Learning to drive faithfully in highly stochastic urban settings remains an open problem. To that end, we propose a Multi-task Learning from Demonstration (MT-LfD) framework which uses supervised auxiliary task prediction to guide the main task of predicting the driving commands. Our framework involves an end-to-end trainable network for imitating the expert demonstrator's driving commands. The network intermediately predicts visual affordances and action primitives through direct supervision which provide the aforementioned auxiliary supervised guidance. We demonstrate that such joint learning and supervised guidance facilitates hierarchical task decomposition, assisting the agent to learn faster, achieve better driving performance and increases transparency of the otherwise black-box end-to-end network. We run our experiments to validate the MT-LfD framework in CARLA, an open-source urban driving simulator. We introduce multiple non-player agents in CARLA and induce temporal noise in them for realistic stochasticity.
Multi-task learning (MTL) research shows the joint training of auxiliary related side-tasks along with the main task enhances the training performance . MTL in neural networks has been successfully demonstrated in many tasks previously including text-to-speech conversion , natural language processing , speech processing and computer vision . In the field of sequential decision making, @cite_0 demonstrate MTL for 3D game playing, @cite_8 and @cite_1 demonstrate MTL in 3D maze navigation task whereas @cite_4 utilize the MTL framework for autonomous driving. Instead of employing future control outputs as auxiliary tasks as shown by @cite_4 , in this work we employ action and visual abstractions to guide the driving behavior.
@cite_0 @cite_1 @cite_4 @cite_8
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Multi-task learning (MTL) has led to successes in many applications of machine learning, from natural language processing and speech recognition to computer vision and drug discovery. This article aims to give a general overview of MTL, particularly in deep neural networks. It introduces the two most common methods for MTL in Deep Learning, gives an overview of the literature, and discusses recent advances. In particular, it seeks to help ML practitioners apply MTL by shedding light on how MTL works and providing guidelines for choosing appropriate auxiliary tasks. We propose two approaches for speaker adaptation in end-to-end (E2E) automatic speech recognition systems. One is Kullback-Leibler divergence (KLD) regularization and the other is multi-task learning (MTL). Both approaches aim to address the data sparsity especially output target sparsity issue of speaker adaptation in E2E systems. The KLD regularization adapts a model by forcing the output distribution from the adapted model to be close to the unadapted one. The MTL utilizes a jointly trained auxiliary task to improve the performance of the main task. We investigated our approaches on E2E connectionist temporal classification (CTC) models with three different types of output units. Experiments on the Microsoft short message dictation task demonstrated that MTL outperforms KLD regularization. In particular, the MTL adaptation obtained 8.8 and 4.0 relative word error rate reductions (WERRs) for supervised and unsupervised adaptations for the word CTC model, and 9.6 and 3.8 relative WERRs for the mix-unit CTC model, respectively. Several deep learning approaches have been applied to the autonomous driving task, many employing end-to-end deep neural networks. Autonomous driving is complex, utilizing multiple behavioral modalities ranging from lane changing to turning and stopping. However, most existing approaches do not factor in the different behavioral modalities of the driving task into the training strategy. This paper describes a technique for using Multi-Modal Multi-Task Learning that considers multiple behavioral modalities as distinct modes of operation for an end-to-end autonomous deep neural network utilizing the insertion of modal information as secondary input data. Using labeled data from hours of driving our fleet of 1 10th scale model cars, we trained multiple neural networks to imitate the steering angle and driving speed of human control of a car. We show that in each case, our models trained with MTL can match or outperform multiple networks trained on individual tasks, while using a fraction of the parameters and having more distinct modes of operation than a network trained without MTL on the same multi-modal data. These results should encourage Multi-Modal MTL-style training with the insertion of Modal Information for tasks with related behaviors. Multi-task learning (MTL) involves the simultaneous training of two or more related tasks over shared representations. In this work, we apply MTL to audio-visual automatic speech recognition(AV-ASR). Our primary task is to learn a mapping between audio-visual fused features and frame labels obtained from acoustic GMM HMM model. This is combined with an auxiliary task which maps visual features to frame labels obtained from a separate visual GMM HMM model. The MTL model is tested at various levels of babble noise and the results are compared with a base-line hybrid DNN-HMM AV-ASR model. Our results indicate that MTL is especially useful at higher level of noise. Compared to base-line, upto 7 relative improvement in WER is reported at -3 SNR dB We propose a novel approach to addressing the adaptation effectiveness issue in parameter adaptation for deep neural network (DNN) based acoustic models for automatic speech recognition by adding one or more small