Deep reinforcement learning (RL) has achieved many recent successes, yet experiment turn-around time remains a key bottleneck in research and in practice. We investigate how to optimize existing deep RL algorithms for modern computers, specifically for a combination of CPUs and GPUs. We confirm that both policy gradient and Q-value learning algorithms can be adapted to learn using many parallel simulator instances. We further find it possible to train using batch sizes considerably larger than are standard, without negatively affecting sample complexity or final performance. We leverage these facts to build a unified framework for parallelization that dramatically hastens experiments in both classes of algorithm. All neural network computations use GPUs, accelerating both data collection and training. Our results include using an entire NVIDIA DGX-1 to learn successful strategies in Atari games in single-digit minutes, using both synchronous and asynchronous algorithms.
Efforts to parallelize and accelerate deep RL algorithms have been underway for several years. Gorila @cite_14 parallelized DQN using distributed computing. It achieved significant although sub-linear speedups using hundreds of computing units as samplers or learners, with central parameter servers for managing parameter updates. This effort suffered in sample complexity relative to single-threaded DQN. More recently, @cite_3 showed that a distributed, prioritized replay buffer can support faster learning while using hundreds of CPU cores for simulation and a single GPU for training. The same work used increased batch sizes, with a brief study of the effect of learning rate.
@cite_14 @cite_3
2788862220 2884711234 2893662673 2120432001 2808203533 2793035934 1658008008 2963000224 2513419314 2963938771 2949980113 2221846841 2535374105 2920668770 2109722477 2749988060 1970702766 2115622196 2329068866 2953364219
Deep reinforcement learning (RL) has achieved several high profile successes in difficult decision-making problems. However, these algorithms typically require a huge amount of data before they reach reasonable performance. In fact, their performance during learning can be extremely poor. This may be acceptable for a simulator, but it severely limits the applicability of deep RL to many real-world tasks, where the agent must learn in the real environment. In this paper we study a setting where the agent may access data from previous control of the system. We present an algorithm, Deep Q-learning from Demonstrations (DQfD), that leverages small sets of demonstration data to massively accelerate the learning process even from relatively small amounts of demonstration data and is able to automatically assess the necessary ratio of demonstration data while learning thanks to a prioritized replay mechanism. DQfD works by combining temporal difference updates with supervised classification of the demonstrator's actions. We show that DQfD has better initial performance than Prioritized Dueling Double Deep Q-Networks (PDD DQN) as it starts with better scores on the first million steps on 41 of 42 games and on average it takes PDD DQN 83 million steps to catch up to DQfD's performance. DQfD learns to out-perform the best demonstration given in 14 of 42 games. In addition, DQfD leverages human demonstrations to achieve state-of-the-art results for 11 games. Finally, we show that DQfD performs better than three related algorithms for incorporating demonstration data into DQN. Synchronized stochastic gradient descent (SGD) optimizers with data parallelism are widely used in training large-scale deep neural networks. Although using larger mini-batch sizes can improve the system scalability by reducing the communication-to-computation ratio, it may hurt the generalization ability of the models. To this end, we build a highly scalable deep learning training system for dense GPU clusters with three main contributions: (1) We propose a mixed-precision training method that significantly improves the training throughput of a single GPU without losing accuracy. (2) We propose an optimization approach for extremely large mini-batch size (up to 64k) that can train CNN models on the ImageNet dataset without losing accuracy. (3) We propose highly optimized all-reduce algorithms that achieve up to 3x and 11x speedup on AlexNet and ResNet-50 respectively than NCCL-based training on a cluster with 1024 Tesla P40 GPUs. On training ResNet-50 with 90 epochs, the state-of-the-art GPU-based system with 1024 Tesla P100 GPUs spent 15 minutes and achieved 74.9 top-1 test accuracy, and another KNL-based system with 2048 Intel KNLs spent 20 minutes and achieved 75.4 accuracy. Our training system can achieve 75.8 top-1 test accuracy in only 6.6 minutes using 2048 Tesla P40 GPUs. When training AlexNet with 95 epochs, our system can achieve 58.7 top-1 test accuracy within 4 minutes, which also outperforms all other existing systems. Deep reinforcement learning (RL) algorithms have shown an impressive ability to learn complex control policies in high-dimensional environments. However, despite the ever-increasing performance on popular benchmarks such as the Arcade Learning Environment (ALE), policies learned by deep RL algorithms often struggle to generalize