arXiv subjects

Honglak Lee

Publications and source records attributed to Honglak Lee.

At least 163 records · Page 9Linked to original sources

arXiv2019

Robust Inference via Generative Classifiers for Handling Noisy Labels

Large-scale datasets may contain significant proportions of noisy (incorrect) class labels, and it is well-known that modern deep neural networks (DNNs) poorly generalize from such noisy training datasets. To mitigate the issue, we propose a novel inference method, termed Robust Generative classifier (RoG), applicable to any discriminative (e.g., softmax) neural classifier pre-trained on noisy datasets. In particular, we induce a generative classifier on top of hidden feature spaces of the pre-trained DNNs, for obtaining a more robust decision boundary. By estimating the parameters of generative classifier using the minimum covariance determinant estimator, we significantly improve the classification accuracy with neither re-training of the deep model nor changing its architectures. With the assumption of Gaussian distribution for features, we prove that RoG generalizes better than baselines under noisy labels. Finally, we propose the ensemble version of RoG to improve its performance by investigating the layer-wise characteristics of DNNs. Our extensive experimental results demonstrate the superiority of RoG given different learning models optimized by several training techniques to handle diverse scenarios of noisy labels.

stat.ML↗

arXiv2019

Contingency-Aware Exploration in Reinforcement Learning

This paper investigates whether learning contingency-awareness and controllable aspects of an environment can lead to better exploration in reinforcement learning. To investigate this question, we consider an instantiation of this hypothesis evaluated on the Arcade Learning Element (ALE). In this study, we develop an attentive dynamics model (ADM) that discovers controllable elements of the observations, which are often associated with the location of the character in Atari games. The ADM is trained in a self-supervised fashion to predict the actions taken by the agent. The learned contingency information is used as a part of the state representation for exploration purposes. We demonstrate that combining actor-critic algorithm with count-based exploration using our representation achieves impressive results on a set of notoriously challenging Atari games due to sparse rewards. For example, we report a state-of-the-art score of >11,000 points on Montezuma's Revenge without using expert demonstrations, explicit high-level information (e.g., RAM states), or supervisory data. Our experiments confirm that contingency-awareness is indeed an extremely powerful concept for tackling exploration problems in reinforcement learning and opens up interesting research questions for further investigations.

cs.LG↗

arXiv2019

Diversity-Sensitive Conditional Generative Adversarial Networks

We propose a simple yet highly effective method that addresses the mode-collapse problem in the Conditional Generative Adversarial Network (cGAN). Although conditional distributions are multi-modal (i.e., having many modes) in practice, most cGAN approaches tend to learn an overly simplified distribution where an input is always mapped to a single output regardless of variations in latent code. To address such issue, we propose to explicitly regularize the generator to produce diverse outputs depending on latent codes. The proposed regularization is simple, general, and can be easily integrated into most conditional GAN objectives. Additionally, explicit regularization on generator allows our method to control a balance between visual quality and diversity. We demonstrate the effectiveness of our method on three conditional generation tasks: image-to-image translation, image inpainting, and future video prediction. We show that simple addition of our regularization to existing models leads to surprisingly diverse generations, substantially outperforming the previous approaches for multi-modal conditional generation specifically designed in each individual task.

cs.LG↗

arXiv2019

Near-Optimal Representation Learning for Hierarchical Reinforcement Learning

We study the problem of representation learning in goal-conditioned hierarchical reinforcement learning. In such hierarchical structures, a higher-level controller solves tasks by iteratively communicating goals which a lower-level policy is trained to reach. Accordingly, the choice of representation -- the mapping of observation space to goal space -- is crucial. To study this problem, we develop a notion of sub-optimality of a representation, defined in terms of expected reward of the optimal hierarchical policy using this representation. We derive expressions which bound the sub-optimality and show how these expressions can be translated to representation learning objectives which may be optimized in practice. Results on a number of difficult continuous-control tasks show that our approach to representation learning yields qualitatively better representations as well as quantitatively better hierarchical policies, compared to existing methods (see videos at https://sites.google.com/view/representation-hrl).

