Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of invariance useful for recognition. In this paper, we propose to exploit different self-supervised approaches to learn representations invariant to (i) inter-instance variations (two objects in the same class should have similar features) and (ii) intra-instance variations (viewpoint, pose, deformations, illumination, etc). Instead of combining two approaches with multi-task learning, we argue to organize and reason the data with multiple variations. Specifically, we propose to generate a graph with millions of objects mined from hundreds of thousands of videos. The objects are connected by two types of edges which correspond to two types of invariance: "different instances but a similar viewpoint and category" and "different viewpoints of the same instance". By applying simple transitivity on the graph with these edges, we can obtain pairs of images exhibiting richer visual invariance. We use this data to train a Triplet-Siamese network with VGG16 as the base architecture and apply the learned representations to different recognition tasks. For object detection, we achieve 63.2 mAP on PASCAL VOC 2007 using Fast R-CNN (compare to 67.3 with ImageNet pre-training). For the challenging COCO dataset, our method is surprisingly close (23.5 ) to the ImageNet-supervised counterpart (24.4 ) using the Faster R-CNN framework. We also show that our network can perform significantly better than the ImageNet network in the surface normal estimation task.
Our generic framework can be instantiated by any two self-supervised methods that can respectively learn inter- intra-instance invariance. In this paper we adopt Doersch al's @cite_40 context prediction method to build inter-instance invariance, and Wang and Gupta's @cite_4 tracking method to build intra-instance invariance. We analyze their behaviors as follows.
@cite_40 @cite_4
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We describe an end-to-end framework for learning parameters of min-cost flow multitarget tracking problem with quadratic trajectory interactions including suppression of overlapping tracks and contextual cues about co-occurrence of different objects. Our approach utilizes structured prediction with a tracking-specific loss function to learn the complete set of model parameters. Under our learning framework, we evaluate two different approaches to finding an optimal set of tracks under quadratic model objective based on an LP relaxation and a novel greedy extension to dynamic programming that handles pairwise interactions. We find the greedy algorithm achieves almost equivalent accuracy to the LP relaxation while being 2-7x faster than a commercial solver. We evaluate trained models on the challenging MOT and KITTI benchmarks. Surprisingly, we find that with proper parameter learning, our simple data-association model without explicit appearance motion reasoning is able to outperform many state-of-the-art methods that use far more complex motion features and affinity metric learning. Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of invariance useful for recognition. In this paper, we propose to exploit different self-supervised approaches to learn representations invariant to (i) inter-instance variations (two objects in the same class should have similar features) and (ii) intra-instance variations (viewpoint, pose, deformations, illumination, etc.). Instead of combining two approaches with multi-task learning, we argue to organize and reason the data with multiple variations. Specifically, we propose to generate a graph with millions of objects mined from hundreds of thousands of videos. The objects are connected by two types of edges which correspond to two types of invariance: “different instances but a similar viewpoint and category” and “different viewpoints of the same instance”. By applying simple transitivity on the graph with these edges, we can obtain pairs of images exhibiting richer visual invariance. We use this data to train a Triplet-Siamese network with VGG16 as the base architecture and apply the learned representations to different recognition tasks. For object detection, we achieve 63.2 mAP on PASCAL VOC 2007 using Fast R-CNN (compare to 67.3 with ImageNet pre-training). For the challenging COCO dataset, our method is surprisingly close (23.5 ) to the ImageNet-supervised counterpart (24.4 ) using the Faster R-CNN framework. We also show that our network can perform significantly better than the ImageNet network in the surface normal estimation task. Learning, planning, and representing knowledge at multiple levels of temporal ab- straction are key, longstanding challenges for AI. In this paper we consider how these challenges can be addressed within the mathematical framework of reinforce- ment learning and Markov decision processes (MDPs). We extend the usual notion of action in this framework to include options—closed-loop policies for taking ac- tion over a period of time. Examples of options include picking up an object, going to lunch, and traveling to a distant city, as well as primitive actions such as mus- cle twitches and joint torques. Overall, we show that options enable temporally abstract knowledge and action to be included in the reinforcement learning frame- work in a natural and general way. In particular, we show that options may be used interchangeably with primitive