when evaluated in remarkably similar environments. In this paper, we assess the generalization capabilities of DQN, one of the most traditional deep RL algorithms in the field. We provide evidence suggesting that DQN overspecializes to the training environment. We comprehensively evaluate the impact of traditional regularization methods, @math -regularization and dropout, and of reusing the learned representations to improve the generalization capabilities of DQN. We perform this study using different game modes of Atari 2600 games, a recently introduced modification for the ALE which supports slight variations of the Atari 2600 games traditionally used for benchmarking. Despite regularization being largely underutilized in deep RL, we show that it can, in fact, help DQN learn more general features. These features can then be reused and fine-tuned on similar tasks, considerably improving the sample efficiency of DQN. The promise of unsupervised learning methods lies in their potential to use vast amounts of unlabeled data to learn complex, highly nonlinear models with millions of free parameters. We consider two well-known unsupervised learning models, deep belief networks (DBNs) and sparse coding, that have recently been applied to a flurry of machine learning applications (Hinton & Salakhutdinov, 2006; , 2007). Unfortunately, current learning algorithms for both models are too slow for large-scale applications, forcing researchers to focus on smaller-scale models, or to use fewer training examples. In this paper, we suggest massively parallel methods to help resolve these problems. We argue that modern graphics processors far surpass the computational capabilities of multicore CPUs, and have the potential to revolutionize the applicability of deep unsupervised learning methods. We develop general principles for massively parallelizing unsupervised learning tasks using graphics processors. We show that these principles can be applied to successfully scaling up learning algorithms for both DBNs and sparse coding. Our implementation of DBN learning is up to 70 times faster than a dual-core CPU implementation for large models. For example, we are able to reduce the time required to learn a four-layer DBN with 100 million free parameters from several weeks to around a single day. For sparse coding, we develop a simple, inherently parallel algorithm, that leads to a 5 to 15-fold speedup over previous methods. As characterizing videos simultaneously from spatial and temporal cues has been shown crucial for the video analysis, the combination of convolutional neural networks and recurrent neural networks, i.e., recurrent convolution networks (RCNs), should be a native framework for learning the spatio-temporal video features. In this paper, we develop a novel sequential vector of locally aggregated descriptor (VLAD) layer, named SeqVLAD, to combine a trainable VLAD encoding process and the RCNs architecture into a whole framework. In particular, sequential convolutional feature maps extracted from successive video frames are fed into the RCNs to learn soft spatio-temporal assignment parameters, so as to aggregate not only detailed spatial information in separate video frames but also fine motion information in successive video frames. Moreover, we improve the gated recurrent unit (GRU) of RCNs by sharing the input-to-hidden parameters and propose an improved GRU-RCN architecture named shared GRU-RCN (SGRU-RCN). Thus, our SGRU-RCN has a fewer parameters and a less possibility of overfitting. In experiments, we evaluate SeqVLAD with the tasks of video captioning and video action recognition. Experimental results on Microsoft Research Video Description Corpus, Montreal Video Annotation Dataset, UCF101, and HMDB51 demonstrate the effectiveness and good performance of our method. Deep reinforcement learning (RL) has achieved many recent successes, yet experiment turn-around time remains a key bottleneck in research and in practice. We investigate how to optimize existing deep RL algorithms for modern computers, specifically for a combination of CPUs and GPUs. We confirm that both policy gradient and Q-value learning algorithms can be adapted to learn using many parallel simulator instances. We further find it possible to train using batch sizes considerably larger than are standard, without negatively affecting sample complexity or final performance. We leverage these facts to build a unified framework for parallelization that dramatically hastens experiments in both classes of algorithm. All neural network computations use GPUs, accelerating both data collection and training. Our results include using an entire NVIDIA DGX-1 to learn successful strategies in Atari games in single-digit minutes, using both synchronous and asynchronous algorithms. We present the first massively distributed architecture for deep reinforcement learning. This architecture uses four main components: parallel actors that generate new behaviour; parallel learners that are trained from stored experience; a distributed neural network to represent the value function or behaviour policy; and a distributed store of experience. We used our architecture to implement the Deep Q-Network algorithm (DQN). Our distributed algorithm