OpenRaiser/Intern-Atlas huggingface dataset:
Improving Policy Learning via Language Dynamics Distillation
Venue: Conference NeurIPS 2022
Year: 2022

Recent work has shown that augmenting environments with language descriptions improves policy learning. However, for environments with complex language abstractions, learning how to ground language to observations is difficult due to sparse, delayed rewards. We propose Language Dynamics Distillation (LDD), which pretrains a model to predict environment dynamics given demonstrations with language descriptions, and then fine-tunes these language-aware pretrained representations via reinforcement learning (RL). In this way, the model is trained to both maximize expected reward and retain knowledge about how language relates to environment dynamics. On SILG, a benchmark of five tasks with language descriptions that evaluate distinct generalization challenges on unseen environments (NetHack, ALFWorld, RTFM, Messenger, and Touchdown), LDD outperforms tabula-rasa RL, VAE pretraining, and methods that learn from unlabeled demonstrations in inverse RL and reward shaping with pretrained experts. In our analyses, we show that language descriptions in demonstrations improve sample-efficiency and generalization across environments, and that dynamics modelling with expert demonstrations is more effective than with non-experts.
Learning Energy Networks with Generalized Fenchel-Young Losses
Venue: Conference NeurIPS 2022
Year: 2022

Energy-based models, a.k.a. energy networks, perform inference by optimizing an energy function, typically parametrized by a neural network. This allows one to capture potentially complex relationships between inputs and outputs. To learn the parameters of the energy function, the solution to that optimization problem is typically fed into a loss function. The key challenge for training energy networks lies in computing loss gradients, as this typically requires argmin/argmax differentiation. In this paper, building upon a generalized notion of conjugate function, which replaces the usual bilinear pairing with a general energy function, we propose generalized Fenchel-Young losses, a natural loss construction for learning energy networks. Our losses enjoy many desirable properties and their gradients can be computed efficiently without argmin/argmax differentiation. We also prove the calibration of their excess risk in the case of linear-concave energies. We demonstrate our losses on multilabel classification and imitation learning tasks.
Interaction-Grounded Learning with Action-Inclusive Feedback
Venue: Conference NeurIPS 2022
Year: 2022

Consider the problem setting of Interaction-Grounded Learning (IGL), in which a learner's goal is to optimally interact with the environment with no explicit reward to ground its policies. The agent observes a context vector, takes an action, and receives a feedback vector, using this information to effectively optimize a policy with respect to a latent reward function. Prior analyzed approaches fail when the feedback vector contains the action, which significantly limits IGL's success in many potential scenarios such as Brain-computer interface (BCI) or Human-computer interface (HCI) applications. We address this by creating an algorithm and analysis which allows IGL to work even when the feedback vector contains the action, encoded in any fashion. We provide theoretical guarantees and large-scale experiments based on supervised datasets to demonstrate the effectiveness of the new approach.
The Neural Testbed: Evaluating Joint Predictions
Venue: Conference NeurIPS 2022
Year: 2022

Predictive distributions quantify uncertainties ignored by point estimates. This paper introduces The Neural Testbed: an open-source benchmark for controlled and principled evaluation of agents that generate such predictions. Crucially, the testbed assesses agents not only on the quality of their marginal predictions per input, but also on their joint predictions across many inputs. We evaluate a range of agents using a simple neural network data generating process. Our results indicate that some popular Bayesian deep learning agents do not fare well with joint predictions, even when they can produce accurate marginal predictions. We also show that the quality of joint predictions drives performance in downstream decision tasks. We find these results are robust across choice a wide range of generative models, and highlight the practical importance of joint predictions to the community.
Learning Dense Object Descriptors from Multiple Views for Low-shot Category Generalization
Venue: Conference NeurIPS 2022
Year: 2022

A hallmark of the deep learning era for computer vision is the successful use of large-scale labeled datasets to train feature representations for tasks ranging from object recognition and semantic segmentation to optical flow estimation and novel view synthesis of 3D scenes. In this work, we aim to learn dense discriminative object representations for low-shot category recognition without requiring any category labels. To this end, we propose Deep Object Patch Encodings (DOPE), which can be trained from multiple views of object instances without any category or semantic object part labels. To train DOPE, we assume access to sparse depths, foreground masks and known cameras, to obtain pixel-level correspondences between views of an object, and use this to formulate a self-supervised learning task to learn discriminative object patches. We find that DOPE can directly be used for low-shot classification of novel categories using local-part matching, and is competitive with and outperforms supervised and self-supervised learning baselines. Code and data available at https://github.com/rehg-lab/dope_selfsup.
Monte Carlo Tree Descent for Black-Box Optimization
Venue: Conference NeurIPS 2022
Year: 2022