actions in planning methods such as dynamic pro- gramming and in learning methods such as Q-learning. Formally, a set of options defined over an MDP constitutes a semi-Markov decision process (SMDP), and the theory of SMDPs provides the foundation for the theory of options. However, the most interesting issues concern the interplay between the underlying MDP and the SMDP and are thus beyond SMDP theory. We present results for three such cases: 1) we show that the results of planning with options can be used during execution to interrupt options and thereby perform even better than planned, 2) we introduce new intra-option methods that are able to learn about an option from fragments of its execution, and 3) we propose a notion of subgoal that can be used to improve the options themselves. All of these results have precursors in the existing literature; the contribution of this paper is to establish them in a simpler and more general setting with fewer changes to the existing reinforcement learning framework. In particular, we show that these results can be obtained without committing to (or ruling out) any particular approach to state abstraction, hierarchy, function approximation, or the macro-utility problem. Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of invariance useful for recognition. In this paper, we propose to exploit different self-supervised approaches to learn representations invariant to (i) inter-instance variations (two objects in the same class should have similar features) and (ii) intra-instance variations (viewpoint, pose, deformations, illumination, etc). Instead of combining two approaches with multi-task learning, we argue to organize and reason the data with multiple variations. Specifically, we propose to generate a graph with millions of objects mined from hundreds of thousands of videos. The objects are connected by two types of edges which correspond to two types of invariance: "different instances but a similar viewpoint and category" and "different viewpoints of the same instance". By applying simple transitivity on the graph with these edges, we can obtain pairs of images exhibiting richer visual invariance. We use this data to train a Triplet-Siamese network with VGG16 as the base architecture and apply the learned representations to different recognition tasks. For object detection, we achieve 63.2 mAP on PASCAL VOC 2007 using Fast R-CNN (compare to 67.3 with ImageNet pre-training). For the challenging COCO dataset, our method is surprisingly close (23.5 ) to the ImageNet-supervised counterpart (24.4 ) using the Faster R-CNN framework. We also show that our network can perform significantly better than the ImageNet network in the surface normal estimation task. We introduce a Deep Stochastic IOC RNN Encoderdecoder framework, DESIRE, for the task of future predictions of multiple interacting agents in dynamic scenes. DESIRE effectively predicts future locations of objects in multiple scenes by 1) accounting for the multi-modal nature of the future prediction (i.e., given the same context, future may vary), 2) foreseeing the potential future outcomes and make a strategic prediction based on that, and 3) reasoning not only from the past motion history, but also from the scene context as well as the interactions among the agents. DESIRE achieves these in a single end-to-end trainable neural network model, while being computationally efficient. The model first obtains a diverse set of hypothetical future prediction samples employing a conditional variational autoencoder, which are ranked and refined by the following RNN scoring-regression module. Samples are scored by accounting for accumulated future rewards, which enables better long-term strategic decisions similar to IOC frameworks. An RNN scene context fusion module jointly captures past motion histories, the semantic scene context and interactions among multiple agents. A feedback mechanism iterates over the ranking and refinement to further boost the prediction accuracy. We evaluate our model on two publicly available datasets: KITTI and Stanford Drone Dataset. Our experiments show that the proposed model significantly improves the prediction accuracy compared to other baseline methods. This paper treats tracking as a foreground background classification problem and proposes an online semi- supervised learning framework. Initialized with a small number of labeled samples, semi-supervised learning treats each new sample as unlabeled data. Classification of new data and updating of the classifier are achieved simultaneously in a co-training framework. The object is represented using independent features and an online support vector machine (SVM) is built for each feature. The predictions from different features are fused by combining the confidence map from each classifier using a classifier weighting method which creates a final classifier that performs better than any classifier based on a single feature. The semi-supervised learning approach then uses the output of the combined confidence map to generate new samples and update the SVMs online. With this approach, the tracker gains increasing knowledge of the object and background and continually improves itself over time. Compared to other discriminative trackers, the online semi-supervised learning approach improves each individual classifier using the information from other