was applied to 49 games from Atari 2600 games from the Arcade Learning Environment, using identical hyperparameters. Our performance surpassed non-distributed DQN in 41 of the 49 games and also reduced the wall-time required to achieve these results by an order of magnitude on most games. High demand for computation resources severely hinders deployment of large-scale Deep Neural Networks (DNN) in resource constrained devices. In this work, we propose a Structured Sparsity Learning (SSL) method to regularize the structures (i.e., filters, channels, filter shapes, and layer depth) of DNNs. SSL can: (1) learn a compact structure from a bigger DNN to reduce computation cost; (2) obtain a hardware-friendly structured sparsity of DNN to efficiently accelerate the DNN's evaluation. Experimental results show that SSL achieves on average 5.1 × and 3.1 × speedups of convolutional layer computation of AlexNet against CPU and GPU, respectively, with off-the-shelf libraries. These speedups are about twice speedups of non-structured sparsity; (3) regularize the DNN structure to improve classification accuracy. The results show that for CIFAR-10, regularization on layer depth reduces a 20-layer Deep Residual Network (ResNet) to 18 layers while improves the accuracy from 91.25 to 92.60 , which is still higher than that of original ResNet with 32 layers. For AlexNet, SSL reduces the error by 1 . High demand for computation resources severely hinders deployment of large-scale Deep Neural Networks (DNN) in resource constrained devices. In this work, we propose a Structured Sparsity Learning (SSL) method to regularize the structures (i.e., filters, channels, filter shapes, and layer depth) of DNNs. SSL can: (1) learn a compact structure from a bigger DNN to reduce computation cost; (2) obtain a hardware-friendly structured sparsity of DNN to efficiently accelerate the DNNs evaluation. Experimental results show that SSL achieves on average 5.1x and 3.1x speedups of convolutional layer computation of AlexNet against CPU and GPU, respectively, with off-the-shelf libraries. These speedups are about twice speedups of non-structured sparsity; (3) regularize the DNN structure to improve classification accuracy. The results show that for CIFAR-10, regularization on layer depth can reduce 20 layers of a Deep Residual Network (ResNet) to 18 layers while improve the accuracy from 91.25 to 92.60 , which is still slightly higher than that of original ResNet with 32 layers. For AlexNet, structure regularization by SSL also reduces the error by around 1 . Open source code is in this https URL Efficient exploration remains a major challenge for reinforcement learning (RL). Common dithering strategies for exploration, such as '-greedy, do not carry out temporally-extended (or deep) exploration; this can lead to exponentially larger data requirements. However, most algorithms for statistically efficient RL are not computationally tractable in complex environments. Randomized value functions offer a promising approach to efficient exploration with generalization, but existing algorithms are not compatible with nonlinearly parameterized value functions. As a first step towards addressing such contexts we develop bootstrapped DQN. We demonstrate that bootstrapped DQN can combine deep exploration with deep neural networks for exponentially faster learning than any dithering strategy. In the Arcade Learning Environment bootstrapped DQN substantially improves learning speed and cumulative performance across most games. In this work we present a new agent architecture, called Reactor, which combines multiple algorithmic and architectural contributions to produce an agent with higher sample-efficiency than Prioritized Dueling DQN (, 2016) and Categorical DQN (, 2017), while giving better run-time performance than A3C (, 2016). Our first contribution is a new policy evaluation algorithm called Distributional Retrace, which brings multi-step off-policy updates to the distributional reinforcement learning setting. The same approach can be used to convert several classes of multi-step policy evaluation algorithms designed for expected value evaluation into distributional ones. Next, we introduce the eta -leave-one-out policy gradient algorithm which improves the trade-off between variance and bias by using action values as a baseline. Our final algorithmic contribution is a new prioritized replay algorithm for sequences, which exploits the temporal locality of neighboring observations for more efficient replay prioritization. Using the Atari 2600 benchmarks, we show that each of these innovations contribute to both the sample efficiency and final agent performance. Finally, we demonstrate that Reactor reaches state-of-the-art performance after 200 million frames and less than a day of training. Distributed graph processing platforms have helped emerging application domains use commodity clusters and Clouds to analyze large graphs. Vertex-centric programming models like Google Pregel, and their subgraph-centric variants, specify data-parallel application logic for a single vertex or component that execute iteratively. The locality and balancing of components within partitions affects the performance of such platforms. We propose three