mtybilly/Instruct2DS huggingface dataset:
Robust Speech Recognition via Large-Scale Weak Supervision
Authors: Radford, Alec and Kim, Jong Wook and Xu, Tao and Brockman, Greg and Mcleavey, Christine and Sutskever, Ilya
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We study the capabilities of speech processing systems trained simply to predict large amounts of transcripts of audio on the internet. When scaled to 680,000 hours of multilingual and multitask supervision, the resulting models generalize well to standard benchmarks and are often competitive with prior fully supervised results without the need for any dataset specific fine-tuning. When compared to humans, the models approach their accuracy and robustness. We are releasing models and inference code to serve as a foundation for further work on robust speech processing.
Shiftable Context: Addressing Training-Inference Context Mismatch in Simultaneous Speech Translation
Authors: Raffel, Matthew and Penney, Drew and Chen, Lizhong
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Transformer models using segment-based processing have been an effective architecture for simultaneous speech translation. However, such models create a context mismatch between training and inference environments, hindering potential translation accuracy. We solve this issue by proposing Shiftable Context, a simple yet effective scheme to ensure that consistent segment and context sizes are maintained throughout training and inference, even with the presence of partially filled segments due to the streaming nature of simultaneous translation. Shiftable Context is also broadly applicable to segment-based transformers for streaming tasks. Our experiments on the English-German, English-French, and English-Spanish language pairs from the MUST-C dataset demonstrate that when applied to the Augmented Memory Transformer, a state-of-the-art model for simultaneous speech translation, the proposed scheme achieves an average increase of 2.09, 1.83, and 1.95 BLEU scores across each wait-k value for the three language pairs, respectively, with a minimal impact on computation-aware Average Lagging.
Sequential Multi-Dimensional Self-Supervised Learning for Clinical Time Series
Authors: Raghu, Aniruddh and Chandak, Payal and Alam, Ridwan and Guttag, John and Stultz, Collin
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Self-supervised learning (SSL) for clinical time series data has received significant attention in recent literature, since these data are highly rich and provide important information about a patient’s physiological state. However, most existing SSL methods for clinical time series are limited in that they are designed for unimodal time series, such as a sequence of structured features (e.g., lab values and vitals signs) or an individual high-dimensional physiological signal (e.g., an electrocardiogram). These existing methods cannot be readily extended to model time series that exhibit multimodality, with structured features and high-dimensional data being recorded at each timestep in the sequence. In this work, we address this gap and propose a new SSL method — Sequential Multi-Dimensional SSL — where a SSL loss is applied both at the level of the entire sequence and at the level of the individual high-dimensional data points in the sequence in order to better capture information at both scales. Our strategy is agnostic to the specific form of loss function used at each level – it can be contrastive, as in SimCLR, or non-contrastive, as in VICReg. We evaluate our method on two real-world clinical datasets, where the time series contains sequences of (1) high-frequency electrocardiograms and (2) structured data from lab values and vitals signs. Our experimental results indicate that pre-training with our method and then fine-tuning on downstream tasks improves performance over baselines on both datasets, and in several settings, can lead to improvements across different self-supervised loss functions.
Recovery Bounds on Class-Based Optimal Transport: A Sum-of-Norms Regularization Framework
Authors: Rahbar, Arman and Panahi, Ashkan and Haghir Chehreghani, Morteza and Dubhashi, Devdatt and Krim, Hamid
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We develop a novel theoretical framework for understating Optimal Transport (OT) schemes respecting a class structure. For this purpose, we propose a convex OT program with a sum-of-norms regularization term, which provably recovers the underlying class structure under geometric assumptions. Furthermore, we derive an accelerated proximal algorithm with a closed-form projection and proximal operator scheme, thereby affording a more scalable algorithm for computing optimal transport plans. We provide a novel argument for the uniqueness of the optimum even in the absence of strong convexity. Our experiments show that the new regularizer not only results in a better preservation of the class structure in the data but also yields additional robustness to the data geometry, compared to previous regularizers.
Algorithmic Stability of Heavy-Tailed SGD with General Loss Functions
Authors: Raj, Anant and Zhu, Lingjiong and Gurbuzbalaban, Mert and Simsekli, Umut
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Heavy-tail phenomena in stochastic gradient descent (SGD) have been reported in several empirical studies. Experimental evidence in previous works suggests a strong interplay between the heaviness of the tails and generalization behavior of SGD. To address this empirical phenomena theoretically, several works have made strong topological and statistical assumptions to link the generalization error to heavy tails. Very recently, new generalization bounds have been proven, indicating a non-monotonic relationship between the generalization error and heavy tails, which is more pertinent to the reported empirical observations. While these bounds do not require additional topological assumptions given that SGD can be modeled using a heavy-tailed stochastic differential equation (SDE), they can only apply to simple quadratic problems. In this paper, we build on this line of research and develop generalization bounds for a more general class of objective functions, which includes non-convex functions as well. Our approach is based on developing Wasserstein stability bounds for heavy-tailed SDEs and their discretizations, which we then convert to generalization bounds. Our results do not require any nontrivial assumptions; yet, they shed more light to the empirical observations, thanks to the generality of the loss functions.