features, thus leading to a more robust tracker. Experiments show that this framework performs better than state-of-the-art tracking algorithms on challenging sequences. We present a semi-supervised learning framework based on graph embeddings. Given a graph between instances, we train an embedding for each instance to jointly predict the class label and the neighborhood context in the graph. We develop both transductive and inductive variants of our method. In the transductive variant of our method, the class labels are determined by both the learned embeddings and input feature vectors, while in the inductive variant, the embeddings are defined as a parametric function of the feature vectors, so predictions can be made on instances not seen during training. On a large and diverse set of benchmark tasks, including text classification, distantly supervised entity extraction, and entity classification, we show improved performance over many of the existing models. We present a semi-supervised learning framework based on graph embeddings. Given a graph between instances, we train an embedding for each instance to jointly predict the class label and the neighborhood context in the graph. We develop both transductive and inductive variants of our method. In the transductive variant of our method, the class labels are determined by both the learned embeddings and input feature vectors, while in the inductive variant, the embeddings are defined as a parametric function of the feature vectors, so predictions can be made on instances not seen during training. On a large and diverse set of benchmark tasks, including text classification, distantly supervised entity extraction, and entity classification, we show improved performance over many of the existing models. We develop a set of methods to improve on the results of self-supervised learning using context. We start with a baseline of patch based arrangement context learning and go from there. Our methods address some overt problems such as chromatic aberration as well as other potential problems such as spatial skew and mid-level feature neglect. We prevent problems with testing generalization on common self-supervised benchmark tests by using different datasets during our development. The results of our methods combined yield top scores on all standard self-supervised benchmarks, including classification and detection on PASCAL VOC 2007, segmentation on PASCAL VOC 2012, and "linear tests" on the ImageNet and CSAIL Places datasets. We obtain an improvement over our baseline method of between 4.0 to 7.1 percentage points on transfer learning classification tests. We also show results on different standard network architectures to demonstrate generalization as well as portability. Many applications of supervised learning require good generalization from limited labeled data. In the Bayesian setting, we can try to achieve this goal by using an informative prior over the parameters, one that encodes useful domain knowledge. Focusing on logistic regression, we present an algorithm for automatically constructing a multivariate Gaussian prior with a full covariance matrix for a given supervised learning task. This prior relaxes a commonly used but overly simplistic independence assumption, and allows parameters to be dependent. The algorithm uses other "similar" learning problems to estimate the covariance of pairs of individual parameters. We then use a semidefinite program to combine these estimates and learn a good prior for the current learning task. We apply our methods to binary text classification, and demonstrate a 20 to 40 test error reduction over a commonly used prior. We consider the problem of learning to act in partially observable, continuous-state-and-action worlds where we have abstract prior knowledge about the structure of the optimal policy in the form of a distribution over policies. Using ideas from planning-as-inference reductions and Bayesian unsupervised learning, we cast Markov Chain Monte Carlo as a stochastic, hill-climbing policy search algorithm. Importantly, this algorithm's search bias is directly tied to the prior and its MCMC proposal kernels, which means we can draw on the full Bayesian toolbox to express the search bias, including nonparametric priors and structured, recursive processes like grammars over action sequences. Furthermore, we can reason about uncertainty in the search bias itself by constructing a hierarchical prior and reasoning about latent variables that determine the abstract structure of the policy. This yields an adaptive search algorithm--our algorithm learns to learn a structured policy efficiently. We show how inference over the latent variables in these policy priors enables intra- and intertask transfer of abstract knowledge. We demonstrate the flexibility of this approach by learning meta search biases, by constructing a nonparametric finite state controller to model memory, by discovering motor primitives using a simple grammar over primitive actions, and by combining all three. We develop a set of methods to improve on the results of self-supervised learning using context. We start with a baseline of patch based arrangement context learning and go from there. Our methods address some overt problems such as chromatic aberration as well as other potential problems such as spatial skew and mid-level feature neglect. We prevent