partitioning strategies for a subgraph-centric model, and analyze their impact on CPU utilization, communication, iterations, and makespan. We analyze these using Breadth First Search and PageRank algorithms on powerlaw and spatio-planar graphs. They are validated on a commodity cluster using our GoFFish subgraph-centric platform, and compared against Apache Giraph vertex-centric platform. Our experiments show upto 8 times improvement in utilization resulting to upto 5 times improvement of overall makespan for flat and hierarchical partitioning over the default strategy due to improved machine utilization. Further, these also exhibit better horizontal scalability relative to Giraph. Emerging paradigms like High Performance Data Analytics (HPDA) and Deep Learning (DL) pose at least two new design challenges for existing MPI runtimes. First, these paradigms require an efficient support for communicating unusually large messages across processes. And second, the communication buffers used by HPDA applications and DL frameworks generally reside on a GPU's memory. In this context, we observe that conventional MPI runtimes have been optimized over decades to achieve lowest possible communication latency for relatively smaller message sizes (up-to 1 Megabyte) and that too for CPU memory buffers. With the advent of CUDA-Aware MPI runtimes, a lot of research has been conducted to improve performance of GPU buffer based communication. However, little exists in current state of the art that deals with very large message communication of GPU buffers. In this paper, we investigate these new challenges by analyzing the performance bottlenecks in existing CUDA-Aware MPI runtimes like MVAPICH2-GDR, and propose hierarchical collective designs to improve communication latency of the MPI_Bcast primitive by exploiting a new communication library called NCCL. To the best of our knowledge, this is the first work that addresses these new requirements where GPU buffers are used for communication with message sizes surpassing hundreds of megabytes. We highlight the design challenges for our work along with the details of design and implementation. In addition, we provide a comprehensive performance evaluation using a Micro-benchmark and a CUDA-Aware adaptation of Microsoft CNTK DL framework. We report up to 47 improvement in training time for CNTK using the proposed hierarchical MPI_Bcast design. Scaling the distributed deep learning to a massive GPU cluster level is challenging due to the instability of the large mini-batch training and the overhead of the gradient synchronization. We address the instability of the large mini-batch training with batch-size control and label smoothing. We address the overhead of the gradient synchronization with 2D-Torus all-reduce. Specifically, 2D-Torus all-reduce arranges GPUs in a logical 2D grid and performs a series of collective operation in different orientations. These two techniques are implemented with Neural Network Libraries (NNL). We have successfully trained ImageNet ResNet-50 in 122 seconds without significant accuracy loss on ABCI cluster. We are at the beginning of the multicore era. Computers will have increasingly many cores (processors), but there is still no good programming framework for these architectures, and thus no simple and unified way for machine learning to take advantage of the potential speed up. In this paper, we develop a broadly applicable parallel programming method, one that is easily applied to many different learning algorithms. Our work is in distinct contrast to the tradition in machine learning of designing (often ingenious) ways to speed up a single algorithm at a time. Specifically, we show that algorithms that fit the Statistical Query model [15] can be written in a certain "summation form," which allows them to be easily parallelized on multicore computers. We adapt Google's map-reduce [7] paradigm to demonstrate this parallel speed up technique on a variety of learning algorithms including locally weighted linear regression (LWLR), k-means, logistic regression (LR), naive Bayes (NB), SVM, ICA, PCA, gaussian discriminant analysis (GDA), EM, and backpropagation (NN). Our experimental results show basically linear speedup with an increasing number of processors. The most natural way to speed-up the training of large networks is to use data-parallelism on multiple GPUs. To scale Stochastic Gradient (SG) based methods to more processors, one need to increase the batch size to make full use of the computational power of each GPU. However, keeping the accuracy of network with increase of batch size is not trivial. Currently, the state-of-the art method is to increase Learning Rate (LR) proportional to the batch size, and use special learning rate with "warm-up" policy to overcome initial optimization difficulty. By controlling the LR during the training process, one can efficiently use large-batch in ImageNet training. For example, Batch-1024 for AlexNet and Batch-8192 for ResNet-50 are successful applications. However, for ImageNet-1k training, state-of-the-art AlexNet only scales the batch size to 1024 and ResNet50 only scales it to 8192. The reason is that we can not scale the learning rate to a large value. To enable large-batch