Mastering the Unsupervised Reinforcement Learning Benchmark from Pixels
Authors: Rajeswar, Sai and Mazzaglia, Pietro and Verbelen, Tim and Piché, Alexandre and Dhoedt, Bart and Courville, Aaron and Lacoste, Alexandre
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Controlling artificial agents from visual sensory data is an arduous task. Reinforcement learning (RL) algorithms can succeed but require large amounts of interactions between the agent and the environment. To alleviate the issue, unsupervised RL proposes to employ self-supervised interaction and learning, for adapting faster to future tasks. Yet, as shown in the Unsupervised RL Benchmark (URLB; Laskin et al. 2021), whether current unsupervised strategies can improve generalization capabilities is still unclear, especially in visual control settings. In this work, we study the URLB and propose a new method to solve it, using unsupervised model-based RL, for pre-training the agent, and a task-aware fine-tuning strategy combined with a new proposed hybrid planner, Dyna-MPC, to adapt the agent for downstream tasks. On URLB, our method obtains 93.59% overall normalized performance, surpassing previous baselines by a staggering margin. The approach is empirically evaluated through a large-scale empirical study, which we use to validate our design choices and analyze our models. We also show robust performance on the Real-Word RL benchmark, hinting at resiliency to environment perturbations during adaptation. Project website: https://masteringurlb.github.io/
SpotEM: Efficient Video Search for Episodic Memory
Authors: Ramakrishnan, Santhosh Kumar and Al-Halah, Ziad and Grauman, Kristen
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: The goal in episodic memory (EM) is to search a long egocentric video to answer a natural language query (e.g., “where did I leave my purse?”). Existing EM methods exhaustively extract expensive fixed-length clip features to look everywhere in the video for the answer, which is infeasible for long wearable-camera videos that span hours or even days. We propose SpotEM, an approach to achieve efficiency for a given EM method while maintaining good accuracy. SpotEM consists of three key ideas: 1) a novel clip selector that learns to identify promising video regions to search conditioned on the language query; 2) a set of low-cost semantic indexing features that capture the context of rooms, objects, and interactions that suggest where to look; and 3) distillation losses that address the optimization issues arising from end-to-end joint training of the clip selector and EM model. Our experiments on 200+ hours of video from the Ego4D EM Natural Language Queries benchmark and three different EM models demonstrate the effectiveness of our approach: computing only 10% – 25% of the clip features, we preserve 84% – 97% of the original EM model’s accuracy. Project page: https://vision.cs.utexas.edu/projects/spotem
How much does Initialization Affect Generalization?
Authors: Ramasinghe, Sameera and Macdonald, Lachlan Ewen and Farazi, Moshiur and Saratchandran, Hemanth and Lucey, Simon
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Characterizing the remarkable generalization properties of over-parameterized neural networks remains an open problem. A growing body of recent literature shows that the bias of stochastic gradient descent (SGD) and architecture choice implicitly leads to better generalization. In this paper, we show on the contrary that, independently of architecture, SGD can itself be the cause of poor generalization if one does not ensure good initialization. Specifically, we prove that <em>any</em> differentiably parameterized model, trained under gradient flow, obeys a weak spectral bias law which states that sufficiently high frequencies train arbitrarily slowly. This implies that very high frequencies present at initialization will remain after training, and hamper generalization. Further, we empirically test the developed theoretical insights using practical, deep networks. Finally, we contrast our framework with that supplied by the <em>flat-minima</em> conjecture and show that Fourier analysis grants a more reliable framework for understanding the generalization of neural networks.
Model Ratatouille: Recycling Diverse Models for Out-of-Distribution Generalization
Authors: Rame, Alexandre and Ahuja, Kartik and Zhang, Jianyu and Cord, Matthieu and Bottou, Leon and Lopez-Paz, David
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Foundation models are redefining how AI systems are built. Practitioners now follow a standard procedure to build their machine learning solutions: from a pre-trained foundation model, they fine-tune the weights on the target task of interest. So, the Internet is swarmed by a handful of foundation models fine-tuned on many diverse tasks: these individual fine-tunings exist in isolation without benefiting from each other. In our opinion, this is a missed opportunity, as these specialized models contain rich and diverse features. In this paper, we thus propose model ratatouille, a new strategy to recycle the multiple fine-tunings of the same foundation model on diverse auxiliary tasks. Specifically, we repurpose these auxiliary weights as initializations for multiple parallel fine-tunings on the target task; then, we average all fine-tuned weights to obtain the final model. This recycling strategy aims at maximizing the diversity in weights by leveraging the diversity in auxiliary tasks. Empirically, it improves the state of the art on the reference DomainBed benchmark for out-of-distribution generalization. Looking forward, this work contributes to the emerging paradigm of updatable machine learning where, akin to open-source software development, the community collaborates to reliably update machine learning models.