problems with testing generalization on common self-supervised benchmark tests by using different datasets during our development. The results of our methods combined yield top scores on all standard self-supervised benchmarks, including classification and detection on PASCAL VOC 2007, segmentation on PASCAL VOC 2012, and "linear tests" on the ImageNet and CSAIL Places datasets. We obtain an improvement over our baseline method of between 4.0 to 7.1 percentage points on transfer learning classification tests. We also show results on different standard network architectures to demonstrate generalization as well as portability. All data, models and programs are available at: https: gdo-datasci.llnl.gov selfsupervised . We consider Multiclass and Multilabel classification with extremely large number of classes, of which only few are labeled to each instance. In such setting, standard methods that have training, prediction cost linear to the number of classes become intractable. State-of-the-art methods thus aim to reduce the complexity by exploiting correlation between labels under assumption that the similarity between labels can be captured by structures such as low-rank matrix or balanced tree. However, as the diversity of labels increases in the feature space, structural assumption can be easily violated, which leads to degrade in the testing performance. In this work, we show that a margin-maximizing loss with l1 penalty, in case of Extreme Classification, yields extremely sparse solution both in primal and in dual without sacrificing the expressive power of predictor. We thus propose a Fully-Corrective Block-Coordinate Frank-Wolfe (FC-BCFW) algorithm that exploits both primal and dual sparsity to achieve a complexity sublinear to the number of primal and dual variables. A bi-stochastic search method is proposed to further improve the efficiency. In our experiments on both Multiclass and Multilabel problems, the proposed method achieves significant higher accuracy than existing approaches of Extreme Classification with very competitive training and prediction time. We study object recognition under the constraint that each object class is only represented by very few observations. Semi-supervised learning, transfer learning, and few-shot recognition all concern with achieving fast generalization with few labeled data. In this paper, we propose a generic framework that utilizes unlabeled data to aid generalization for all three tasks. Our approach is to create much more training data through label propagation from the few labeled examples to a vast collection of unannotated images. The main contribution of the paper is that we show such a label propagation scheme can be highly effective when the similarity metric used for propagation is transferred from other related domains. We test various combinations of supervised and unsupervised metric learning methods with various label propagation algorithms. We find that our framework is very generic without being sensitive to any specific techniques. By taking advantage of unlabeled data in this way, we achieve significant improvements on all three tasks. In this paper, we address the problem of unsupervised domain transfer learning in which no labels are available in the target domain. We use a transformation matrix to transfer both the source and target data to a common subspace, where each target sample can be represented by a combination of source samples such that the samples from different domains can be well interlaced. In this way, the discrepancy of the source and target domains is reduced. By imposing joint low-rank and sparse constraints on the reconstruction coefficient matrix, the global and local structures of data can be preserved. To enlarge the margins between different classes as much as possible and provide more freedom to diminish the discrepancy, a flexible linear classifier (projection) is obtained by learning a non-negative label relaxation matrix that allows the strict binary label matrix to relax into a slack variable matrix. Our method can avoid a potentially negative transfer by using a sparse matrix to model the noise and, thus, is more robust to different types of noise. We formulate our problem as a constrained low-rankness and sparsity minimization problem and solve it by the inexact augmented Lagrange multiplier method. Extensive experiments on various visual domain adaptation tasks show the superiority of the proposed method over the state-of-the art methods. The MATLAB code of our method will be publicly available at http: www.yongxu.org lunwen.html . We study resource-limited online learning, motivated by the problem of conditional-branch outcome prediction in computer architecture. In particular, we consider (parallel) time and space-efficient ensemble learners for online settings, empirically demonstrating benefits similar to those shown previously for offline ensembles. Our learning algorithms are inspired by the previously published “boosting by filtering” framework as well as the offline Arc-x4 boosting-style algorithm. We train ensembles of online decision trees using a novel variant of the ID4 online decision-tree algorithm as the base learner, and show empirical results for both boosting and bagging-style online ensemble methods. Our results evaluate these methods on both our branch prediction domain and online variants of three familiar