training to general networks or datasets, we propose Layer-wise Adaptive Rate Scaling (LARS). LARS LR uses different LRs for different layers based on the norm of the weights and the norm of the gradients. By using LARS algoirithm, we can scale the batch size to 32768 for ResNet50 and 8192 for AlexNet. Large batch can make full use of the system's computational power. For example, batch-4096 can achieve 3x speedup over batch-512 for ImageNet training by AlexNet model on a DGX-1 station (8 P100 GPUs). A prominent remedy to multicore scalability issues in concurrent data structure implementations is to relax the sequential specification of the data structure. We present distributed queues (DQ), a new family of relaxed concurrent queue implementations. DQs implement relaxed queues with linearizable emptiness check and either configurable or bounded out-of-order behavior or pool behavior. Our experiments show that DQs outperform and outscale in micro- and macrobenchmarks all strict and relaxed queue as well as pool implementations that we considered. Low-latency and high-throughput processing are key requirements of data stream management systems (DSMSs). Hence, multi-core processors that provide high aggregate processing capacity are ideal matches for executing costly DSMS operators. The recently developed Cell processor is a good example of a heterogeneous multi-core architecture and provides a powerful platform for executing data stream operators with high-performance. On the down side, exploiting the full potential of a multi-core processor like Cell is often challenging, mainly due to the heterogeneous nature of the processing elements, the software managed local memory at the co-processor side, and the unconventional programming model in general. In this paper, we study the problem of scalable execution of windowed stream join operators on multi-core processors, and specifically on the Cell processor. By examining various aspects of join execution flow, we determine the right set of techniques to apply in order to minimize the sequential segments and maximize parallelism. Concretely, we show that basic windows coupled with low-overhead pointer-shifting techniques can be used to achieve efficient join window partitioning, column-oriented join window organization can be used to minimize scattered data transfers, delay-optimized double buffering can be used for effective pipelining, rate-aware batching can be used to balance join throughput and tuple delay, and finally single-instruction multiple-data (SIMD) optimized operator code can be used to exploit data parallelism. Our experimental results show that, following the design guidelines and implementation techniques outlined in this paper, windowed stream joins can achieve high scalability (linear in the number of co-processors) by making efficient use of the extensive hardware parallelism provided by the Cell processor (reaching data processing rates of ?13 GB s) and significantly surpass the performance obtained form conventional high-end processors (supporting a combined input stream rate of 2,000 tuples s using 15 min windows and without dropping any tuples, resulting in ?8.3 times higher output rate compared to an SSE implementation on dual 3.2 GHz Intel Xeon). This paper presents a study of using deep bidirectional long short-term memory (DBLSTM) recurrent neural network as acoustic model for DBLSTM-HMM based large vocabulary continuous speech recognition (LVCSR), where a context-sensitive-chunk (CSC) back-propagation through time (BPTT) approach is used to train DBLSTM by splitting each training sequence into chunks with appended contextual observations, and a CSC-based decoding method with possibly overlapped CSCs is used for recognition. Our approach makes mini-batch based training on GPU more efficient and reduces the latency of DBLSTM-based LVCSR from a whole utterance to a short chunk. Evaluations have been made on Switchboard-I benchmark task. In comparison with epoch-wise BPTT training, our method can achieve more than three times speedup on a single GPU card without degrading recognition accuracy. In comparison with a highly optimized DNN-HMM system trained by a frame-level cross entropy (CE) criterion, our CE-trained DBLSTM-HMM system achieves relative word error rate reductions of 9 and 5 on Eval2000 and RT03S testing sets, respectively. Furthermore, by running model averaging based parallel training of DBLSTM on a cluster of GPUs, CSC-BPTT incurs less accuracy degradation than epoch-wise BPTT while achieves a linear speedup. Instability and variability of Deep Reinforcement Learning (DRL) algorithms tend to adversely affect their performance. Averaged-DQN is a simple extension to the DQN algorithm, based on averaging previously learned Q-values estimates, which leads to a more stable training procedure and improved performance by reducing approximation error variance in the target values. To understand the effect of the algorithm, we examine the source of value function estimation errors and provide an analytical comparison within a simplified model. We further present experiments on the Arcade Learning Environment benchmark that demonstrate significantly improved stability and performance due to the proposed extension.