The key to Black-Box Optimization is to efficiently search through input regions with potentially widely-varying numerical properties, to achieve low-regret descent and fast progress toward the optima. Monte Carlo Tree Search (MCTS) methods have recently been introduced to improve Bayesian optimization by computing better partitioning of the search space that balances exploration and exploitation. Extending this promising framework, we study how to further integrate sample-based descent for faster optimization. We design novel ways of expanding Monte Carlo search trees, with new descent methods at vertices that incorporate stochastic search and Gaussian Processes. We propose the corresponding rules for balancing progress and uncertainty, branch selection, tree expansion, and backpropagation. The designed search process puts more emphasis on sampling for faster descent and uses localized Gaussian Processes as auxiliary metrics for both exploitation and exploration. We show empirically that the proposed algorithms can outperform state-of-the-art methods on many challenging benchmark problems.
Distributional Reward Estimation for Effective Multi-agent Deep Reinforcement Learning
Venue: Conference NeurIPS 2022
Year: 2022

Multi-agent reinforcement learning has drawn increasing attention in practice, e.g., robotics and automatic driving, as it can explore optimal policies using samples generated by interacting with the environment. However, high reward uncertainty still remains a problem when we want to train a satisfactory model, because obtaining high-quality reward feedback is usually expensive and even infeasible. To handle this issue, previous methods mainly focus on passive reward correction. At the same time, recent active reward estimation methods have proven to be a recipe for reducing the effect of reward uncertainty. In this paper, we propose a novel Distributional Reward Estimation framework for effective Multi-Agent Reinforcement Learning (DRE-MARL). Our main idea is to design the multi-action-branch reward estimation and policy-weighted reward aggregation for stabilized training. Specifically, we design the multi-action-branch reward estimation to model reward distributions on all action branches. Then we utilize reward aggregation to obtain stable updating signals during training. Our intuition is that consideration of all possible consequences of actions could be useful for learning policies. The superiority of the DRE-MARL is demonstrated using benchmark multi-agent scenarios, compared with the SOTA baselines in terms of both effectiveness and robustness.
Sampling from Log-Concave Distributions with Infinity-Distance Guarantees
Venue: Conference NeurIPS 2022
Year: 2022

For a $d$-dimensional log-concave distribution $π(θ) \propto e^{-f(θ)}$ constrained to a convex body $K$, the problem of outputting samples from a distribution $ν$ which is $\varepsilon$-close in infinity-distance $\sup_{θ\in K} |\log \frac{ν(θ)}{π(θ)}|$ to $π$ arises in differentially private optimization. While sampling within total-variation distance $\varepsilon$ of $π$ can be done by algorithms whose runtime depends polylogarithmically on $\frac{1}{\varepsilon}$, prior algorithms for sampling in $\varepsilon$ infinity distance have runtime bounds that depend polynomially on $\frac{1}{\varepsilon}$. We bridge this gap by presenting an algorithm that outputs a point $\varepsilon$-close to $π$ in infinity distance that requires at most $\mathrm{poly}(\log \frac{1}{\varepsilon}, d)$ calls to a membership oracle for $K$ and evaluation oracle for $f$, when $f$ is Lipschitz. Our approach departs from prior works that construct Markov chains on a $\frac{1}{\varepsilon^2}$-discretization of $K$ to achieve a sample with $\varepsilon$ infinity-distance error, and present a method to directly convert continuous samples from $K$ with total-variation bounds to samples with infinity bounds. This approach also allows us to obtain an improvement on the dimension $d$ in the running time for the problem of sampling from a log-concave distribution on polytopes $K$ with infinity distance $\varepsilon$, by plugging in TV-distance running time bounds for the Dikin Walk Markov chain.
ELASTIC: Numerical Reasoning with Adaptive Symbolic Compiler
Venue: Conference NeurIPS 2022
Year: 2022

Numerical reasoning over text is a challenging task of Artificial Intelligence (AI), requiring reading comprehension and numerical reasoning abilities. Previous approaches use numerical reasoning programs to represent the reasoning process. However, most works do not separate the generation of operators and operands, which are key components of a numerical reasoning program, thus limiting their ability to generate such programs for complicated tasks. In this paper, we introduce the numEricaL reASoning with adapTive symbolIc Compiler (ELASTIC) model, which is constituted of the RoBERTa as the Encoder and a Compiler with four modules: Reasoning Manager, Operator Generator, Operands Generator, and Memory Register. ELASTIC is robust when conducting complicated reasoning. Also, it is domain agnostic by supporting the expansion of diverse operators without caring about the number of operands it contains. Experiments show that ELASTIC achieves 68.96 and 65.21 of execution accuracy and program accuracy on the FinQA dataset and 83.00 program accuracy on the MathQA dataset, outperforming previous state-of-the-art models significantly.
Training Spiking Neural Networks with Local Tandem Learning
Venue: Conference NeurIPS 2022
Year: 2022

