WIKITEXT-103, by effectively leveraging a large memory set from the training corpus. Compared to standard LM training, TRIME adds negligible computational overhead and is compatible with different neural architectures, making it a versatile solution for training memory-augmented LMs.
Deep metric learning aims to learn an embedding space, where semantically similar samples are close together and dissimilar ones are repelled against. To explore more hard and informative training signals for augmentation and generalization, recent methods focus on generating synthetic samples to boost metric learning losses. However, these methods just use the deterministic and class-independent generations (e.g., simple linear interpolation), which only can cover the limited part of distribution spaces around original samples. They have overlooked the wide characteristic changes of different classes and can not model abundant intra-class variations for generations. Therefore, generated samples not only lack rich semantics within the certain class, but also might be noisy signals to disturb training. In this paper, we propose a novel intra-class adaptive augmentation (IAA) framework for deep metric learning. We reasonably estimate intra-class variations for every class and generate adaptive synthetic samples to support hard samples mining and boost metric learning losses. Further, for most datasets that have a few samples within the class, we propose the neighbor correction to revise the inaccurate estimations, according to our correlation discovery where similar classes generally have similar variation distributions. Extensive experiments on five benchmarks show our method significantly improves and outperforms the state-of-the-art methods on retrieval performances by 3%-6%. Our code is available at //github.com/darkpromise98/IAA
Local feature detection is a key ingredient of many image processing and computer vision applications, such as visual odometry and localization. Most existing algorithms focus on feature detection from a sharp image. They would thus have degraded performance once the image is blurred, which could happen easily under low-lighting conditions. To address this issue, we propose a simple yet both efficient and effective keypoint detection method that is able to accurately localize the salient keypoints in a blurred image. Our method takes advantages of a novel multi-layer perceptron (MLP) based architecture that significantly improve the detection repeatability for a blurred image. The network is also light-weight and able to run in real-time, which enables its deployment for time-constrained applications. Extensive experimental results demonstrate that our detector is able to improve the detection repeatability with blurred images, while keeping comparable performance as existing state-of-the-art detectors for sharp images.
Graph neural networks (GNNs) is widely used to learn a powerful representation of graph-structured data. Recent work demonstrates that transferring knowledge from self-supervised tasks to downstream tasks could further improve graph representation. However, there is an inherent gap between self-supervised tasks and downstream tasks in terms of optimization objective and training data. Conventional pre-training methods may be not effective enough on knowledge transfer since they do not make any adaptation for downstream tasks. To solve such problems, we propose a new transfer learning paradigm on GNNs which could effectively leverage self-supervised tasks as auxiliary tasks to help the target task. Our methods would adaptively select and combine different auxiliary tasks with the target task in the fine-tuning stage. We design an adaptive auxiliary loss weighting model to learn the weights of auxiliary tasks by quantifying the consistency between auxiliary tasks and the target task. In addition, we learn the weighting model through meta-learning. Our methods can be applied to various transfer learning approaches, it performs well not only in multi-task learning but also in pre-training and fine-tuning. Comprehensive experiments on multiple downstream tasks demonstrate that the proposed methods can effectively combine auxiliary tasks with the target task and significantly improve the performance compared to state-of-the-art methods.
Self-supervised learning has been widely used to obtain transferrable representations from unlabeled images. Especially, recent contrastive learning methods have shown impressive performances on downstream image classification tasks. While these contrastive methods mainly focus on generating invariant global representations at the image-level under semantic-preserving transformations, they are prone to overlook spatial consistency of local representations and therefore have a limitation in pretraining for localization tasks such as object detection and instance segmentation. Moreover, aggressively cropped views used in existing contrastive methods can minimize representation distances between the semantically different regions of a single image. In this paper, we propose a spatially consistent representation learning algorithm (SCRL) for multi-object and location-specific tasks. In particular, we devise a novel self-supervised objective that tries to produce coherent spatial representations of a randomly cropped local region according to geometric translations and zooming operations. On various downstream localization tasks with benchmark datasets, the proposed SCRL shows significant performance improvements over the image-level supervised pretraining as well as the state-of-the-art self-supervised learning methods.
The growing energy and performance costs of deep learning have driven the community to reduce the size of neural networks by selectively pruning components. Similarly to their biological counterparts, sparse networks generalize just as well, if not better than, the original dense networks. Sparsity can reduce the memory footprint of regular networks to fit mobile devices, as well as shorten training time for ever growing networks. In this paper, we survey prior work on sparsity in deep learning and provide an extensive tutorial of sparsification for both inference and training. We describe approaches to remove and add elements of neural networks, different training strategies to achieve model sparsity, and mechanisms to exploit sparsity in practice. Our work distills ideas from more than 300 research papers and provides guidance to practitioners who wish to utilize sparsity today, as well as to researchers whose goal is to push the frontier forward. We include the necessary background on mathematical methods in sparsification, describe phenomena such as early structure adaptation, the intricate relations between sparsity and the training process, and show techniques for achieving acceleration on real hardware. We also define a metric of pruned parameter efficiency that could serve as a baseline for comparison of different sparse networks. We close by speculating on how sparsity can improve future workloads and outline major open problems in the field.
Modern neural network training relies heavily on data augmentation for improved generalization. After the initial success of label-preserving augmentations, there has been a recent surge of interest in label-perturbing approaches, which combine features and labels across training samples to smooth the learned decision surface. In this paper, we propose a new augmentation method that leverages the first and second moments extracted and re-injected by feature normalization. We replace the moments of the learned features of one training image by those of another, and also interpolate the target labels. As our approach is fast, operates entirely in feature space, and mixes different signals than prior methods, one can effectively combine it with existing augmentation methods. We demonstrate its efficacy across benchmark data sets in computer vision, speech, and natural language processing, where it consistently improves the generalization performance of highly competitive baseline networks.
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