Model-centric data manifold: the data through the eyes of the model

1 INTRODUCTION . In machine learning , models are categorized as discriminative models or generative models . From its inception , deep learning has focused on classification and discriminative models ( Krizhevsky et al. , 2012 ; Hinton et al. , 2012 ; Collobert et al. , 2011 ) . Another perspective came with the construction of generative models based on neural networks ( Kingma & Welling , 2014 ; Goodfellow et al. , 2014 ; Van den Oord et al. , 2016 ; Kingma & Dhariwal , 2018 ) . Both kinds of models give us information about the data and the similarity between examples . In particular , generative models introduce a geometric structure on generated data . Such models transform a random low-dimensional vector to an example sampled from a probability distribution approximating the one of the training dataset . As proved by Arjovsky & Bottou ( 2017 ) , generated data lie on a countable union of manifolds . This fact supports the human intuition that data have a low-dimensional manifold structure , but in generative models the dimension of such a manifold is usually a hyper-parameter fixed by the experimenter . A recent algorithm by Peebles et al . ( 2020 ) provides a way to find an approximation of the number of dimensions of the data manifold , deactivating irrelevant dimensions in a GAN . Similarly , here we try to understand if a discriminative model can be used to detect a manifold structure on the space containing data and to provide tools to navigate this manifold . The implicit definition of such a manifold and the possibility to trace paths between points on the manifold can open many possible applications . In particular , we could use paths to define a system of coordinates on the manifold ( more specifically on a chart of the manifold ) . Such coordinates would immediately give us a low-dimensional parametrization of our data , allowing us to do dimensionality reduction . In supervised learning , a model is trained on a labeled dataset to identify the correct label on unseen data . A trained neural network classifier builds a hierarchy of representations that encodes increasingly complex features of the input data ( Olah et al. , 2017 ) . Through the representation function , a distance ( e.g . euclidean or cosine ) on the representation space of a layer endows input data with a distance . This pyramid of distances on examples is increasingly class-aware : the deeper is the layer , the better the metric reflects the similarity of data according to the task at hand . This observation suggests that the model is implicitly organizing the data according to a suitable structure . Unfortunately , these intermediate representations and metrics are insufficient to understand the geometric structure of data . First of all , representation functions are not invertible , so we can not recover the original example from its intermediate representation or interpolate between data points . Moreover , the domain of representation functions is the entire data domain Rn . This domain is mostly composed of meaningless noise and data occupy only a thin region inside of it . So , even if representation functions provide us a distance , those metrics are incapable of distinguishing between meaningful data and noise . We find out that a ReLU neural network implicitly identifies a low-dimensional submanifold of the data domain that contains real data . We prove that if the activation function is piecewise-linear ( e.g . ReLU ) , the neural network decomposes the data domain Rn as the disjoint union of submanifolds ( the leaves of a foliation , using the terminology of differential geometry ) . The dimension of every submanifold ( every leaf of the foliation ) is bounded by the number of classes of our classification model , so it is much smaller than n , the dimension of the data domain Rn . Our main theoretical result , Theorem 3.1 , stems from the study of the properties of a variant of the Fisher Information matrix , the local data matrix . However , Theorem 3.1 can not tell us which leaves of this foliation are meaningful , i.e . what are the possible interesting practical applications of the submanifolds that compose the foliation . The interpretation of this geometric structure can only come from experiments . We report experiments performed on MNIST dataset . We choose to focus on MNIST because it is easily interpretable and because small networks are sufficient to reach a high accuracy . Our experiments suggest that all valid data points lie on only one leaf of the foliation , the data leaf . To observe this phenomenon we take an example from the dataset and we try to connect it with another random example following a path along the leaf containing the starting point . If such a path exists , it means that the destination example belongs to the same leaf of the foliation . Visualizing the intermediate points on these joining paths , we see that the low-dimensional data manifold defined by the model is not the anthropocentric data manifold composed of data meaningful for a human observer . The model-centric data manifold comprises images that do not belong to a precise class . The model needs those transition points to connect points with different labels . At the same time , it understands that such transition points represent an ambiguous digit : on such points , the model assigns a low probability to every class . The experiments also show that moving orthogonally to the data leaf we find noisy images . That means that the other leaves of the foliation contain images with a level of noise that increases with the distance from the data leaf . These noisy images become soon meaningless to the human eye , while the model still classifies them with high confidence . This fact is a consequence of the property of the local data matrix : equation ( 8 ) prescribes that the model output does not change if we move in a direction orthogonal to the tangent space of the leaf on which our data is located . This remark points us to other possible applications of the model-centric data manifold . We could project a noisy point on the data leaf to perform denoising , or we can use the distance from the data leaf to recognize out-of-distribution examples . The main contributions of the paper are : 1. the definition of the local data matrix G ( x , w ) at a point x of the data domain and for a given model w , and the study of its properties ; 2. the proof that the subspace spanned by the eigenvectors with non-zero eigenvalue of the local data matrix G ( x , w ) can be interpreted as the tangent space of a Riemannian manifold , whose dimension is bounded by the number of classes on which our model is trained ; 3. the identification and visualization of the model-centric data manifold through paths , obtained via experiments on MNIST . Organization of the paper . In Section 2 , we review the fundamentals of information geometry using a novel perspective that aims at facilitating the comprehension of the key concepts of the paper . We introduce the local data matrix G ( x , w ) and we summarize its properties in Prop . 