A Picture of the Space of Typical Learnable Tasks
Authors: Ramesh, Rahul and Mao, Jialin and Griniasty, Itay and Yang, Rubing and Teoh, Han Kheng and Transtrum, Mark and Sethna, James and Chaudhari, Pratik
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We develop information geometric techniques to understand the representations learned by deep networks when they are trained on different tasks using supervised, meta-, semi-supervised and contrastive learning. We shed light on the following phenomena that relate to the structure of the space of tasks: (1) the manifold of probabilistic models trained on different tasks using different representation learning methods is effectively low-dimensional; (2) supervised learning on one task results in a surprising amount of progress even on seemingly dissimilar tasks; progress on other tasks is larger if the training task has diverse classes; (3) the structure of the space of tasks indicated by our analysis is consistent with parts of the Wordnet phylogenetic tree; (4) episodic meta-learning algorithms and supervised learning traverse different trajectories during training but they fit similar models eventually; (5) contrastive and semi-supervised learning methods traverse trajectories similar to those of supervised learning. We use classification tasks constructed from the CIFAR-10 and Imagenet datasets to study these phenomena. Code is available at https://github.com/grasp-lyrl/picture_of_space_of_tasks.
Policy Regularization with Dataset Constraint for Offline Reinforcement Learning
Authors: Ran, Yuhang and Li, Yi-Chen and Zhang, Fuxiang and Zhang, Zongzhang and Yu, Yang
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We consider the problem of learning the best possible policy from a fixed dataset, known as offline Reinforcement Learning (RL). A common taxonomy of existing offline RL works is policy regularization, which typically constrains the learned policy by distribution or support of the behavior policy. However, distribution and support constraints are overly conservative since they both force the policy to choose similar actions as the behavior policy when considering particular states. It will limit the learned policy’s performance, especially when the behavior policy is sub-optimal. In this paper, we find that regularizing the policy towards the nearest state-action pair can be more effective and thus propose Policy Regularization with Dataset Constraint (PRDC). When updating the policy in a given state, PRDC searches the entire dataset for the nearest state-action sample and then restricts the policy with the action of this sample. Unlike previous works, PRDC can guide the policy with proper behaviors from the dataset, allowing it to choose actions that do not appear in the dataset along with the given state. It is a softer constraint but still keeps enough conservatism from out-of-distribution actions. Empirical evidence and theoretical analysis show that PRDC can alleviate offline RL’s fundamentally challenging value overestimation issue with a bounded performance gap. Moreover, on a set of locomotion and navigation tasks, PRDC achieves state-of-the-art performance compared with existing methods. Code is available at https://github.com/LAMDA-RL/PRDC
SpENCNN: Orchestrating Encoding and Sparsity for Fast Homomorphically Encrypted Neural Network Inference
Authors: Ran, Ran and Luo, Xinwei and Wang, Wei and Liu, Tao and Quan, Gang and Xu, Xiaolin and Ding, Caiwen and Wen, Wujie
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Homomorphic Encryption (HE) is a promising technology to protect clients’ data privacy for Machine Learning as a Service (MLaaS) on public clouds. However, HE operations can be orders of magnitude slower than their counterparts for plaintexts and thus result in prohibitively high inference latency, seriously hindering the practicality of HE. In this paper, we propose a HE-based fast neural network (NN) inference framework–SpENCNN built upon the co-design of HE operation-aware model sparsity and the single-instruction-multiple-data (SIMD)-friendly data packing, to improve NN inference latency. In particular, we first develop an encryption-aware HE-group convolution technique that can partition channels among different groups based on the data size and ciphertext size, and then encode them into the same ciphertext by novel group-interleaved encoding, so as to dramatically reduce the number of bottlenecked operations in HE convolution. We further tailor a HE-friendly sub-block weight pruning to reduce the costly HE-based convolution operation. Our experiments show that SpENCNN can achieve overall speedups of 8.37$\times$, 12.11$\times$, 19.26$\times$, and 1.87$\times$ for LeNet, VGG-5, HEFNet, and ResNet-20 respectively, with negligible accuracy loss. Our code is publicly available at https://github.com/ranran0523/SPECNN.
