The information noise-contrastive estimation (InfoNCE) loss function provides the basis of many self-supervised deep learning methods due to its strong empirical results and theoretic motivation. Previous work suggests a supervised contrastive (SupCon) loss to extend InfoNCE to learn from available class labels. This SupCon loss has been widely-used due to reports of good empirical performance. However, in this work we suggest that the specific SupCon loss formulated by prior work has questionable theoretic justification, because it can encourage images from the same class to repel one another in the learned embedding space. This problematic behavior gets worse as the number of inputs sharing one class label increases. We propose the Supervised InfoNCE REvisited (SINCERE) loss as a remedy. SINCERE is a theoretically justified solution for a supervised extension of InfoNCE that never causes images from the same class to repel one another. We further show that minimizing our new loss is equivalent to maximizing a bound on the KL divergence between class conditional embedding distributions. We compare SINCERE and SupCon losses in terms of learning trajectories during pretraining and in ultimate linear classifier performance after finetuning. Our proposed SINCERE loss better separates embeddings from different classes during pretraining while delivering competitive accuracy.
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We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in geometrically degenerate scenarios, like tunnels or flat fields. We project LiDAR intensity returns into an intensity image, and propose an image processing pipeline that produces filtered images with improved brightness consistency within the image as well as across different scenes. To effectively leverage intensity as an additional modality, we present a novel feature selection scheme that detects uninformative directions in the point cloud registration and explicitly selects patches with complementary image information. Photometric error minimization in the image patches is then fused with inertial measurements and point-to-plane registration in an iterated Extended Kalman Filter. The proposed approach improves accuracy and robustness on a public dataset. We additionally publish a new dataset, that captures five real-world environments in challenging, geometrically degenerate scenes. By using the additional photometric information, our approach shows drastically improved robustness against geometric degeneracy in environments where all compared baseline approaches fail.
Offline meta-reinforcement learning (OMRL) utilizes pre-collected offline datasets to enhance the agent's generalization ability on unseen tasks. However, the context shift problem arises due to the distribution discrepancy between the contexts used for training (from the behavior policy) and testing (from the exploration policy). The context shift problem leads to incorrect task inference and further deteriorates the generalization ability of the meta-policy. Existing OMRL methods either overlook this problem or attempt to mitigate it with additional information. In this paper, we propose a novel approach called Context Shift Reduction for OMRL (CSRO) to address the context shift problem with only offline datasets. The key insight of CSRO is to minimize the influence of policy in context during both the meta-training and meta-test phases. During meta-training, we design a max-min mutual information representation learning mechanism to diminish the impact of the behavior policy on task representation. In the meta-test phase, we introduce the non-prior context collection strategy to reduce the effect of the exploration policy. Experimental results demonstrate that CSRO significantly reduces the context shift and improves the generalization ability, surpassing previous methods across various challenging domains.
With the breakthrough of AlphaGo, deep reinforcement learning becomes a recognized technique for solving sequential decision-making problems. Despite its reputation, data inefficiency caused by its trial and error learning mechanism makes deep reinforcement learning hard to be practical in a wide range of areas. Plenty of methods have been developed for sample efficient deep reinforcement learning, such as environment modeling, experience transfer, and distributed modifications, amongst which, distributed deep reinforcement learning has shown its potential in various applications, such as human-computer gaming, and intelligent transportation. In this paper, we conclude the state of this exciting field, by comparing the classical distributed deep reinforcement learning methods, and studying important components to achieve efficient distributed learning, covering single player single agent distributed deep reinforcement learning to the most complex multiple players multiple agents distributed deep reinforcement learning. Furthermore, we review recently released toolboxes that help to realize distributed deep reinforcement learning without many modifications of their non-distributed versions. By analyzing their strengths and weaknesses, a multi-player multi-agent distributed deep reinforcement learning toolbox is developed and released, which is further validated on Wargame, a complex environment, showing usability of the proposed toolbox for multiple players and multiple agents distributed deep reinforcement learning under complex games. Finally, we try to point out challenges and future trends, hoping this brief review can provide a guide or a spark for researchers who are interested in distributed deep reinforcement learning.
Deep long-tailed learning, one of the most challenging problems in visual recognition, aims to train well-performing deep models from a large number of images that follow a long-tailed class distribution. In the last decade, deep learning has emerged as a powerful recognition model for learning high-quality image representations and has led to remarkable breakthroughs in generic visual recognition. However, long-tailed class imbalance, a common problem in practical visual recognition tasks, often limits the practicality of deep network based recognition models in real-world applications, since they can be easily biased towards dominant classes and perform poorly on tail classes. To address this problem, a large number of studies have been conducted in recent years, making promising progress in the field of deep long-tailed learning. Considering the rapid evolution of this field, this paper aims to provide a comprehensive survey on recent advances in deep long-tailed learning. To be specific, we group existing deep long-tailed learning studies into three main categories (i.e., class re-balancing, information augmentation and module improvement), and review these methods following this taxonomy in detail. Afterward, we empirically analyze several state-of-the-art methods by evaluating to what extent they address the issue of class imbalance via a newly proposed evaluation metric, i.e., relative accuracy. We conclude the survey by highlighting important applications of deep long-tailed learning and identifying several promising directions for future research.