Spiking neural networks (SNNs) are shown to be more biologically plausible and energy efficient over their predecessors. However, there is a lack of an efficient and generalized training method for deep SNNs, especially for deployment on analog computing substrates. In this paper, we put forward a generalized learning rule, termed Local Tandem Learning (LTL). The LTL rule follows the teacher-student learning approach by mimicking the intermediate feature representations of a pre-trained ANN. By decoupling the learning of network layers and leveraging highly informative supervisor signals, we demonstrate rapid network convergence within five training epochs on the CIFAR-10 dataset while having low computational complexity. Our experimental results have also shown that the SNNs thus trained can achieve comparable accuracies to their teacher ANNs on CIFAR-10, CIFAR-100, and Tiny ImageNet datasets. Moreover, the proposed LTL rule is hardware friendly. It can be easily implemented on-chip to perform fast parameter calibration and provide robustness against the notorious device non-ideality issues. It, therefore, opens up a myriad of opportunities for training and deployment of SNN on ultra-low-power mixed-signal neuromorphic computing chips.10
FiLM: Frequency improved Legendre Memory Model for Long-term Time Series Forecasting
Venue: Conference NeurIPS 2022
Year: 2022

Recent studies have shown that deep learning models such as RNNs and Transformers have brought significant performance gains for long-term forecasting of time series because they effectively utilize historical information. We found, however, that there is still great room for improvement in how to preserve historical information in neural networks while avoiding overfitting to noise presented in the history. Addressing this allows better utilization of the capabilities of deep learning models. To this end, we design a \textbf{F}requency \textbf{i}mproved \textbf{L}egendre \textbf{M}emory model, or {\bf FiLM}: it applies Legendre Polynomials projections to approximate historical information, uses Fourier projection to remove noise, and adds a low-rank approximation to speed up computation. Our empirical studies show that the proposed FiLM significantly improves the accuracy of state-of-the-art models in multivariate and univariate long-term forecasting by (\textbf{20.3\%}, \textbf{22.6\%}), respectively. We also demonstrate that the representation module developed in this work can be used as a general plug-in to improve the long-term prediction performance of other deep learning modules. Code is available at https://github.com/tianzhou2011/FiLM/
Differentially Private Linear Sketches: Efficient Implementations and Applications
Venue: Conference NeurIPS 2022
Year: 2022

Linear sketches have been widely adopted to process fast data streams, and they can be used to accurately answer frequency estimation, approximate top K items, and summarize data distributions. When data are sensitive, it is desirable to provide privacy guarantees for linear sketches to preserve private information while delivering useful results with theoretical bounds. We show that linear sketches can ensure privacy and maintain their unique properties with a small amount of noise added at initialization. From the differentially private linear sketches, we showcase that the state-of-the-art quantile sketch in the turnstile model can also be private and maintain high performance. Experiments further demonstrate that our proposed differentially private sketches are quantitatively and qualitatively similar to noise-free sketches with high utilization on synthetic and real datasets.
Coordinates Are NOT Lonely - Codebook Prior Helps Implicit Neural 3D representations
Venue: Conference NeurIPS 2022
Year: 2022

Implicit neural 3D representation has achieved impressive results in surface or scene reconstruction and novel view synthesis, which typically uses the coordinate-based multi-layer perceptrons (MLPs) to learn a continuous scene representation. However, existing approaches, such as Neural Radiance Field (NeRF) and its variants, usually require dense input views (i.e. 50-150) to obtain decent results. To relive the over-dependence on massive calibrated images and enrich the coordinate-based feature representation, we explore injecting the prior information into the coordinate-based network and introduce a novel coordinate-based model, CoCo-INR, for implicit neural 3D representation. The cores of our method are two attention modules: codebook attention and coordinate attention. The former extracts the useful prototypes containing rich geometry and appearance information from the prior codebook, and the latter propagates such prior information into each coordinate and enriches its feature representation for a scene or object surface. With the help of the prior information, our method can render 3D views with more photo-realistic appearance and geometries than the current methods using fewer calibrated images available. Experiments on various scene reconstruction datasets, including DTU and BlendedMVS, and the full 3D head reconstruction dataset, H3DS, demonstrate the robustness under fewer input views and fine detail-preserving capability of our proposed method.
Scalable Neural Video Representations with Learnable Positional Features
Venue: Conference NeurIPS 2022
Year: 2022