Feature learning in deep classifiers through Intermediate Neural Collapse
Authors: Rangamani, Akshay and Lindegaard, Marius and Galanti, Tomer and Poggio, Tomaso A
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: In this paper, we conduct an empirical study of the feature learning process in deep classifiers. Recent research has identified a training phenomenon called Neural Collapse (NC), in which the top-layer feature embeddings of samples from the same class tend to concentrate around their means, and the top layer’s weights align with those features. Our study aims to investigate if these properties extend to intermediate layers. We empirically study the evolution of the covariance and mean of representations across different layers and show that as we move deeper into a trained neural network, the within-class covariance decreases relative to the between-class covariance. Additionally, we find that in the top layers, where the between-class covariance is dominant, the subspace spanned by the class means aligns with the subspace spanned by the most significant singular vector components of the weight matrix in the corresponding layer. Finally, we discuss the relationship between NC and Associative Memories (Willshaw et. al. 1969).
The Unintended Consequences of Discount Regularization: Improving Regularization in Certainty Equivalence Reinforcement Learning
Authors: Rathnam, Sarah and Parbhoo, Sonali and Pan, Weiwei and Murphy, Susan and Doshi-Velez, Finale
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Discount regularization, using a shorter planning horizon when calculating the optimal policy, is a popular choice to restrict planning to a less complex set of policies when estimating an MDP from sparse or noisy data (Jiang et al., 2015). It is commonly understood that discount regularization functions by de-emphasizing or ignoring delayed effects. In this paper, we reveal an alternate view of discount regularization that exposes unintended consequences. We demonstrate that planning under a lower discount factor produces an identical optimal policy to planning using any prior on the transition matrix that has the same distribution for all states and actions. In fact, it functions like a prior with stronger regularization on state-action pairs with more transition data. This leads to poor performance when the transition matrix is estimated from data sets with uneven amounts of data across state-action pairs. Our equivalence theorem leads to an explicit formula to set regularization parameters locally for individual state-action pairs rather than globally. We demonstrate the failures of discount regularization and how we remedy them using our state-action-specific method across simple empirical examples as well as a medical cancer simulator.
Beam Tree Recursive Cells
Authors: Ray Chowdhury, Jishnu and Caragea, Cornelia
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We propose Beam Tree Recursive Cell (BT-Cell) - a backpropagation-friendly framework to extend Recursive Neural Networks (RvNNs) with beam search for latent structure induction. We further extend this framework by proposing a relaxation of the hard top-$k$ operators in beam search for better propagation of gradient signals. We evaluate our proposed models in different out-of-distribution splits in both synthetic and realistic data. Our experiments show that BT-Cell achieves near-perfect performance on several challenging structure-sensitive synthetic tasks like ListOps and logical inference while maintaining comparable performance in realistic data against other RvNN-based models. Additionally, we identify a previously unknown failure case for neural models in generalization to unseen number of arguments in ListOps. The code is available at: https://github.com/JRC1995/BeamTreeRecursiveCells.
Monotonic Location Attention for Length Generalization
Authors: Ray Chowdhury, Jishnu and Caragea, Cornelia
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We explore different ways to utilize position-based cross-attention in seq2seq networks to enable length generalization in algorithmic tasks. We show that a simple approach of interpolating the original and reversed encoded representations combined with relative attention allows near-perfect length generalization for both forward and reverse lookup tasks or copy tasks that had been generally hard to tackle. We also devise harder diagnostic tasks where the relative distance of the ideal attention position varies with timestep. In such settings, the simple interpolation trick with relative attention is not sufficient. We introduce novel variants of location attention building on top of Dubois et al. (2020) to address the new diagnostic tasks. We also show the benefits of our approaches for length generalization in SCAN (Lake & Baroni, 2018) and CFQ (Keysers et al.,2020). Our code is available on GitHub.
Automated Search for Conjectures on Mathematical Constants using Analysis of Integer Sequences
Authors: Razon, Ofir and Harris, Yoav and Gottlieb, Shahar and Carmon, Dan and David, Ofir and Kaminer, Ido
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: The discovery of formulas involving mathematical constants such as $π$ and $e$ had a great impact on various fields of science and mathematics. However, such discoveries have remained scarce, relying on the intuition of mathematicians such as Ramanujan and Gauss. Recent efforts to automate such discoveries, such as the Ramanujan Machine project, relied solely on exhaustive search and remain limited by the space of options that can be covered. Here we propose a fundamentally different method to search for conjectures on mathematical constants: through analysis of integer sequences. We introduce the Enumerated Signed-continued-fraction Massey Approve (ESMA) algorithm, which builds on the Berlekamp-Massey algorithm to identify patterns in integer sequences that represent mathematical constants. ESMA has found various known formulas and new conjectures for $e, e^2, \tan(1)$, and ratios of values of Bessel functions, many of which provide faster numerical convergence than their corresponding simple continued fractions forms. We also characterize the space of constants that ESMA can catch and quantify its algorithmic advantage in certain scenarios. Altogether, this work continues the development toward algorithm-augmented mathematical intuition, to help accelerate mathematical research.
