arXiv subjects

Anirudh Goyal

Publications and source records attributed to Anirudh Goyal.

At least 91 records · Page 5Linked to original sources

arXiv2021

Robust Representation Learning via Perceptual Similarity Metrics

A fundamental challenge in artificial intelligence is learning useful representations of data that yield good performance on a downstream task, without overfitting to spurious input features. Extracting such task-relevant predictive information is particularly difficult for real-world datasets. In this work, we propose Contrastive Input Morphing (CIM), a representation learning framework that learns input-space transformations of the data to mitigate the effect of irrelevant input features on downstream performance. Our method leverages a perceptual similarity metric via a triplet loss to ensure that the transformation preserves task-relevant information.Empirically, we demonstrate the efficacy of our approach on tasks which typically suffer from the presence of spurious correlations: classification with nuisance information, out-of-distribution generalization, and preservation of subgroup accuracies. We additionally show that CIM is complementary to other mutual information-based representation learning techniques, and demonstrate that it improves the performance of variational information bottleneck (VIB) when used together.

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arXiv2021

Fast and Slow Learning of Recurrent Independent Mechanisms

Decomposing knowledge into interchangeable pieces promises a generalization advantage when there are changes in distribution. A learning agent interacting with its environment is likely to be faced with situations requiring novel combinations of existing pieces of knowledge. We hypothesize that such a decomposition of knowledge is particularly relevant for being able to generalize in a systematic manner to out-of-distribution changes. To study these ideas, we propose a particular training framework in which we assume that the pieces of knowledge an agent needs and its reward function are stationary and can be re-used across tasks. An attention mechanism dynamically selects which modules can be adapted to the current task, and the parameters of the selected modules are allowed to change quickly as the learner is confronted with variations in what it experiences, while the parameters of the attention mechanisms act as stable, slowly changing, meta-parameters. We focus on pieces of knowledge captured by an ensemble of modules sparsely communicating with each other via a bottleneck of attention. We find that meta-learning the modular aspects of the proposed system greatly helps in achieving faster adaptation in a reinforcement learning setup involving navigation in a partially observed grid world with image-level input. We also find that reversing the role of parameters and meta-parameters does not work nearly as well, suggesting a particular role for fast adaptation of the dynamically selected modules.

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arXiv2021

Transformers with Competitive Ensembles of Independent Mechanisms

An important development in deep learning from the earliest MLPs has been a move towards architectures with structural inductive biases which enable the model to keep distinct sources of information and routes of processing well-separated. This structure is linked to the notion of independent mechanisms from the causality literature, in which a mechanism is able to retain the same processing as irrelevant aspects of the world are changed. For example, convnets enable separation over positions, while attention-based architectures (especially Transformers) learn which combination of positions to process dynamically. In this work we explore a way in which the Transformer architecture is deficient: it represents each position with a large monolithic hidden representation and a single set of parameters which are applied over the entire hidden representation. This potentially throws unrelated sources of information together, and limits the Transformer's ability to capture independent mechanisms. To address this, we propose Transformers with Independent Mechanisms (TIM), a new Transformer layer which divides the hidden representation and parameters into multiple mechanisms, which only exchange information through attention. Additionally, we propose a competition mechanism which encourages these mechanisms to specialize over time steps, and thus be more independent. We study TIM on a large-scale BERT model, on the Image Transformer, and on speech enhancement and find evidence for semantically meaningful specialization as well as improved performance.

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arXiv2021

Towards Causal Representation Learning

The two fields of machine learning and graphical causality arose and developed separately. However, there is now cross-pollination and increasing interest in both fields to benefit from the advances of the other. In the present paper, we review fundamental concepts of causal inference and relate them to crucial open problems of machine learning, including transfer and generalization, thereby assaying how causality can contribute to modern machine learning research. This also applies in the opposite direction: we note that most work in causality starts from the premise that the causal variables are given. A central problem for AI and causality is, thus, causal representation learning, the discovery of high-level causal variables from low-level observations. Finally, we delineate some implications of causality for machine learning and propose key research areas at the intersection of both communities.

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arXiv2020

Untangling tradeoffs between recurrence and self-attention in neural networks

Attention and self-attention mechanisms, are now central to state-of-the-art deep learning on sequential tasks. However, most recent progress hinges on heuristic approaches with limited understanding of attention's role in model optimization and computation, and rely on considerable memory and computational resources that scale poorly. In this work, we present a formal analysis of how self-attention affects gradient propagation in recurrent networks, and prove that it mitigates the problem of vanishing gradients when trying to capture long-term dependencies by establishing concrete bounds for gradient norms. Building on these results, we propose a relevancy screening mechanism, inspired by the cognitive process of memory consolidation, that allows for a scalable use of sparse self-attention with recurrence. While providing guarantees to avoid vanishing gradients, we use simple numerical experiments to demonstrate the tradeoffs in performance and computational resources by efficiently balancing attention and recurrence. Based on our results, we propose a concrete direction of research to improve scalability of attentive networks.