cs.AI↗

arXiv2018

Generative Adversarial Self-Imitation Learning

This paper explores a simple regularizer for reinforcement learning by proposing Generative Adversarial Self-Imitation Learning (GASIL), which encourages the agent to imitate past good trajectories via generative adversarial imitation learning framework. Instead of directly maximizing rewards, GASIL focuses on reproducing past good trajectories, which can potentially make long-term credit assignment easier when rewards are sparse and delayed. GASIL can be easily combined with any policy gradient objective by using GASIL as a learned shaped reward function. Our experimental results show that GASIL improves the performance of proximal policy optimization on 2D Point Mass and MuJoCo environments with delayed reward and stochastic dynamics.

cs.LG↗

arXiv2018

Content preserving text generation with attribute controls

In this work, we address the problem of modifying textual attributes of sentences. Given an input sentence and a set of attribute labels, we attempt to generate sentences that are compatible with the conditioning information. To ensure that the model generates content compatible sentences, we introduce a reconstruction loss which interpolates between auto-encoding and back-translation loss components. We propose an adversarial loss to enforce generated samples to be attribute compatible and realistic. Through quantitative, qualitative and human evaluations we demonstrate that our model is capable of generating fluent sentences that better reflect the conditioning information compared to prior methods. We further demonstrate that the model is capable of simultaneously controlling multiple attributes.

cs.CL↗

arXiv2018

A Simple Unified Framework for Detecting Out-of-Distribution Samples and Adversarial Attacks

Detecting test samples drawn sufficiently far away from the training distribution statistically or adversarially is a fundamental requirement for deploying a good classifier in many real-world machine learning applications. However, deep neural networks with the softmax classifier are known to produce highly overconfident posterior distributions even for such abnormal samples. In this paper, we propose a simple yet effective method for detecting any abnormal samples, which is applicable to any pre-trained softmax neural classifier. We obtain the class conditional Gaussian distributions with respect to (low- and upper-level) features of the deep models under Gaussian discriminant analysis, which result in a confidence score based on the Mahalanobis distance. While most prior methods have been evaluated for detecting either out-of-distribution or adversarial samples, but not both, the proposed method achieves the state-of-the-art performances for both cases in our experiments. Moreover, we found that our proposed method is more robust in harsh cases, e.g., when the training dataset has noisy labels or small number of samples. Finally, we show that the proposed method enjoys broader usage by applying it to class-incremental learning: whenever out-of-distribution samples are detected, our classification rule can incorporate new classes well without further training deep models.

stat.ML↗

arXiv2018

Data-Efficient Hierarchical Reinforcement Learning

Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and on-policy training, making them difficult to apply in real-world scenarios. In this paper, we study how we can develop HRL algorithms that are general, in that they do not make onerous additional assumptions beyond standard RL algorithms, and efficient, in the sense that they can be used with modest numbers of interaction samples, making them suitable for real-world problems such as robotic control. For generality, we develop a scheme where lower-level controllers are supervised with goals that are learned and proposed automatically by the higher-level controllers. To address efficiency, we propose to use off-policy experience for both higher and lower-level training. This poses a considerable challenge, since changes to the lower-level behaviors change the action space for the higher-level policy, and we introduce an off-policy correction to remedy this challenge. This allows us to take advantage of recent advances in off-policy model-free RL to learn both higher- and lower-level policies using substantially fewer environment interactions than on-policy algorithms. We term the resulting HRL agent HIRO and find that it is generally applicable and highly sample-efficient. Our experiments show that HIRO can be used to learn highly complex behaviors for simulated robots, such as pushing objects and utilizing them to reach target locations, learning from only a few million samples, equivalent to a few days of real-time interaction. In comparisons with a number of prior HRL methods, we find that our approach substantially outperforms previous state-of-the-art techniques.

cs.LG↗

arXiv2018

Learning Hierarchical Semantic Image Manipulation through Structured Representations

Understanding, reasoning, and manipulating semantic concepts of images have been a fundamental research problem for decades. Previous work mainly focused on direct manipulation on natural image manifold through color strokes, key-points, textures, and holes-to-fill. In this work, we present a novel hierarchical framework for semantic image manipulation. Key to our hierarchical framework is that we employ a structured semantic layout as our intermediate representation for manipulation. Initialized with coarse-level bounding boxes, our structure generator first creates pixel-wise semantic layout capturing the object shape, object-object interactions, and object-scene relations. Then our image generator fills in the pixel-level textures guided by the semantic layout. Such framework allows a user to manipulate images at object-level by adding, removing, and moving one bounding box at a time. Experimental evaluations demonstrate the advantages of the hierarchical manipulation framework over existing image generation and context hole-filing models, both qualitatively and quantitatively. Benefits of the hierarchical framework are further demonstrated in applications such as semantic object manipulation, interactive image editing, and data-driven image manipulation.