Neural networks trained with SGD learn distributions of increasing complexity
Authors: Refinetti, Maria and Ingrosso, Alessandro and Goldt, Sebastian
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: The uncanny ability of over-parameterised neural networks to generalise well has been explained using various "simplicity biases". These theories postulate that neural networks avoid overfitting by first fitting simple, linear classifiers before learning more complex, non-linear functions. Meanwhile, data structure is also recognised as a key ingredient for good generalisation, yet its role in simplicity biases is not yet understood. Here, we show that neural networks trained using stochastic gradient descent initially classify their inputs using lower-order input statistics, like mean and covariance, and exploit higher-order statistics only later during training. We first demonstrate this <b>distributional simplicity bias</b> (DSB) in a solvable model of a single neuron trained on synthetic data. We then demonstrate DSB empirically in a range of deep convolutional networks and visual transformers trained on CIFAR10, and show that it even holds in networks pre-trained on ImageNet. We discuss the relation of DSB to other simplicity biases and consider its implications for the principle of Gaussian universality in learning.
Simplex Random Features
Authors: Reid, Isaac and Choromanski, Krzysztof Marcin and Likhosherstov, Valerii and Weller, Adrian
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We present Simplex Random Features (SimRFs), a new random feature (RF) mechanism for unbiased approximation of the softmax and Gaussian kernels by geometrical correlation of random projection vectors. We prove that SimRFs provide the smallest possible mean square error (MSE) on unbiased estimates of these kernels among the class of weight-independent geometrically-coupled positive random feature (PRF) mechanisms, substantially outperforming the previously most accurate Orthogonal Random Features (ORFs) at no observable extra cost. We present a more computationally expensive SimRFs+ variant, which we prove is asymptotically optimal in the broader family of weight-dependent geometrical coupling schemes (which permit correlations between random vector directions and norms). In extensive empirical studies, we show consistent gains provided by SimRFs in settings including pointwise kernel estimation, nonparametric classification and scalable Transformers.
Bayesian Neural Networks Avoid Encoding Complex and Perturbation-Sensitive Concepts
Authors: Ren, Qihan and Deng, Huiqi and Chen, Yunuo and Lou, Siyu and Zhang, Quanshi
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: In this paper, we focus on mean-field variational Bayesian Neural Networks (BNNs) and explore the representation capacity of such BNNs by investigating which types of concepts are less likely to be encoded by the BNN. It has been observed and studied that a relatively small set of interactive concepts usually emerge in the knowledge representation of a sufficiently-trained neural network, and such concepts can faithfully explain the network output. Based on this, our study proves that compared to standard deep neural networks (DNNs), it is less likely for BNNs to encode complex concepts. Experiments verify our theoretical proofs. Note that the tendency to encode less complex concepts does not necessarily imply weak representation power, considering that complex concepts exhibit low generalization power and high adversarial vulnerability. The code is available at https://github.com/sjtu-xai-lab/BNN-concepts.
Escaping saddle points in zeroth-order optimization: the power of two-point estimators
Authors: Ren, Zhaolin and Tang, Yujie and Li, Na
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Two-point zeroth order methods are important in many applications of zeroth-order optimization arising in robotics, wind farms, power systems, online optimization, and adversarial robustness to black-box attacks in deep neural networks, where the problem can be high-dimensional and/or time-varying. Furthermore, such problems may be nonconvex and contain saddle points. While existing works have shown that zeroth-order methods utilizing $Ømega(d)$ function valuations per iteration (with $d$ denoting the problem dimension) can escape saddle points efficiently, it remains an open question if zeroth-order methods based on two-point estimators can escape saddle points. In this paper, we show that by adding an appropriate isotropic perturbation at each iteration, a zeroth-order algorithm based on $2m$ (for any $1 łeq m łeq d$) function evaluations per iteration can not only find $ε$-second order stationary points polynomially fast, but do so using only $\tildeO(\fracdmε^2\barψ)$ function evaluations, where $\barψ ≥ \tildeØmega(\sqrtε)$ is a parameter capturing the extent to which the function of interest exhibits the strict saddle property.