2.1 . In Section 3 , we show that , through the local data matrix , under some mild hypotheses , the data domain foliates as a disjoint union of leaves , which are all Riemannian submanifolds of Rn , with metric given via G ( x , w ) . In Section 4 , we provide evidence that all our dataset lies on one leaf of the foliation and that moving along directions orthogonal to the data leaf amounts to adding noise to data . 2 INFORMATION GEOMETRY . Here we collect some results pertaining to information geometry ( Amari , 1998 ; Nielsen , 2018 ) , using a novel perspective adapted to our question , namely how to provide a manifold structure to the space containing data . Let p ( y|x , w ) be a discrete probability distribution on C classification labels , i.e . p ( y|x , w ) = ( pi ( y|x , w ) ) i=1 , ... , C , x ∈ Σ ⊂ Rn , w ∈ Rd . In the applications , x represent input data belonging to a certain dataset Σ , while w are the learning parameters , i.e . the parameters of the empirical model . As we are going to see in our discussion later on , it is fruitful to treat the two sets of variables x and w on equal grounds . This will naturally lead to a geometric structure on a low dimensional submanifold of Rn , that we can navigate through paths joining points in the dataset Σ ( see Section 4 ) . In order to give some context to our treatment , we define , following Amari ( 1998 ) Section 3 , the information loss I ( x , w ) = − log ( p ( y|x , w ) ) and the loss function L ( x , w ) = Ey∼q [ I ( x , w ) ] . Typically L ( x , w ) is used for practical optimizations , where we need to compare the model output distribution p ( y|x , w ) with a certain known true distribution q ( y|x ) . We may also view L ( x , w ) as the Kullback-Leibler divergence up to the constant − ∑ i qi ( y|x ) log qi ( y|x ) , irrelevant for any optimization problem : L ( x , w ) = Ey∼q [ − log ( p ( y|x , w ) ) ] = C∑ i=1 qi ( y|x ) log qi ( y|x ) pi ( y|x , w ) − C∑ i=1 qi ( y|x ) log qi ( y|x ) = = DKL ( q ( y|x ) ||p ( y|x , w ) ) − C∑ i=1 qi ( y|x ) log qi ( y|x ) ( 1 ) A popular choice for p ( y|x , w ) in deep learning classification algorithms is pi ( y|x , w ) = softmax ( s1 ( x , w ) , . . . , sC ( x , w ) ) i = esi ( x , w ) ∑C j=1 e sj ( x , w ) , ( 2 ) where s ( x , w ) ∈ RC is a score function determined by parameters w. From such p ( y|x , w ) we derive the cross-entropy with softmax loss function : L ( x , w ) = Ey∼q [ I ( x , w ) ] = Ey∼q [ − log p ( y|x , w ) ] = −syx ( x , w ) + log C∑ j=1 esj ( x , w ) , ( 3 ) where L ( x , w ) is computed with respect to the probability mass distribution q ( y|x ) assigning 1 to the correct label yx of our datum x and zero otherwise . Other approaches rely on label smoothing ( Szegedy et al. , 2016 ) , hence they take a different L ( x , w ) . However , since our treatment mainly relies on the expression of I ( x , w ) , our results will also apply to such loss functions , provided some hypotheses , that we list in Section 3 , are satisfied . Going back to the general setting , notice that : Ey∼p [ ∇wI ( x , w ) ] = 0 . In fact , Ey∼p [ ∇w ( log ( p ( y|x , w ) ) ] = C∑ i=1 pi ( y|x , w ) ∇w log pi ( y|x , w ) = C∑ i=1 ∇wpi ( y|x , w ) = ∇w1 = 0 . ( 4 ) Let us now define the following two matrices : F ( x , w ) = Ey∼p [ ∇w ( log ( p ( y|x , w ) ) · ∇w ( log ( p ( y|x , w ) ) T ] ( 5 ) G ( x , w ) = Ey∼p [ ∇x ( log ( p ( y|x , w ) ) · ∇x ( log ( p ( y|x , w ) ) T ] ( 6 ) We call F ( x , w ) the local Fisher matrix at the datum x and G ( x , w ) the local data matrix given the model w. The Fisher matrix ( Amari , 1998 ) is obtained as F ( w ) = Ex∼Σ [ F ( x , w ) ] and it gives information on the metric structure of the space of parameters . Similarly , we can reverse our perspective and see how G ( x , w ) , allows us to recognize some structure in our dataset . The following observations apply to both F ( x , w ) and G ( x , w ) and provide the theoretical cornerstone of Section 3 . Proposition 2.1 . Let the notation be as above . Then : 1. kerF ( x , w ) = span { ∇w log pi ( y|x , w ) |1 ≤ i ≤ C } ⊥ ; kerG ( x , w ) = span { ∇x log pi ( y|x , w ) |1 ≤ i ≤ C } ⊥ . 2. rank F ( x , w ) < C , rank G ( x , w ) < C. Proof . See Appendix B . This result tells us that the rank of both F ( x , w ) andG ( x , w ) is bounded byC , the number of classes in our classification problem . The consequence of the bound on rank F ( x , w ) is the following : in SGD dynamics with a single example , the number of directions in which the change in our parameters modifies our loss is severely limited . The consequence on the bound on rank G ( x , w ) is even more striking : it will allow us to define a submanifold of Rn of dimension rankG ( x , w ) ( Section 3 ) , that our experiments show contains our dataset ( Section 4 ) . In practical situations , this dimension is much lower than the size of G ( x , w ) , i.e . the input size n , as shown in Table 1 .

Summary: In this work, the authors showed that deep ReLU networks can model the low dimensional manifold structure of the dataset. The authors first define a local data matrix G which is analogous to Fisher matrix. Then they proved that the tangent space of the data manifold is spanned by the eigen vectors of G corresponding to non-zero eigen values. The authors visualize this data manifold on MNIST data.