cs.CV↗

arXiv2018

MT-VAE: Learning Motion Transformations to Generate Multimodal Human Dynamics

Long-term human motion can be represented as a series of motion modes---motion sequences that capture short-term temporal dynamics---with transitions between them. We leverage this structure and present a novel Motion Transformation Variational Auto-Encoders (MT-VAE) for learning motion sequence generation. Our model jointly learns a feature embedding for motion modes (that the motion sequence can be reconstructed from) and a feature transformation that represents the transition of one motion mode to the next motion mode. Our model is able to generate multiple diverse and plausible motion sequences in the future from the same input. We apply our approach to both facial and full body motion, and demonstrate applications like analogy-based motion transfer and video synthesis.

cs.LG↗

arXiv2018

Inferring Semantic Layout for Hierarchical Text-to-Image Synthesis

We propose a novel hierarchical approach for text-to-image synthesis by inferring semantic layout. Instead of learning a direct mapping from text to image, our algorithm decomposes the generation process into multiple steps, in which it first constructs a semantic layout from the text by the layout generator and converts the layout to an image by the image generator. The proposed layout generator progressively constructs a semantic layout in a coarse-to-fine manner by generating object bounding boxes and refining each box by estimating object shapes inside the box. The image generator synthesizes an image conditioned on the inferred semantic layout, which provides a useful semantic structure of an image matching with the text description. Our model not only generates semantically more meaningful images, but also allows automatic annotation of generated images and user-controlled generation process by modifying the generated scene layout. We demonstrate the capability of the proposed model on challenging MS-COCO dataset and show that the model can substantially improve the image quality, interpretability of output and semantic alignment to input text over existing approaches.

cs.CV↗

arXiv2018

Learning 6-DOF Grasping Interaction via Deep Geometry-aware 3D Representations

This paper focuses on the problem of learning 6-DOF grasping with a parallel jaw gripper in simulation. We propose the notion of a geometry-aware representation in grasping based on the assumption that knowledge of 3D geometry is at the heart of interaction. Our key idea is constraining and regularizing grasping interaction learning through 3D geometry prediction. Specifically, we formulate the learning of deep geometry-aware grasping model in two steps: First, we learn to build mental geometry-aware representation by reconstructing the scene (i.e., 3D occupancy grid) from RGBD input via generative 3D shape modeling. Second, we learn to predict grasping outcome with its internal geometry-aware representation. The learned outcome prediction model is used to sequentially propose grasping solutions via analysis-by-synthesis optimization. Our contributions are fourfold: (1) To best of our knowledge, we are presenting for the first time a method to learn a 6-DOF grasping net from RGBD input; (2) We build a grasping dataset from demonstrations in virtual reality with rich sensory and interaction annotations. This dataset includes 101 everyday objects spread across 7 categories, additionally, we propose a data augmentation strategy for effective learning; (3) We demonstrate that the learned geometry-aware representation leads to about 10 percent relative performance improvement over the baseline CNN on grasping objects from our dataset. (4) We further demonstrate that the model generalizes to novel viewpoints and object instances.

cs.RO↗

arXiv2018

Hierarchical Novelty Detection for Visual Object Recognition

Deep neural networks have achieved impressive success in large-scale visual object recognition tasks with a predefined set of classes. However, recognizing objects of novel classes unseen during training still remains challenging. The problem of detecting such novel classes has been addressed in the literature, but most prior works have focused on providing simple binary or regressive decisions, e.g., the output would be "known," "novel," or corresponding confidence intervals. In this paper, we study more informative novelty detection schemes based on a hierarchical classification framework. For an object of a novel class, we aim for finding its closest super class in the hierarchical taxonomy of known classes. To this end, we propose two different approaches termed top-down and flatten methods, and their combination as well. The essential ingredients of our methods are confidence-calibrated classifiers, data relabeling, and the leave-one-out strategy for modeling novel classes under the hierarchical taxonomy. Furthermore, our method can generate a hierarchical embedding that leads to improved generalized zero-shot learning performance in combination with other commonly-used semantic embeddings.