Dimension-independent Certified Neural Network Watermarks via Mollifier Smoothing
Authors: Ren, Jiaxiang and Zhou, Yang and Jin, Jiayin and Lyu, Lingjuan and Yan, Da
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Certified_Watermarks is the first to provide a watermark certificate against $l_2$-norm watermark removal attacks, by leveraging the randomized smoothing techniques for certified robustness to adversarial attacks. However, the randomized smoothing techniques suffer from hardness of certified robustness in high-dimensional space against $l_p$-norm attacks for large $p$ ($p>2$). The certified watermark method based on the randomized smoothing is no exception, i.e., fails to provide meaningful certificates in high-dimensional space against the $l_p$-norm watermark removal attacks ($p>2$). By leveraging mollifier theory, this paper proposes a mollifier smoothing method with dimension-independent certified radius of our proposed smooth classifier, for conducting the certified watermark problem against the $l_p$-norm watermark removal attacks ($1 łeq p łeq ınfty$) for high parameter dimension $d$. Based on partial differential equation (PDE) theory, an approximation of mollifier smoothing is developed to alleviate the inefficiency of sampling and prediction in the randomized smoothing as well as numerical integration in the mollifier smoothing, while maintaining the certified watermark against the $l_p$-norm watermark removal attacks ($1 łeq p łeq ınfty$).
Feature Programming for Multivariate Time Series Prediction
Authors: Reneau, Alex Daniel and Hu, Jerry Yao-Chieh and Gilani, Ammar and Liu, Han
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We introduce the concept of programmable feature engineering for time series modeling and propose a feature programming framework. This framework generates large amounts of predictive features for noisy multivariate time series while allowing users to incorporate their inductive bias with minimal effort. The key motivation of our framework is to view any multivariate time series as a cumulative sum of fine-grained trajectory increments, with each increment governed by a novel spin-gas dynamical Ising model. This fine-grained perspective motivates the development of a parsimonious set of operators that summarize multivariate time series in an abstract fashion, serving as the foundation for large-scale automated feature engineering. Numerically, we validate the efficacy of our method on several synthetic and real-world noisy time series datasets.
Run-off Election: Improved Provable Defense against Data Poisoning Attacks
Authors: Rezaei, Keivan and Banihashem, Kiarash and Chegini, Atoosa and Feizi, Soheil
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: In data poisoning attacks, an adversary tries to change a model’s prediction by adding, modifying, or removing samples in the training data. Recently, <em>ensemble-based</em> approaches for obtaining <em>provable</em> defenses against data poisoning have been proposed where predictions are done by taking a majority vote across multiple base models. In this work, we show that merely considering the majority vote in ensemble defenses is wasteful as it does not effectively utilize available information in the logits layers of the base models. Instead, we propose <em>Run-Off Election (ROE)</em>, a novel aggregation method based on a two-round election across the base models: In the first round, models vote for their preferred class and then a second, <em>Run-Off</em> election is held between the top two classes in the first round. Based on this approach, we propose DPA+ROE and FA+ROE defense methods based on Deep Partition Aggregation (DPA) and Finite Aggregation (FA) approaches from prior work. We evaluate our methods on MNIST, CIFAR-10, and GTSRB and obtain improvements in certified accuracy by up to $3%$-$4%$. Also, by applying ROE on a boosted version of DPA, we gain improvements around $12%$-$27%$ comparing to the current state-of-the-art, establishing <b>a new state-of-the-art</b> in (pointwise) certified robustness against data poisoning. In many cases, our approach outperforms the state-of-the-art, even when using 32 times less computational power.
Learning Control-Oriented Dynamical Structure from Data
Authors: Richards, Spencer M. and Slotine, Jean-Jacques and Azizan, Navid and Pavone, Marco
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a stable closed-loop system. For general nonlinear models, including those fit to data, there may not be enough known structure to reliably synthesize a stabilizing feedback controller. In this paper, we discuss a state-dependent nonlinear tracking controller formulation based on a state-dependent Riccati equation for general nonlinear control-affine systems. This formulation depends on a nonlinear factorization of the system of vector fields defining the control-affine dynamics, which always exists under mild smoothness assumptions. We propose a method for learning this factorization from a finite set of data. On a variety of simulated nonlinear dynamical systems, we empirically demonstrate the efficacy of learned versions of this controller in stable trajectory tracking. Alongside our learning method, we evaluate recent ideas in jointly learning a controller and stabilizability certificate for known dynamical systems; we show experimentally that such methods can be frail in comparison.
