Bilevel optimization has arisen as a powerful tool for solving many modern machine learning problems. However, due to the nested structure of bilevel optimization, even gradient-based methods require second-order derivative approximations via Jacobian- or/and Hessian-vector computations, which can be very costly in practice. In this work, we propose a novel Hessian-free bilevel algorithm, which adopts the Evolution Strategies (ES) method to approximate the response Jacobian matrix in the hypergradient of the bilevel problem, and hence fully eliminates all second-order computations. We call our algorithm as ESJ (which stands for the ES-based Jacobian method) and further extend it to the stochastic setting as ESJ-S. Theoretically, we show that both ESJ and ESJ-S are guaranteed to converge. Experimentally, we demonstrate that the proposed algorithms outperform baseline bilevel optimizers on various bilevel problems. Particularly, in our experiment on few-shot meta-learning of ResNet-12 network over the miniImageNet dataset, we show that our algorithm outperforms baseline meta-learning algorithms, while other baseline bilevel optimizers do not solve such meta-learning problems within a comparable time frame.
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Neural Architecture Search (NAS) algorithms are intended to remove the burden of manual neural network design, and have shown to be capable of designing excellent models for a variety of well-known problems. However, these algorithms require a variety of design parameters in the form of user configuration or hard-coded decisions which limit the variety of networks that can be discovered. This means that NAS algorithms do not eliminate model design tuning, they instead merely shift the burden of where that tuning needs to be applied. In this paper, we present SpiderNet, a hybrid differentiable-evolutionary and hardware-aware algorithm that rapidly and efficiently produces state-of-the-art networks. More importantly, SpiderNet is a proof-of-concept of a minimally-configured NAS algorithm; the majority of design choices seen in other algorithms are incorporated into SpiderNet's dynamically-evolving search space, minimizing the number of user choices to just two: reduction cell count and initial channel count. SpiderNet produces models highly-competitive with the state-of-the-art, and outperforms random search in accuracy, runtime, memory size, and parameter count.
This work proposes an extension to Structured Grammatical Evolution (SGE) called Co-evolutionary Probabilistic Structured Grammatical Evolution (Co-PSGE). In Co-PSGE each individual in the population is composed by a grammar and a genotype, which is a list of dynamic lists, each corresponding to a non-terminal of the grammar containing real numbers that correspond to the probability of choosing a derivation rule. Each individual uses its own grammar to map the genotype into a program. During the evolutionary process, both the grammar and the genotype are subject to variation operators. The performance of the proposed approach is compared to 3 different methods, namely, Grammatical Evolution (GE), Probabilistic Grammatical Evolution (PGE), and SGE on four different benchmark problems. The results show the effectiveness of the approach since Co-PSGE is able to outperform all the methods with statistically significant differences in the majority of the problems.
Bayesian policy reuse (BPR) is a general policy transfer framework for selecting a source policy from an offline library by inferring the task belief based on some observation signals and a trained observation model. In this paper, we propose an improved BPR method to achieve more efficient policy transfer in deep reinforcement learning (DRL). First, most BPR algorithms use the episodic return as the observation signal that contains limited information and cannot be obtained until the end of an episode. Instead, we employ the state transition sample, which is informative and instantaneous, as the observation signal for faster and more accurate task inference. Second, BPR algorithms usually require numerous samples to estimate the probability distribution of the tabular-based observation model, which may be expensive and even infeasible to learn and maintain, especially when using the state transition sample as the signal. Hence, we propose a scalable observation model based on fitting state transition functions of source tasks from only a small number of samples, which can generalize to any signals observed in the target task. Moreover, we extend the offline-mode BPR to the continual learning setting by expanding the scalable observation model in a plug-and-play fashion, which can avoid negative transfer when faced with new unknown tasks. Experimental results show that our method can consistently facilitate faster and more efficient policy transfer.
Conductivity imaging represents one of the most important tasks in medical imaging. In this work we develop a neural network based reconstruction technique for imaging the conductivity from the magnitude of the internal current density. It is achieved by formulating the problem as a relaxed weighted least-gradient problem, and then approximating its minimizer by standard fully connected feedforward neural networks. We derive bounds on two components of the generalization error, i.e., approximation error and statistical error, explicitly in terms of properties of the neural networks (e.g., depth, total number of parameters, and the bound of the network parameters). We illustrate the performance and distinct features of the approach on several numerical experiments. Numerically, it is observed that the approach enjoys remarkable robustness with respect to the presence of data noise.
Statistical-Computational Trade-offs in Tensor PCA and Related Problems via Communication Complexity
Tensor PCA is a stylized statistical inference problem introduced by Montanari and Richard to study the computational difficulty of estimating an unknown parameter from higher-order moment tensors. Unlike its matrix counterpart, Tensor PCA exhibits a statistical-computational gap, i.e., a sample size regime where the problem is information-theoretically solvable but conjectured to be computationally hard. This paper derives computational lower bounds on the run-time of memory bounded algorithms for Tensor PCA using communication complexity. These lower bounds specify a trade-off among the number of passes through the data sample, the sample size, and the memory required by any algorithm that successfully solves Tensor PCA. While the lower bounds do not rule out polynomial-time algorithms, they do imply that many commonly-used algorithms, such as gradient descent and power method, must have a higher iteration count when the sample size is not large enough. Similar lower bounds are obtained for Non-Gaussian Component Analysis, a family of statistical estimation problems in which low-order moment tensors carry no information about the unknown parameter. Finally, stronger lower bounds are obtained for an asymmetric variant of Tensor PCA and related statistical estimation problems. These results explain why many estimators for these problems use a memory state that is significantly larger than the effective dimensionality of the parameter of interest.