auxiliary output layers modeling broad acoustic units, such as mono-phones or tied-state (often called senone) clusters. In scenarios with a limited amount of available adaptation data, most senones are usually rarely seen or not observed, and consequently the ability to model them in a new condition is often not fully exploited. With the original senone classification task as the primary task, and adding auxiliary mono-phone senone-cluster classification as the secondary tasks, multi-task learning (MTL) is employed to adapt the DNN parameters. With the proposed MTL adaptation framework, we improve the learning ability of the original DNN structure, then enlarge the coverage of the acoustic space to deal with the unseen senone problem, and thus enhance the discrimination power of the adapted DNN models. Experimental results on the 20,000-word open vocabulary WSJ task demonstrate that the proposed framework consistently outperforms the conventional linear hidden layer adaptation schemes without MTL by providing 3.2 relative word error rate reduction (WERR) with only 1 single adaptation utterance, and 10.7 WERR with 40 adaptation utterances against the un-adapted DNN models. Multitask learning has been applied successfully to a range of tasks, mostly morphosyntactic. However, little is known on when MTL works and whether there are data characteristics that help to determine its success. In this paper we evaluate a range of semantic sequence labeling tasks in a MTL setup. We examine different auxiliary tasks, amongst which a novel setup, and correlate their impact to data-dependent conditions. Our results show that MTL is not always effective, significant improvements are obtained only for 1 out of 5 tasks. When successful, auxiliary tasks with compact and more uniform label distributions are preferable. Multi-Task Learning (MTL) is appealing for deep learning regularization. In this paper, we tackle a specific MTL context denoted as primary MTL, where the ultimate goal is to improve the performance of a given primary task by leveraging several other auxiliary tasks. Our main methodological contribution is to introduce ROCK, a new generic multi-modal fusion block for deep learning tailored to the primary MTL context. ROCK architecture is based on a residual connection, which makes forward prediction explicitly impacted by the intermediate auxiliary representations. The auxiliary predictor's architecture is also specifically designed to our primary MTL context, by incorporating intensive pooling operators for maximizing complementarity of intermediate representations. Extensive experiments on NYUv2 dataset (object detection with scene classification, depth prediction, and surface normal estimation as auxiliary tasks) validate the relevance of the approach and its superiority to flat MTL approaches. Our method outperforms state-of-the-art object detection models on NYUv2 by a large margin, and is also able to handle large-scale heterogeneous inputs (real and synthetic images) and missing annotation modalities. We propose a multitask learning (MTL) approach to improve low-resource automatic speech recognition using deep neural networks (DNNs) without requiring additional language resources. We first demonstrate that the performance of the phone models of a single low-resource language can be improved by training its grapheme models in parallel under the MTL framework. If multiple low-resource languages are trained together, we investigate learning a set of universal phones (UPS) as an additional task again in the MTL framework to improve the performance of the phone models of all the involved languages. In both cases, the heuristic guideline is to select a task that may exploit extra information from the training data of the primary task(s). In the first method, the extra information is the phone-to-grapheme mappings, whereas in the second method, the UPS helps to implicitly map the phones of the multiple languages among each other. In a series of experiments using three low-resource South African languages in the Lwazi corpus, the proposed MTL methods obtain significant word recognition gains when compared with single-task learning (STL) of the corresponding DNNs or ROVER that combines results from several STL-trained DNNs. One of the challenges in Speech Emotion Recognition (SER) "in the wild" is the large mismatch between training and test data (e.g. speakers and tasks). In order to improve the generalisation capabilities of the emotion models, we propose to use Multi-Task Learning (MTL) and use gender and naturalness as auxiliary tasks in deep neural networks. This method was evaluated in within-corpus and various cross-corpus classification experiments that simulate conditions "in the wild". In comparison to Single-Task Learning (STL) based state of the art methods, we found that our MTL method proposed improved performance significantly. Particularly, models using both gender and naturalness achieved more gains than those using either gender or naturalness separately. This benefit was also found in the high-level representations of the feature space, obtained from our method proposed, where discriminative emotional clusters could be observed. Multi-Task Learning (MTL) is a learning paradigm in machine learning and its aim is to leverage useful information contained in multiple related tasks to help improve the generalization performance of all the tasks. In this paper, we give a survey for MTL. First, we classify different MTL algorithms into several categories, including feature learning approach, low-rank approach, task clustering approach, task relation learning approach, and decomposition