The Edge of Orthogonality: A Simple View of What Makes BYOL Tick
Authors: Richemond, Pierre Harvey and Tam, Allison and Tang, Yunhao and Strub, Florian and Piot, Bilal and Hill, Felix
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Self-predictive unsupervised learning methods such as BYOL or SimSIAM have shown impressive results, and counter-intuitively, do not collapse to trivial representations. In this work, we aim at exploring the simplest possible mathematical arguments towards explaining the underlying mechanisms behind self-predictive unsupervised learning. We start with the observation that those methods crucially rely on the presence of a predictor network (and stop-gradient). With simple linear algebra, we show that when using a linear predictor, the optimal predictor is close to an orthogonal projection, and propose a general framework based on orthonormalization that enables to interpret and give intuition on why BYOL works. In addition, this framework demonstrates the crucial role of the exponential moving average and stop-gradient operator in BYOL as an efficient orthonormalization mechanism. We use these insights to propose four new closed-form predictor variants of BYOL to support our analysis. Our closed-form predictors outperform standard linear trainable predictor BYOL at 100 and 300 epochs (top-1 linear accuracy on ImageNet).
Multi-Agent Best Arm Identification with Private Communications
Authors: Rio, Alexandre and Barlier, Merwan and Colin, Igor and Soare, Marta
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We address multi-agent best arm identification with privacy guarantees. In this setting, agents collaborate by communicating to find the optimal arm. To avoid leaking sensitive data through messages, we consider two notions of privacy withholding different kinds of information: differential privacy and $(ε, η)$-privacy. For each privacy definition, we propose an algorithm based on a two-level successive elimination scheme. We provide theoretical guarantees for the privacy level, accuracy and sample complexity of our algorithms. Experiments on various settings support our theoretical findings.
A Two-Stage Active Learning Algorithm for k-Nearest Neighbors
Authors: Rittler, Nicholas and Chaudhuri, Kamalika
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: $k$-nearest neighbor classification is a popular non-parametric method because of desirable properties like automatic adaption to distributional scale changes. Unfortunately, it has thus far proved difficult to design active learning strategies for the training of local voting-based classifiers that naturally retain these desirable properties, and hence active learning strategies for $k$-nearest neighbor classification have been conspicuously missing from the literature. In this work, we introduce a simple and intuitive active learning algorithm for the training of $k$-nearest neighbor classifiers, the first in the literature which retains the concept of the $k$-nearest neighbor vote at prediction time. We provide consistency guarantees for a modified $k$-nearest neighbors classifier trained on samples acquired via our scheme, and show that when the conditional probability function $ℙ(Y=y|X=x)$ is sufficiently smooth and the Tsybakov noise condition holds, our actively trained classifiers converge to the Bayes optimal classifier at a faster asymptotic rate than passively trained $k$-nearest neighbor classifiers.
Lowering the Pre-training Tax for Gradient-based Subset Training: A Lightweight Distributed Pre-Training Toolkit
Authors: Ro, Yeonju and Wang, Zhangyang and Chidambaram, Vijay and Akella, Aditya
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Training data and model sizes are increasing exponentially. One way to reduce training time and resources is to train with a carefully selected subset of the full dataset. Prior work uses the gradient signals obtained during a warm-up or “pre-training" phase over the full dataset, for determining the core subset; if the pre-training phase is too small, the gradients obtained are chaotic and unreliable. As a result, the pre-training phase itself incurs significant time/resource overhead, and prior work has not gone beyond hyperparameter search to reduce pre-training time. Our work explicitly aims to reduce this $\textbfpre-training tax$ in gradient-based subset training. We develop a principled, scalable approach for pre-training in a distributed setup. Our approach is $\textitlightweight$ and $\textitminimizes communication$ between distributed worker nodes. It is the first to utilize the concept of model-soup based distributed training $\textitat initialization$. The key idea is to minimally train an ensemble of models on small, disjointed subsets of the data; we further employ data-driven sparsity and data augmentation for local worker training to boost ensemble diversity. The centralized model, obtained at the end of pre-training by merging the per-worker models, is found to offer stabilized gradient signals to select subsets, on which the main model is further trained. We have validated the effectiveness of our method through extensive experiments on CIFAR-10/100, and ImageNet, using ResNet and WideResNet models. For example, our approach is shown to achieve $\textbf15.4$\times$$ pre-training speedup and $\textbf2.8$\times$$ end-to-end speedup on CIFAR10 and ResNet18 without loss of accuracy. The code is at https://github.com/moonbucks/LiPT.git.