Succinct representation of complex signals using coordinate-based neural representations (CNRs) has seen great progress, and several recent efforts focus on extending them for handling videos. Here, the main challenge is how to (a) alleviate a compute-inefficiency in training CNRs to (b) achieve high-quality video encoding while (c) maintaining the parameter-efficiency. To meet all requirements (a), (b), and (c) simultaneously, we propose neural video representations with learnable positional features (NVP), a novel CNR by introducing "learnable positional features" that effectively amortize a video as latent codes. Specifically, we first present a CNR architecture based on designing 2D latent keyframes to learn the common video contents across each spatio-temporal axis, which dramatically improves all of those three requirements. Then, we propose to utilize existing powerful image and video codecs as a compute-/memory-efficient compression procedure of latent codes. We demonstrate the superiority of NVP on the popular UVG benchmark; compared with prior arts, NVP not only trains 2 times faster (less than 5 minutes) but also exceeds their encoding quality as 34.07$\rightarrow$34.57 (measured with the PSNR metric), even using $>$8 times fewer parameters. We also show intriguing properties of NVP, e.g., video inpainting, video frame interpolation, etc.
Neural Circuit Architectural Priors for Embodied Control
Venue: Conference NeurIPS 2022
Year: 2022

Artificial neural networks for motor control usually adopt generic architectures like fully connected MLPs. While general, these tabula rasa architectures rely on large amounts of experience to learn, are not easily transferable to new bodies, and have internal dynamics that are difficult to interpret. In nature, animals are born with highly structured connectivity in their nervous systems shaped by evolution; this innate circuitry acts synergistically with learning mechanisms to provide inductive biases that enable most animals to function well soon after birth and learn efficiently. Convolutional networks inspired by visual circuitry have encoded useful biases for vision. However, it is unknown the extent to which ANN architectures inspired by neural circuitry can yield useful biases for other AI domains. In this work, we ask what advantages biologically inspired ANN architecture can provide in the domain of motor control. Specifically, we translate C. elegans locomotion circuits into an ANN model controlling a simulated Swimmer agent. On a locomotion task, our architecture achieves good initial performance and asymptotic performance comparable with MLPs, while dramatically improving data efficiency and requiring orders of magnitude fewer parameters. Our architecture is interpretable and transfers to new body designs. An ablation analysis shows that constrained excitation/inhibition is crucial for learning, while weight initialization contributes to good initial performance. Our work demonstrates several advantages of biologically inspired ANN architecture and encourages future work in more complex embodied control.
Bayesian Optimization over Discrete and Mixed Spaces via Probabilistic Reparameterization
Venue: Conference NeurIPS 2022
Year: 2022

Optimizing expensive-to-evaluate black-box functions of discrete (and potentially continuous) design parameters is a ubiquitous problem in scientific and engineering applications. Bayesian optimization (BO) is a popular, sample-efficient method that leverages a probabilistic surrogate model and an acquisition function (AF) to select promising designs to evaluate. However, maximizing the AF over mixed or high-cardinality discrete search spaces is challenging standard gradient-based methods cannot be used directly or evaluating the AF at every point in the search space would be computationally prohibitive. To address this issue, we propose using probabilistic reparameterization (PR). Instead of directly optimizing the AF over the search space containing discrete parameters, we instead maximize the expectation of the AF over a probability distribution defined by continuous parameters. We prove that under suitable reparameterizations, the BO policy that maximizes the probabilistic objective is the same as that which maximizes the AF, and therefore, PR enjoys the same regret bounds as the original BO policy using the underlying AF. Moreover, our approach provably converges to a stationary point of the probabilistic objective under gradient ascent using scalable, unbiased estimators of both the probabilistic objective and its gradient. Therefore, as the number of starting points and gradient steps increase, our approach will recover of a maximizer of the AF (an often-neglected requisite for commonly used BO regret bounds). We validate our approach empirically and demonstrate state-of-the-art optimization performance on a wide range of real-world applications. PR is complementary to (and benefits) recent work and naturally generalizes to settings with multiple objectives and black-box constraints.
Learning to Constrain Policy Optimization with Virtual Trust Region
Venue: Conference NeurIPS 2022
Year: 2022

We introduce a constrained optimization method for policy gradient reinforcement learning, which uses a virtual trust region to regulate each policy update. In addition to using the proximity of one single old policy as the normal trust region, we propose forming a second trust region through another virtual policy representing a wide range of past policies. We then enforce the new policy to stay closer to the virtual policy, which is beneficial if the old policy performs poorly. More importantly, we propose a mechanism to automatically build the virtual policy from a memory of past policies, providing a new capability for dynamically learning appropriate virtual trust regions during the optimization process. Our proposed method, dubbed Memory-Constrained Policy Optimization (MCPO), is examined in diverse environments, including robotic locomotion control, navigation with sparse rewards and Atari games, consistently demonstrating competitive performance against recent on-policy constrained policy gradient methods.