approach, and then discuss the characteristics of each approach. In order to improve the performance of learning tasks further, MTL can be combined with other learning paradigms including semi-supervised learning, active learning, unsupervised learning, reinforcement learning, multi-view learning and graphical models. When the number of tasks is large or the data dimensionality is high, batch MTL models are difficult to handle this situation and online, parallel and distributed MTL models as well as dimensionality reduction and feature hashing are reviewed to reveal their computational and storage advantages. Many real-world applications use MTL to boost their performance and we review representative works. Finally, we present theoretical analyses and discuss several future directions for MTL. Recently, head pose estimation (HPE) from low-resolution surveillance data has gained in importance. However, monocular and multi-view HPE approaches still work poorly under target motion , as facial appearance distorts owing to camera perspective and scale changes when a person moves around. To this end, we propose FEGA-MTL , a novel framework based on Multi-Task Learning (MTL) for classifying the head pose of a person who moves freely in an environment monitored by multiple, large field-of-view surveillance cameras. Upon partitioning the monitored scene into a dense uniform spatial grid, FEGA-MTL simultaneously clusters grid partitions into regions with similar facial appearance, while learning region-specific head pose classifiers. In the learning phase, guided by two graphs which a-priori model the similarity among (1) grid partitions based on camera geometry and (2) head pose classes, FEGA-MTL derives the optimal scene partitioning and associated pose classifiers. Upon determining the target's position using a person tracker at test time, the corresponding region-specific classifier is invoked for HPE. The FEGA-MTL framework naturally extends to a weakly supervised setting where the target's walking direction is employed as a proxy in lieu of head orientation. Experiments confirm that FEGA-MTL significantly outperforms competing single-task and multi-task learning methods in multi-view settings. This paper explores multi-task learning (MTL) for face recognition. First, we propose a multi-task convolutional neural network (CNN) for face recognition, where identity classification is the main task and pose, illumination, and expression (PIE) estimations are the side tasks. Second, we develop a dynamic-weighting scheme to automatically assign the loss weights to each side task, which solves the crucial problem of balancing between different tasks in MTL. Third, we propose a pose-directed multi-task CNN by grouping different poses to learn pose-specific identity features, simultaneously across all poses in a joint framework. Last but not least, we propose an energy-based weight analysis method to explore how CNN-based MTL works. We observe that the side tasks serve as regularizations to disentangle the PIE variations from the learnt identity features. Extensive experiments on the entire multi-PIE dataset demonstrate the effectiveness of the proposed approach. To the best of our knowledge, this is the first work using all data in multi-PIE for face recognition. Our approach is also applicable to in-the-wild data sets for pose-invariant face recognition and achieves comparable or better performance than state of the art on LFW, CFP, and IJB-A datasets. Multi-task learning (MTL) allows deep neural networks to learn from related tasks by sharing parameters with other networks. In practice, however, MTL involves searching an enormous space of possible parameter sharing architectures to find (a) the layers or subspaces that benefit from sharing, (b) the appropriate amount of sharing, and (c) the appropriate relative weights of the different task losses. Recent work has addressed each of the above problems in isolation. In this work we present an approach that learns a latent multi-task architecture that jointly addresses (a)–(c). We present experiments on synthetic data and data from OntoNotes 5.0, including four different tasks and seven different domains. Our extension consistently outperforms previous approaches to learning latent architectures for multi-task problems and achieves up to 15 average error reductions over common approaches to MTL. Multi-task learning (MTL) allows deep neural networks to learn from related tasks by sharing parameters with other networks. In practice, however, MTL involves searching an enormous space of possible parameter sharing architectures to find (a) the layers or subspaces that benefit from sharing, (b) the appropriate amount of sharing, and (c) the appropriate relative weights of the different task losses. Recent work has addressed each of the above problems in isolation. In this work we present an approach that learns a latent multi-task architecture that jointly addresses (a)--(c). We present experiments on synthetic data and data from OntoNotes 5.0, including four different tasks and seven different domains. Our extension consistently outperforms previous approaches to learning latent architectures for multi-task problems and achieves up to 15 average error reductions over common approaches to MTL. Multi-task learning (MTL) improves the prediction performance on multiple, different but related, learning problems through shared parameters or representations. One of the most prominent multi-task learning algorithms is an extension to support vector machines (svm) by [15]. Although very elegant, multi-task svm is inherently restricted by the fact that support