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arXiv2020

Diversity inducing Information Bottleneck in Model Ensembles

Although deep learning models have achieved state-of-the-art performance on a number of vision tasks, generalization over high dimensional multi-modal data, and reliable predictive uncertainty estimation are still active areas of research. Bayesian approaches including Bayesian Neural Nets (BNNs) do not scale well to modern computer vision tasks, as they are difficult to train, and have poor generalization under dataset-shift. This motivates the need for effective ensembles which can generalize and give reliable uncertainty estimates. In this paper, we target the problem of generating effective ensembles of neural networks by encouraging diversity in prediction. We explicitly optimize a diversity inducing adversarial loss for learning the stochastic latent variables and thereby obtain diversity in the output predictions necessary for modeling multi-modal data. We evaluate our method on benchmark datasets: MNIST, CIFAR100, TinyImageNet and MIT Places 2, and compared to the most competitive baselines show significant improvements in classification accuracy, under a shift in the data distribution and in out-of-distribution detection. Code will be released in this url https://github.com/rvl-lab-utoronto/dibs

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arXiv2020

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning

Despite recent successes of reinforcement learning (RL), it remains a challenge for agents to transfer learned skills to related environments. To facilitate research addressing this problem, we propose CausalWorld, a benchmark for causal structure and transfer learning in a robotic manipulation environment. The environment is a simulation of an open-source robotic platform, hence offering the possibility of sim-to-real transfer. Tasks consist of constructing 3D shapes from a given set of blocks - inspired by how children learn to build complex structures. The key strength of CausalWorld is that it provides a combinatorial family of such tasks with common causal structure and underlying factors (including, e.g., robot and object masses, colors, sizes). The user (or the agent) may intervene on all causal variables, which allows for fine-grained control over how similar different tasks (or task distributions) are. One can thus easily define training and evaluation distributions of a desired difficulty level, targeting a specific form of generalization (e.g., only changes in appearance or object mass). Further, this common parametrization facilitates defining curricula by interpolating between an initial and a target task. While users may define their own task distributions, we present eight meaningful distributions as concrete benchmarks, ranging from simple to very challenging, all of which require long-horizon planning as well as precise low-level motor control. Finally, we provide baseline results for a subset of these tasks on distinct training curricula and corresponding evaluation protocols, verifying the feasibility of the tasks in this benchmark.

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arXiv2020

Recurrent Independent Mechanisms

Learning modular structures which reflect the dynamics of the environment can lead to better generalization and robustness to changes which only affect a few of the underlying causes. We propose Recurrent Independent Mechanisms (RIMs), a new recurrent architecture in which multiple groups of recurrent cells operate with nearly independent transition dynamics, communicate only sparingly through the bottleneck of attention, and are only updated at time steps where they are most relevant. We show that this leads to specialization amongst the RIMs, which in turn allows for dramatically improved generalization on tasks where some factors of variation differ systematically between training and evaluation.

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arXiv2020

Learning to Combine Top-Down and Bottom-Up Signals in Recurrent Neural Networks with Attention over Modules

Robust perception relies on both bottom-up and top-down signals. Bottom-up signals consist of what's directly observed through sensation. Top-down signals consist of beliefs and expectations based on past experience and short-term memory, such as how the phrase `peanut butter and~...' will be completed. The optimal combination of bottom-up and top-down information remains an open question, but the manner of combination must be dynamic and both context and task dependent. To effectively utilize the wealth of potential top-down information available, and to prevent the cacophony of intermixed signals in a bidirectional architecture, mechanisms are needed to restrict information flow. We explore deep recurrent neural net architectures in which bottom-up and top-down signals are dynamically combined using attention. Modularity of the architecture further restricts the sharing and communication of information. Together, attention and modularity direct information flow, which leads to reliable performance improvements in perceptual and language tasks, and in particular improves robustness to distractions and noisy data. We demonstrate on a variety of benchmarks in language modeling, sequential image classification, video prediction and reinforcement learning that the \emph{bidirectional} information flow can improve results over strong baselines.

