FitVid: High-Capacity Pixel-Level Video Prediction

1 INTRODUCTION Predicting what happens next is a cornerstone of intelligence and one of the key capabilities of humans , which we heavily rely on to make decisions in everyday life ( Bubic et al. , 2010 ) . This capability enables us to anticipate future events and plan ahead to perform temporally extended tasks . While the machine learning literature has studied a wide range of prediction problems , one of the most direct challenges is to predict raw sensory inputs . In particular , prediction of future visual inputs conditioned on a context of past observations – i.e. , pixel-level video prediction – encapsulates the challenges of visual perception , modeling of physical events , and reasoning about uncertain behaviors . Video prediction can be formulated as a self-supervised problem , enabling us to use a substantial amount of unlabeled data to provide autonomous systems with powerful predictive capabilities as well as learning rich representations for downstream tasks . Already , video models have been successfully deployed in applications such as robotics ( Finn & Levine , 2017 ; Zhang et al. , 2019 ) , simulation ( Kim et al. , 2021 ; 2020 ) , compression ( Duan et al. , 2020 ; Sulun & Tekalp , 2021 ) and video synthesis from a single frame ( Endo et al. , 2019 ; Nam et al. , 2019 ) . Despite recent advances in generative models in many domains , such as images ( Karras et al. , 2017 ; Vahdat & Kautz , 2020 ) and text ( Devlin et al. , 2018 ; Brown et al. , 2020 ) , video prediction is still considered to be challenging . Current state-of-the-art methods are limited to low-resolution videos ( typically 64×64 ( Villegas et al. , 2019 ) and a maximum of 256×256 ( Kim et al. , 2021 ) ) , usually in a narrow domain , such as a single human walking Ionescu et al . ( 2014 ) , or a robotic arm pushing objects in a stationary setting Ebert et al . ( 2017 ) . Even then the quality of predicted frames tends to drop substantially after as little as 10 seconds into the future ( Saxena et al. , 2021 ) . A growing body of evidence suggests that underfitting is one of the primary reasons for low quality predictions . For example , Villegas et al . ( 2019 ) demonstrate how scaling the model , by adding more parameters , can substantially improve the prediction quality . Similarly , Castrejon et al . ( 2019 ) argue that blurry video prediction of variational methods is a sign of underfitting , exhibiting an improved test and train performance as the network capacity increases . Wu et al . ( 2021a ) also observed monotonic improvement as the number of modules in a hierarchical architecture increases . While scaling up models is common to address underfitting , it comes at the cost of more computation , memory , and integration risks ( Wolf et al. , 2019 ) as well as more complicated training regimes ( Wu et al. , 2021a ) . In this paper we take a step back and address underfitting by instead finding an architecture that uses its parameters more efficiently . We propose FitVid , a model that – with the same parameter count as current state-of-the-art models – can fit the current video prediction benchmarks successfully . In fact , FitVid fits these benchmarks so well that in many cases we find it actually begins to suffer from overfitting . To the best of our knowledge , this is the first time a video model reports substantial overfitting on theses benchmarks . Importantly , we also find that simple existing image augmentation techniques can mitigate this overfitting , leading to models that can both fit the training set and generalize well to held-out videos . As a result , FitVid achieves state-of-the-art on four challenging video datasets across a wide range of metrics . Furthermore , while each of the components of our proposed model are not novel on their own , we find that FitVid can be trained a significantly simpler training recipe . Prior works on video prediction , particularly those that make use of variational methods to provide for stochasticity , typically require a number of delicate design decisions to train successfully : curriculum training ( Oh et al. , 2015 ; Lee et al. , 2018 ; Cenzato et al. , 2019 ) , a learned prior ( Denton & Fergus , 2018 ; Castrejon et al. , 2019 ) and annealing of the weight on the VAE KL-divergence penalty ( Babaeizadeh et al. , 2018 ) . In contrast , we show that our method actually fits the training data well without any such components , training directly via optimizing the evidence lower bound with minimal hyperparameters . 2 RELATED WORK . Video prediction ( Ranzato et al. , 2014 ; Srivastava et al. , 2015 ) has been formulated in different ways such as generating videos from a single image ( Endo et al. , 2019 ; Nam et al. , 2019 ; Dorkenwald et al. , 2021 ; Yang et al. , 2021 ; Hu et al. , 2021 ) or no image ( Vondrick et al. , 2016 ; Saito & Saito , 2018 ; Clark et al. , 2019 ) , text to video generation ( Wu et al. , 2021b ) , video-to-video translation ( Wang et al. , 2019a ; 2018 ) and data-driven simulation ( Kaiser et al. , 2019 ; Kim et al. , 2021 ; 2020 ) . In this paper , our focus is on conditional video prediction , which is to predict the future frames of a video conditioned on a few initial context frames and possibly the future actions of the agents ( Finn et al. , 2016a ; Babaeizadeh et al. , 2018 ) . Conditional video prediction