vector machines require each class to be addressed explicitly with its own weight vector which, in a multi-task setting, requires the different learning tasks to share the same set of classes. This paper proposes an alternative formulation for multi-task learning by extending the recently published large margin nearest neighbor (1mnn) algorithm to the MTL paradigm. Instead of relying on separating hyperplanes, its decision function is based on the nearest neighbor rule which inherently extends to many classes and becomes a natural fit for multi-task learning. We evaluate the resulting multi-task 1mnn on real-world insurance data and speech classification problems and show that it consistently outperforms single-task kNN under several metrics and state-of-the-art MTL classifiers. When we have several related tasks, solving them simultaneously is shown to be more effective than solving them individually. This approach is called multi-task learning (MTL) and has been studied extensively. Existing approaches to MTL often treat all the tasks as uniformly related to each other and the relatedness of the tasks is controlled globally. For this reason, the existing methods can lead to undesired solutions when some tasks are not highly related to each other, and some pairs of related tasks can have significantly different solutions. In this paper, we propose a novel MTL algorithm that can overcome these problems. Our method makes use of a task network, which describes the relation structure among tasks. This allows us to deal with intricate relation structures in a systematic way. Furthermore, we control the relatedness of the tasks locally, so all pairs of related tasks are guaranteed to have similar solutions. We apply the above idea to support vector machines (SVMs) and show that the optimization problem can be cast as a second order cone program, which is convex and can be solved efficiently. The usefulness of our approach is demonstrated through simulations with protein super-family classification and ordinal regression problems. Abstract: In this paper, we provide a new neural-network based perspective on multi-task learning (MTL) and multi-domain learning (MDL). By introducing the concept of a semantic descriptor, this framework unifies MDL and MTL as well as encompassing various classic and recent MTL MDL algorithms by interpreting them as different ways of constructing semantic descriptors. Our interpretation provides an alternative pipeline for zero-shot learning (ZSL), where a model for a novel class can be constructed without training data. Moreover, it leads to a new and practically relevant problem setting of zero-shot domain adaptation (ZSDA), which is the analogous to ZSL but for novel domains: A model for an unseen domain can be generated by its semantic descriptor. Experiments across this range of problems demonstrate that our framework outperforms a variety of alternatives. Multi-task learning (MTL) in deep neural networks for NLP has recently received increasing interest due to some compelling benefits, including its potential to efficiently regularize models and to reduce the need for labeled data. While it has brought significant improvements in a number of NLP tasks, mixed results have been reported, and little is known about the conditions under which MTL leads to gains in NLP. This paper sheds light on the specific task relations that can lead to gains from MTL models over single-task setups. In multi-task learning (MTL), multiple tasks are learnt jointly. A major assumption for this paradigm is that all those tasks are indeed related so that the joint training is appropriate and beneficial. In this paper, we study the problem of multi-task learning of shared feature representations among tasks, while simultaneously determining "with whom" each task should share. We formulate the problem as a mixed integer programming and provide an alternating minimization technique to solve the optimization problem of jointly identifying grouping structures and parameters. The algorithm mono-tonically decreases the objective function and converges to a local optimum. Compared to the standard MTL paradigm where all tasks are in a single group, our algorithm improves its performance with statistical significance for three out of the four datasets we have studied. We also demonstrate its advantage over other task grouping techniques investigated in literature. Citation relationship between scientific publications has been successfully used for scholarly bibliometrics, information retrieval and data mining tasks, and citation-based recommendation algorithms are well documented. While previous studies investigated citation relations from various viewpoints, most of them share the same assumption that, if paper1 cites paper2 (or author1 cites author2), they are connected, regardless of citation importance, sentiment, reason, topic, or motivation. However, this assumption is oversimplified. In this study, we employ an innovative "context-rich heterogeneous network" approach, which paves a new way for citation recommendation task. In the network, we characterize 1) the importance of citation relationships between citing and cited papers, and 2) the topical citation motivation. Unlike earlier studies, the citation information, in this paper, is characterized by citation textual contexts extracted from the full-text citing paper. We also propose algorithm to cope with the situation when large portion of full-text missing information exists in the bibliographic repository. Evaluation results show that, context-rich heterogeneous network can significantly enhance the citation recommendation performance.