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arXiv2020

Object Files and Schemata: Factorizing Declarative and Procedural Knowledge in Dynamical Systems

Modeling a structured, dynamic environment like a video game requires keeping track of the objects and their states declarative knowledge) as well as predicting how objects behave (procedural knowledge). Black-box models with a monolithic hidden state often fail to apply procedural knowledge consistently and uniformly, i.e., they lack systematicity. For example, in a video game, correct prediction of one enemy's trajectory does not ensure correct prediction of another's. We address this issue via an architecture that factorizes declarative and procedural knowledge and that imposes modularity within each form of knowledge. The architecture consists of active modules called object files that maintain the state of a single object and invoke passive external knowledge sources called schemata that prescribe state updates. To use a video game as an illustration, two enemies of the same type will share schemata but will have separate object files to encode their distinct state (e.g., health, position). We propose to use attention to determine which object files to update, the selection of schemata, and the propagation of information between object files. The resulting architecture is a drop-in replacement conforming to the same input-output interface as normal recurrent networks (e.g., LSTM, GRU) yet achieves substantially better generalization on environments that have multiple object tokens of the same type, including a challenging intuitive physics benchmark.

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arXiv2020

Top-k Training of GANs: Improving GAN Performance by Throwing Away Bad Samples

We introduce a simple (one line of code) modification to the Generative Adversarial Network (GAN) training algorithm that materially improves results with no increase in computational cost: When updating the generator parameters, we simply zero out the gradient contributions from the elements of the batch that the critic scores as `least realistic'. Through experiments on many different GAN variants, we show that this `top-k update' procedure is a generally applicable improvement. In order to understand the nature of the improvement, we conduct extensive analysis on a simple mixture-of-Gaussians dataset and discover several interesting phenomena. Among these is that, when gradient updates are computed using the worst-scoring batch elements, samples can actually be pushed further away from their nearest mode. We also apply our method to recent GAN variants and improve state-of-the-art FID for conditional generation from 9.21 to 8.57 on CIFAR-10.

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arXiv2020

Neural Function Modules with Sparse Arguments: A Dynamic Approach to Integrating Information across Layers

Feed-forward neural networks consist of a sequence of layers, in which each layer performs some processing on the information from the previous layer. A downside to this approach is that each layer (or module, as multiple modules can operate in parallel) is tasked with processing the entire hidden state, rather than a particular part of the state which is most relevant for that module. Methods which only operate on a small number of input variables are an essential part of most programming languages, and they allow for improved modularity and code re-usability. Our proposed method, Neural Function Modules (NFM), aims to introduce the same structural capability into deep learning. Most of the work in the context of feed-forward networks combining top-down and bottom-up feedback is limited to classification problems. The key contribution of our work is to combine attention, sparsity, top-down and bottom-up feedback, in a flexible algorithm which, as we show, improves the results in standard classification, out-of-domain generalization, generative modeling, and learning representations in the context of reinforcement learning.

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arXiv2020

Uniform Priors for Data-Efficient Transfer

Deep Neural Networks have shown great promise on a variety of downstream applications; but their ability to adapt and generalize to new data and tasks remains a challenge. However, the ability to perform few or zero-shot adaptation to novel tasks is important for the scalability and deployment of machine learning models. It is therefore crucial to understand what makes for good, transfer-able features in deep networks that best allow for such adaptation. In this paper, we shed light on this by showing that features that are most transferable have high uniformity in the embedding space and propose a uniformity regularization scheme that encourages better transfer and feature reuse. We evaluate the regularization on its ability to facilitate adaptation to unseen tasks and data, for which we conduct a thorough experimental study covering four relevant, and distinct domains: few-shot Meta-Learning, Deep Metric Learning, Zero-Shot Domain Adaptation, as well as Out-of-Distribution classification. Across all experiments, we show that uniformity regularization consistently offers benefits over baseline methods and is able to achieve state-of-the-art performance in Deep Metric Learning and Meta-Learning.

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arXiv2020

Learning Neural Causal Models from Unknown Interventions

Promising results have driven a recent surge of interest in continuous optimization methods for Bayesian network structure learning from observational data. However, there are theoretical limitations on the identifiability of underlying structures obtained from observational data alone. Interventional data provides much richer information about the underlying data-generating process. However, the extension and application of methods designed for observational data to include interventions is not straightforward and remains an open problem. In this paper we provide a general framework based on continuous optimization and neural networks to create models for the combination of observational and interventional data. The proposed method is even applicable in the challenging and realistic case that the identity of the intervened upon variable is unknown. We examine the proposed method in the setting of graph recovery both de novo and from a partially-known edge set. We establish strong benchmark results on several structure learning tasks, including structure recovery of both synthetic graphs as well as standard graphs from the Bayesian Network Repository.