machine-learning benchmarks. Our data justifies three key claims. First, we show empirically that our extensions to ID4 significantly improve performance for single trees and additionally are critical to achieving performance gains in tree ensembles. Second, our results indicate significant improvements in predictive accuracy with ensemble size for the boosting-style algorithm. The bagging algorithms we tried showed poor performance relative to the boosting-style algorithm (but still improve upon individual base learners). Third, we show that ensembles of small trees are often able to outperform large single trees with the same number of nodes (and similarly outperform smaller ensembles of larger trees that use the same total number of nodes). This makes online boosting particularly useful in domains such as branch prediction with tight space restrictions (i.e., the available real-estate on a microprocessor chip). Temporally extended actions (or macro-actions) have proven useful for speeding up planning and learning, adding robustness, and building prior knowledge into AI systems. The options framework, as introduced in Sutton, Precup and Singh (1999), provides a natural way to incorporate macro-actions into reinforcement learning. In the subgoals approach, learning is divided into two phases, first learning each option with a prescribed subgoal, and then learning to compose the learned options together. In this paper we offer a unified framework for concurrent inter- and intra-options learning. To that end, we propose a modular parameterization of intra-option policies together with option termination conditions and the option selection policy (inter options), and show that these three decision components may be viewed as a unified policy over an augmented state-action space, to which standard policy gradient algorithms may be applied. We identify the basis functions that apply to each of these decision components, and show that they possess a useful orthogonality property that allows to compute the natural gradient independently for each component. We further outline the extension of the suggested framework to several levels of options hierarchy, and conclude with a brief illustrative example. Given multiple prediction problems such as regression or classification, we are interested in a joint inference framework that can effectively share information between tasks to improve the prediction accuracy, especially when the number of training examples per problem is small. In this paper we propose a probabilistic framework which can support a set of latent variable models for different multi-task learning scenarios. We show that the framework is a generalization of standard learning methods for single prediction problems and it can effectively model the shared structure among different prediction tasks. Furthermore, we present efficient algorithms for the empirical Bayes method as well as point estimation. Our experiments on both simulated datasets and real world classification datasets show the effectiveness of the proposed models in two evaluation settings: a standard multi-task learning setting and a transfer learning setting. We consider a framework for structured prediction based on search in the space of complete structured outputs. Given a structured input, an output is produced by running a time-bounded search procedure guided by a learned cost function, and then returning the least cost output uncovered during the search. This framework can be instantiated for a wide range of search spaces and search procedures, and easily incorporates arbitrary structured-prediction loss functions. In this paper, we make two main technical contributions. First, we define the limited-discrepancy search space over structured outputs, which is able to leverage powerful classification learning algorithms to improve the search space quality. Second, we give a generic cost function learning approach, where the key idea is to learn a cost function that attempts to mimic the behavior of conducting searches guided by the true loss function. Our experiments on six benchmark domains demonstrate that using our framework with only a small amount of search is sufficient for significantly improving on state-of-the-art structured-prediction performance. We consider a framework for structured prediction based on search in the space of complete structured outputs. Given a structured input, an output is produced by running a time-bounded search procedure guided by a learned cost function, and then returning the least cost output uncovered during the search. This framework can be instantiated for a wide range of search spaces and search procedures, and easily incorporates arbitrary structured-prediction loss functions. In this paper, we make two main technical contributions. First, we define the limited-discrepancy search space over structured outputs, which is able to leverage powerful classification learning algorithms to improve the search space quality. Second, we give a generic cost function learning approach, where the key idea is to learn a cost function that attempts to mimic the behavior of conducting searches guided by the true loss function. Our experiments on six benchmark domains demonstrate that using our framework with only a small amount of search is sufficient for significantly improving on state-of-the-art structured-prediction performance.