cs.CV↗

arXiv2018

Self-Imitation Learning

This paper proposes Self-Imitation Learning (SIL), a simple off-policy actor-critic algorithm that learns to reproduce the agent's past good decisions. This algorithm is designed to verify our hypothesis that exploiting past good experiences can indirectly drive deep exploration. Our empirical results show that SIL significantly improves advantage actor-critic (A2C) on several hard exploration Atari games and is competitive to the state-of-the-art count-based exploration methods. We also show that SIL improves proximal policy optimization (PPO) on MuJoCo tasks.

cs.LG↗

arXiv2018

Hierarchical Long-term Video Prediction without Supervision

Much of recent research has been devoted to video prediction and generation, yet most of the previous works have demonstrated only limited success in generating videos on short-term horizons. The hierarchical video prediction method by Villegas et al. (2017) is an example of a state-of-the-art method for long-term video prediction, but their method is limited because it requires ground truth annotation of high-level structures (e.g., human joint landmarks) at training time. Our network encodes the input frame, predicts a high-level encoding into the future, and then a decoder with access to the first frame produces the predicted image from the predicted encoding. The decoder also produces a mask that outlines the predicted foreground object (e.g., person) as a by-product. Unlike Villegas et al. (2017), we develop a novel training method that jointly trains the encoder, the predictor, and the decoder together without highlevel supervision; we further improve upon this by using an adversarial loss in the feature space to train the predictor. Our method can predict about 20 seconds into the future and provides better results compared to Denton and Fergus (2018) and Finn et al. (2016) on the Human 3.6M dataset.

cs.CV↗

arXiv2018

Neural Kinematic Networks for Unsupervised Motion Retargetting

We propose a recurrent neural network architecture with a Forward Kinematics layer and cycle consistency based adversarial training objective for unsupervised motion retargetting. Our network captures the high-level properties of an input motion by the forward kinematics layer, and adapts them to a target character with different skeleton bone lengths (e.g., shorter, longer arms etc.). Collecting paired motion training sequences from different characters is expensive. Instead, our network utilizes cycle consistency to learn to solve the Inverse Kinematics problem in an unsupervised manner. Our method works online, i.e., it adapts the motion sequence on-the-fly as new frames are received. In our experiments, we use the Mixamo animation data to test our method for a variety of motions and characters and achieve state-of-the-art results. We also demonstrate motion retargetting from monocular human videos to 3D characters using an off-the-shelf 3D pose estimator.

cs.CV↗

arXiv2018

Unsupervised Discovery of Object Landmarks as Structural Representations

Deep neural networks can model images with rich latent representations, but they cannot naturally conceptualize structures of object categories in a human-perceptible way. This paper addresses the problem of learning object structures in an image modeling process without supervision. We propose an autoencoding formulation to discover landmarks as explicit structural representations. The encoding module outputs landmark coordinates, whose validity is ensured by constraints that reflect the necessary properties for landmarks. The decoding module takes the landmarks as a part of the learnable input representations in an end-to-end differentiable framework. Our discovered landmarks are semantically meaningful and more predictive of manually annotated landmarks than those discovered by previous methods. The coordinates of our landmarks are also complementary features to pretrained deep-neural-network representations in recognizing visual attributes. In addition, the proposed method naturally creates an unsupervised, perceptible interface to manipulate object shapes and decode images with controllable structures. The project webpage is at http://ytzhang.net/projects/lmdis-rep

cs.CV↗

arXiv2018

An efficient framework for learning sentence representations

In this work we propose a simple and efficient framework for learning sentence representations from unlabelled data. Drawing inspiration from the distributional hypothesis and recent work on learning sentence representations, we reformulate the problem of predicting the context in which a sentence appears as a classification problem. Given a sentence and its context, a classifier distinguishes context sentences from other contrastive sentences based on their vector representations. This allows us to efficiently learn different types of encoding functions, and we show that the model learns high-quality sentence representations. We demonstrate that our sentence representations outperform state-of-the-art unsupervised and supervised representation learning methods on several downstream NLP tasks that involve understanding sentence semantics while achieving an order of magnitude speedup in training time.

cs.CL↗