has a number of applications , including model-based reinforcement learning from pixels ( Hafner et al. , 2018 ; 2019 ; Kaiser et al. , 2019 ; Rafailov et al. , 2020 ) and robotics ( Boots et al. , 2014 ; Kalchbrenner et al. , 2017a ; Ebert et al. , 2017 ; 2018a ; b ; Xie et al. , 2019 ; Paxton et al. , 2019 ; Nair & Finn , 2020 ; Nair et al. , 2020 ) . Initially , video prediction was tackled using deterministic models ( Walker et al. , 2015 ; Jia et al. , 2016 ; Xue et al. , 2016 ; Walker et al. , 2016 ; Liang et al. , 2017 ; Byravan & Fox , 2017 ; Vondrick & Torralba , 2017 ; Van Amersfoort et al. , 2017 ; Liu et al. , 2017 ; Chen et al. , 2017 ; Lu et al. , 2017 ) . Later on , given the common randomness and partial observability in the real-life situations , various stochastic models were proposed to capture the stochasticity of the future . Generative adversarial networks ( GANs ) ( Goodfellow et al. , 2014 ) are used for video predictions ( Mathieu et al. , 2015 ; Lee et al. , 2018 ; Clark et al. , 2019 ; Luc et al. , 2020 ; Hong et al. , 2021 ) as sell as autoregressive models ( Kalchbrenner et al. , 2017b ; Reed et al. , 2017 ; Weissenborn et al. , 2019 ) . Flow based generative models ( Dinh et al. , 2014 ; 2016 ) are also adopted for video prediction ( Kumar et al. , 2019 ) . In this paper we focus on Variational Auto-Encoders ( VAEs ) ( Kingma & Welling , 2014 ) which are widely used for conditional video prediction ( Shu et al. , 2016 ; Babaeizadeh et al. , 2018 ; Denton & Fergus , 2018 ; Wichers et al. , 2018 ; Villegas et al. , 2019 ; Franceschi et al. , 2020 ; Castrejon et al. , 2019 ; Yan et al. , 2021 ; Rakhimov et al. , 2020 ; Lee et al. , 2021 ; Wu et al. , 2021a ; Walker et al. , 2021 ) . Recently , it has been demonstrated that underfitting on training data plays a major role in low quality blurry predictions in VAE based models . Villegas et al . ( 2019 ) ; Castrejon et al . ( 2019 ) ; Wu et al . ( 2021a ) all reported improved prediction quality as the network capacity increases . In this paper , we are interested in addressing underfitting without increasing the capacity of the current models , and instead , find a more expressive architecture which uses its capacity more efficiently . 3 THE FITVID MODEL . Striving for simplicity , we propose the FitVid model for stochastic video prediction , a convolutional non-hierarchical variational model with a fixed prior . In this section we will describe the proposed model and arcitecture which is also visualized in Fig 2 . The appendix includes more architecture details and the code is available in Supplementary Material . 3.1 VARIATIONAL VIDEO PREDICTION WITH FIXED PRIOR . Following prior work ( Finn et al. , 2016a ; Babaeizadeh et al. , 2018 ; Denton & Fergus , 2018 ; Rubinstein , 1997 ; Oprea et al. , 2020 ; Wu et al. , 2021a ) , we define the problem of pixel-level video prediction as follows : given the first c frame of a video x < c = x0 , x1 , . . . , xc−1 , our goal is to predict the future frames by sampling from p ( xc : T |x < c ) . Optionally , the predictive model can be conditioned on additional given information at , such as the actions that the agents in the video are planning to take . This is typically called action-conditioned video prediction . Variational video prediction ( Babaeizadeh et al. , 2018 ) follows the variational auto-encoder ( Kingma & Welling , 2014 ) formalism by introducing a set of latent variables z to capture the inherent stochasticity of the problem . We factorize the likelihood model to ∏T t=c pθ ( xt|x < t , z≤t ) which is parametrized in an autoregressive manner over time ; i.e . at each timestep t the video frame xt and the latent variables zt are conditioned on the past latent samples and frames . For inference , we need to compute a marginalized distribution over the latent variables z , which is intractable . To overcome this problem , we use variation inference ( Jordan et al. , 1999 ) by defining an amortized approximate posterior q ( z|x ) = ∏ t q ( zt|z < t , x≤t ) that approximates the posterior distribution p ( z|x ) . The approximated posterior is commonly modeled with an inference network qφ ( z|x ) that outputs the parameters of a conditionally Gaussian distribution N ( µφ ( x ) , σφ ( x ) ) . This network can be trained using the reparameterization trick ( Kingma & Welling , 2014 ) by optimizing the variational lower bound ( Kingma & Welling , 2014 ; Rezende et al. , 2014 ) : L ( x ) = −Eqφ ( z|x ) [ log pθ ( xt : T |x < t , z ) ] + βDKL ( qφ ( z|x ) ||p ( z ) ) where DKL is the Kullback-Leibler divergence between the approximated posterior and the fixed prior p ( z ) = N ( 0 , I ) . The hyper-parameter β represents the trade-off between minimizing frame prediction error and fitting the prior ( Higgins et al. , 2016b ; a ; Denton & Fergus , 2018 ) . For FitVid , we set β = 1 .

Summary: The paper studies conditional video prediction. In particular, it focuses on the problem of current models underfitting and not scaling to datasets. The paper proposes an architecture that is claimed capable of using parameters more efficiently in order to overfit. Then, data augmentation is introduced to improve performance for generalization. They evaluated their method against baselines on 4 datasets (Human 3.6M, KITTI, Robonet, BAIR pushing dataset). They also showed experiments to support overfitting/underfitting claims.