The Role of Entropy and Reconstruction in Multi-View Self-Supervised Learning
Authors: Rodríguez Gálvez, Borja and Blaas, Arno and Rodriguez, Pau and Golinski, Adam and Suau, Xavier and Ramapuram, Jason and Busbridge, Dan and Zappella, Luca
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: The mechanisms behind the success of multi-view self-supervised learning (MVSSL) are not yet fully understood. Contrastive MVSSL methods have been studied through the lens of InfoNCE, a lower bound of the Mutual Information (MI). However, the relation between other MVSSL methods and MI remains unclear. We consider a different lower bound on the MI consisting of an entropy and a reconstruction term (ER), and analyze the main MVSSL families through its lens. Through this ER bound, we show that clustering-based methods such as DeepCluster and SwAV maximize the MI. We also re-interpret the mechanisms of distillation-based approaches such as BYOL and DINO, showing that they explicitly maximize the reconstruction term and implicitly encourage a stable entropy, and we confirm this empirically. We show that replacing the objectives of common MVSSL methods with this ER bound achieves competitive performance, while making them stable when training with smaller batch sizes or smaller exponential moving average (EMA) coefficients.
RLang: A Declarative Language for Describing Partial World Knowledge to Reinforcement Learning Agents
Authors: Rodriguez-Sanchez, Rafael and Spiegel, Benjamin Adin and Wang, Jennifer and Patel, Roma and Tellex, Stefanie and Konidaris, George
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We introduce RLang, a domain-specific language (DSL) for communicating domain knowledge to an RL agent. Unlike existing RL DSLs that ground to $\textitsingle$ elements of a decision-making formalism (e.g., the reward function or policy), RLang can specify information about every element of a Markov decision process. We define precise syntax and grounding semantics for RLang, and provide a parser that grounds RLang programs to an algorithm-agnostic $\textitpartial$ world model and policy that can be exploited by an RL agent. We provide a series of example RLang programs demonstrating how different RL methods can exploit the resulting knowledge, encompassing model-free and model-based tabular algorithms, policy gradient and value-based methods, hierarchical approaches, and deep methods.
Improving Fair Training under Correlation Shifts
Authors: Roh, Yuji and Lee, Kangwook and Whang, Steven Euijong and Suh, Changho
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Model fairness is an essential element for Trustworthy AI. While many techniques for model fairness have been proposed, most of them assume that the training and deployment data distributions are identical, which is often not true in practice. In particular, when the bias between labels and sensitive groups changes, the fairness of the trained model is directly influenced and can worsen. We make two contributions for solving this problem. First, we analytically show that existing in-processing fair algorithms have fundamental limits in accuracy and group fairness. We utilize the notion of correlation shifts between labels and groups, which can explicitly capture the change of the above bias. Second, we propose a novel pre-processing step that samples the input data to reduce correlation shifts and thus enables the in-processing approaches to overcome their limitations. We formulate an optimization problem for adjusting the data ratio among labels and sensitive groups to reflect the shifted correlation. A key benefit of our approach lies in decoupling the roles of pre- and in-processing approaches: correlation adjustment via pre-processing and unfairness mitigation on the processed data via in-processing. Experiments show that our framework effectively improves existing in-processing fair algorithms w.r.t. accuracy and fairness, both on synthetic and real datasets.
The Statistical Benefits of Quantile Temporal-Difference Learning for Value Estimation
Authors: Rowland, Mark and Tang, Yunhao and Lyle, Clare and Munos, Remi and Bellemare, Marc G and Dabney, Will
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: We study the problem of temporal-difference-based policy evaluation in reinforcement learning. In particular, we analyse the use of a distributional reinforcement learning algorithm, quantile temporal-difference learning (QTD), for this task. We reach the surprising conclusion that even if a practitioner has no interest in the return distribution beyond the mean, QTD (which learns predictions about the full distribution of returns) may offer performance superior to approaches such as classical TD learning, which predict only the mean return, even in the tabular setting.
Robust Satisficing MDPs
Authors: Ruan, Haolin and Zhou, Siyu and Chen, Zhi and Ho, Chin Pang
Published in: Proceedings of the 40th International Conference on Machine Learning (Main Conference Track), 2023

Abstract: Despite being a fundamental building block for reinforcement learning, Markov decision processes (MDPs) often suffer from ambiguity in model parameters. Robust MDPs are proposed to overcome this challenge by optimizing the worst-case performance under ambiguity. While robust MDPs can provide reliable policies with limited data, their worst-case performances are often overly conservative, and so they do not offer practical insights into the actual performance of these reliable policies. This paper proposes robust satisficing MDPs (RSMDPs), where the expected returns of feasible policies are softly-constrained to achieve a user-specified target under ambiguity. We derive a tractable reformulation for RSMDPs and develop a first-order method for solving large instances. Experimental results demonstrate that RSMDPs can prescribe policies to achieve their targets, which are much higher than the optimal worst-case returns computed by robust MDPs. Moreover, the average and percentile performances of our model are competitive among other models. We also demonstrate the scalability of the proposed algorithm compared with a state-of-the-art commercial solver.