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arXiv2020

S2RMs: Spatially Structured Recurrent Modules

Capturing the structure of a data-generating process by means of appropriate inductive biases can help in learning models that generalize well and are robust to changes in the input distribution. While methods that harness spatial and temporal structures find broad application, recent work has demonstrated the potential of models that leverage sparse and modular structure using an ensemble of sparingly interacting modules. In this work, we take a step towards dynamic models that are capable of simultaneously exploiting both modular and spatiotemporal structures. We accomplish this by abstracting the modeled dynamical system as a collection of autonomous but sparsely interacting sub-systems. The sub-systems interact according to a topology that is learned, but also informed by the spatial structure of the underlying real-world system. This results in a class of models that are well suited for modeling the dynamics of systems that only offer local views into their state, along with corresponding spatial locations of those views. On the tasks of video prediction from cropped frames and multi-agent world modeling from partial observations in the challenging Starcraft2 domain, we find our models to be more robust to the number of available views and better capable of generalization to novel tasks without additional training, even when compared against strong baselines that perform equally well or better on the training distribution.

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arXiv2020

The Variational Bandwidth Bottleneck: Stochastic Evaluation on an Information Budget

In many applications, it is desirable to extract only the relevant information from complex input data, which involves making a decision about which input features are relevant. The information bottleneck method formalizes this as an information-theoretic optimization problem by maintaining an optimal tradeoff between compression (throwing away irrelevant input information), and predicting the target. In many problem settings, including the reinforcement learning problems we consider in this work, we might prefer to compress only part of the input. This is typically the case when we have a standard conditioning input, such as a state observation, and a "privileged" input, which might correspond to the goal of a task, the output of a costly planning algorithm, or communication with another agent. In such cases, we might prefer to compress the privileged input, either to achieve better generalization (e.g., with respect to goals) or to minimize access to costly information (e.g., in the case of communication). Practical implementations of the information bottleneck based on variational inference require access to the privileged input in order to compute the bottleneck variable, so although they perform compression, this compression operation itself needs unrestricted, lossless access. In this work, we propose the variational bandwidth bottleneck, which decides for each example on the estimated value of the privileged information before seeing it, i.e., only based on the standard input, and then accordingly chooses stochastically, whether to access the privileged input or not. We formulate a tractable approximation to this framework and demonstrate in a series of reinforcement learning experiments that it can improve generalization and reduce access to computationally costly information.

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arXiv2020

Leveraging Communication Topologies Between Learning Agents in Deep Reinforcement Learning

A common technique to improve learning performance in deep reinforcement learning (DRL) and many other machine learning algorithms is to run multiple learning agents in parallel. A neglected component in the development of these algorithms has been how best to arrange the learning agents involved to improve distributed search. Here we draw upon results from the networked optimization literatures suggesting that arranging learning agents in communication networks other than fully connected topologies (the implicit way agents are commonly arranged in) can improve learning. We explore the relative performance of four popular families of graphs and observe that one such family (Erdos-Renyi random graphs) empirically outperforms the de facto fully-connected communication topology across several DRL benchmark tasks. Additionally, we observe that 1000 learning agents arranged in an Erdos-Renyi graph can perform as well as 3000 agents arranged in the standard fully-connected topology, showing the large learning improvement possible when carefully designing the topology over which agents communicate. We complement these empirical results with a theoretical investigation of why our alternate topologies perform better. Overall, our work suggests that distributed machine learning algorithms could be made more effective if the communication topology between learning agents was optimized.

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arXiv2019

Small-GAN: Speeding Up GAN Training Using Core-sets

Recent work by Brock et al. (2018) suggests that Generative Adversarial Networks (GANs) benefit disproportionately from large mini-batch sizes. Unfortunately, using large batches is slow and expensive on conventional hardware. Thus, it would be nice if we could generate batches that were effectively large though actually small. In this work, we propose a method to do this, inspired by the use of Coreset-selection in active learning. When training a GAN, we draw a large batch of samples from the prior and then compress that batch using Coreset-selection. To create effectively large batches of 'real' images, we create a cached dataset of Inception activations of each training image, randomly project them down to a smaller dimension, and then use Coreset-selection on those projected activations at training time. We conduct experiments showing that this technique substantially reduces training time and memory usage for modern GAN variants, that it reduces the fraction of dropped modes in a synthetic dataset, and that it allows GANs to reach a new state of the art in anomaly detection.

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