Semi-supervised learning on class-imbalanced data, although a realistic problem, has been under studied. While existing semi-supervised learning (SSL) methods are known to perform poorly on minority classes, we find that they still generate high precision pseudo-labels on minority classes. By exploiting this property, in this work, we propose Class-Rebalancing Self-Training (CReST), a simple yet effective framework to improve existing SSL methods on class-imbalanced data. CReST iteratively retrains a baseline SSL model with a labeled set expanded by adding pseudo-labeled samples from an unlabeled set, where pseudo-labeled samples from minority classes are selected more frequently according to an estimated class distribution. We also propose a progressive distribution alignment to adaptively adjust the rebalancing strength dubbed CReST+. We show that CReST and CReST+ improve state-of-the-art SSL algorithms on various class-imbalanced datasets and consistently outperform other popular rebalancing methods.
Knowledge representation learning (KRL) aims to represent entities and relations in knowledge graph in low-dimensional semantic space, which have been widely used in massive knowledge-driven tasks. In this article, we introduce the reader to the motivations for KRL, and overview existing approaches for KRL. Afterwards, we extensively conduct and quantitative comparison and analysis of several typical KRL methods on three evaluation tasks of knowledge acquisition including knowledge graph completion, triple classification, and relation extraction. We also review the real-world applications of KRL, such as language modeling, question answering, information retrieval, and recommender systems. Finally, we discuss the remaining challenges and outlook the future directions for KRL. The codes and datasets used in the experiments can be found in //github.com/thunlp/OpenKE.
We give an overview of recent exciting achievements of deep reinforcement learning (RL). We discuss six core elements, six important mechanisms, and twelve applications. We start with background of machine learning, deep learning and reinforcement learning. Next we discuss core RL elements, including value function, in particular, Deep Q-Network (DQN), policy, reward, model, planning, and exploration. After that, we discuss important mechanisms for RL, including attention and memory, unsupervised learning, transfer learning, multi-agent RL, hierarchical RL, and learning to learn. Then we discuss various applications of RL, including games, in particular, AlphaGo, robotics, natural language processing, including dialogue systems, machine translation, and text generation, computer vision, neural architecture design, business management, finance, healthcare, Industry 4.0, smart grid, intelligent transportation systems, and computer systems. We mention topics not reviewed yet, and list a collection of RL resources. After presenting a brief summary, we close with discussions. Please see Deep Reinforcement Learning, arXiv:1810.06339, for a significant update.
Graph-based semi-supervised learning (SSL) is an important learning problem where the goal is to assign labels to initially unlabeled nodes in a graph. Graph Convolutional Networks (GCNs) have recently been shown to be effective for graph-based SSL problems. GCNs inherently assume existence of pairwise relationships in the graph-structured data. However, in many real-world problems, relationships go beyond pairwise connections and hence are more complex. Hypergraphs provide a natural modeling tool to capture such complex relationships. In this work, we explore the use of GCNs for hypergraph-based SSL. In particular, we propose HyperGCN, an SSL method which uses a layer-wise propagation rule for convolutional neural networks operating directly on hypergraphs. To the best of our knowledge, this is the first principled adaptation of GCNs to hypergraphs. HyperGCN is able to encode both the hypergraph structure and hypernode features in an effective manner. Through detailed experimentation, we demonstrate HyperGCN's effectiveness at hypergraph-based SSL.
This paper describes a general framework for learning Higher-Order Network Embeddings (HONE) from graph data based on network motifs. The HONE framework is highly expressive and flexible with many interchangeable components. The experimental results demonstrate the effectiveness of learning higher-order network representations. In all cases, HONE outperforms recent embedding methods that are unable to capture higher-order structures with a mean relative gain in AUC of $19\%$ (and up to $75\%$ gain) across a wide variety of networks and embedding methods.
Convolutional Neural Networks (CNNs) have gained significant traction in the field of machine learning, particularly due to their high accuracy in visual recognition. Recent works have pushed the performance of GPU implementations of CNNs to significantly improve their classification and training times. With these improvements, many frameworks have become available for implementing CNNs on both CPUs and GPUs, with no support for FPGA implementations. In this work we present a modified version of the popular CNN framework Caffe, with FPGA support. This allows for classification using CNN models and specialized FPGA implementations with the flexibility of reprogramming the device when necessary, seamless memory transactions between host and device, simple-to-use test benches, and the ability to create pipelined layer implementations. To validate the framework, we use the Xilinx SDAccel environment to implement an FPGA-based Winograd convolution engine and show that the FPGA layer can be used alongside other layers running on a host processor to run several popular CNNs (AlexNet, GoogleNet, VGG A, Overfeat). The results show that our framework achieves 50 GFLOPS across 3x3 convolutions in the benchmarks. This is achieved within a practical framework, which will aid in future development of FPGA-based CNNs.
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