Adversarial training (i.e., training on adversarially perturbed input data) is a well-studied method for making neural networks robust to potential adversarial attacks during inference. However, the improved robustness does not come for free but rather is accompanied by a decrease in overall model accuracy and performance. Recent work has shown that, in practical robot learning applications, the effects of adversarial training do not pose a fair trade-off but inflict a net loss when measured in holistic robot performance. This work revisits the robustness-accuracy trade-off in robot learning by systematically analyzing if recent advances in robust training methods and theory in conjunction with adversarial robot learning can make adversarial training suitable for real-world robot applications. We evaluate a wide variety of robot learning tasks ranging from autonomous driving in a high-fidelity environment amenable to sim-to-real deployment, to mobile robot gesture recognition. Our results demonstrate that, while these techniques make incremental improvements on the trade-off on a relative scale, the negative side-effects caused by adversarial training still outweigh the improvements by an order of magnitude. We conclude that more substantial advances in robust learning methods are necessary before they can benefit robot learning tasks in practice.
Text revision refers to a family of natural language generation tasks, where the source and target sequences share moderate resemblance in surface form but differentiate in attributes, such as text formality and simplicity. Current state-of-the-art methods formulate these tasks as sequence-to-sequence learning problems, which rely on large-scale parallel training corpus. In this paper, we present an iterative in-place editing approach for text revision, which requires no parallel data. In this approach, we simply fine-tune a pre-trained Transformer with masked language modeling and attribute classification. During inference, the editing at each iteration is realized by two-step span replacement. At the first step, the distributed representation of the text optimizes on the fly towards an attribute function. At the second step, a text span is masked and another new one is proposed conditioned on the optimized representation. The empirical experiments on two typical and important text revision tasks, text formalization and text simplification, show the effectiveness of our approach. It achieves competitive and even better performance than state-of-the-art supervised methods on text simplification, and gains better performance than strong unsupervised methods on text formalization \footnote{Code and model are available at \url{//github.com/jingjingli01/OREO}}.
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be formulated as the problem of stabilizing a path following error system that describes the dynamics of position and possibly orientation errors of a vehicle with respect to a path, with the errors defined in an appropriate reference frame. In spite of the large variety of path following methods described in the literature we show that, in principle, most of them can be categorized in two groups: stabilization of the path following error system expressed either in the vehicle's body frame or in a frame attached to a "reference point" moving along the path, such as a Frenet-Serret (F-S) frame or a Parallel Transport (P-T) frame. With this observation, we provide a unified formulation that is simple but general enough to cover many methods available in the literature. We then discuss the advantages and disadvantages of each method, comparing them from the design and implementation standpoint. We further show experimental results of the path following methods obtained from field trials testing with under-actuated and fully-actuated autonomous marine vehicles. In addition, we introduce open-source Matlab and Gazebo/ROS simulation toolboxes that are helpful in testing path following methods prior to their integration in the combined guidance, navigation, and control systems of autonomous vehicles.
It has been shown that deep neural networks are prone to overfitting on biased training data. Towards addressing this issue, meta-learning employs a meta model for correcting the training bias. Despite the promising performances, super slow training is currently the bottleneck in the meta learning approaches. In this paper, we introduce a novel Faster Meta Update Strategy (FaMUS) to replace the most expensive step in the meta gradient computation with a faster layer-wise approximation. We empirically find that FaMUS yields not only a reasonably accurate but also a low-variance approximation of the meta gradient. We conduct extensive experiments to verify the proposed method on two tasks. We show our method is able to save two-thirds of the training time while still maintaining the comparable or achieving even better generalization performance. In particular, our method achieves the state-of-the-art performance on both synthetic and realistic noisy labels, and obtains promising performance on long-tailed recognition on standard benchmarks.
Knowledge is a formal way of understanding the world, providing a human-level cognition and intelligence for the next-generation artificial intelligence (AI). One of the representations of knowledge is the structural relations between entities. An effective way to automatically acquire this important knowledge, called Relation Extraction (RE), a sub-task of information extraction, plays a vital role in Natural Language Processing (NLP). Its purpose is to identify semantic relations between entities from natural language text. To date, there are several studies for RE in previous works, which have documented these techniques based on Deep Neural Networks (DNNs) become a prevailing technique in this research. Especially, the supervised and distant supervision methods based on DNNs are the most popular and reliable solutions for RE. This article 1)introduces some general concepts, and further 2)gives a comprehensive overview of DNNs in RE from two points of view: supervised RE, which attempts to improve the standard RE systems, and distant supervision RE, which adopts DNNs to design the sentence encoder and the de-noise method. We further 3)cover some novel methods and describe some recent trends and discuss possible future research directions for this task.
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