United States

The vision-language navigation (VLN) task requires an agent to reach a target with the guidance of natural language instruction. Previous works learn to navigate step-by-step following an instruction. However, these works may fail to discriminate the similarities and discrepancies across instruction-trajectory pairs and ignore the temporal continuity of sub-instructions. These problems hinder agents from learning distinctive vision-and-language representations, harming the robustness and generalizability of the navigation policy. In this paper, we propose a Contrastive Instruction-Trajectory Learning (CITL) framework that explores invariance across similar data samples and variance across different ones to learn distinctive representations for robust navigation. Specifically, we propose: (1) a coarse-grained contrastive learning objective to enhance vision-and-language representations by contrasting semantics of full trajectory observations and instructions, respectively; (2) a fine-grained contrastive learning objective to perceive instructions by leveraging the temporal information of the sub-instructions; (3) a pairwise sample-reweighting mechanism for contrastive learning to mine hard samples and hence mitigate the influence of data sampling bias in contrastive learning. Our CITL can be easily integrated with VLN backbones to form a new learning paradigm and achieve better generalizability in unseen environments. Extensive experiments show that the model with CITL surpasses the previous state-of-the-art methods on R2R, R4R, and RxR.

AAAI 2022

Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

technical paper

The purpose of the AAAI conference is to promote research in artificial intelligence (AI) and scientific exchange among AI researchers, practitioners, scientists, and engineers in affiliated disciplines. 

For personalized ranking models, the well-calibrated probability of an item being preferred by a user has great practical value.
 While existing work shows promising results in image classification, probability calibration has not been much explored for personalized ranking.
 In this paper, we aim to estimate the calibrated probability of how likely a user will prefer an item.
 We investigate various parametric distributions and propose two parametric calibration methods, namely Gaussian calibration and Gamma calibration.
 Each proposed method can be seen as a post-processing function that maps the ranking scores of pre-trained models to well-calibrated preference probabilities, without affecting the recommendation performance.
 We also design the unbiased empirical risk minimization framework that guides the calibration methods to learning of true preference probability from the biased user-item interaction dataset.
 Extensive evaluations with various personalized ranking models on real-world datasets show that both the proposed calibration methods and the unbiased empirical risk minimization significantly improve the calibration performance.

Obtaining Calibrated Probabilities with Personalized Ranking Models

We consider the problem of automatically constructing computer programs from input-output examples. We investigate how to augment probabilistic and neural program synthesis methods with new search algorithms, proposing a framework called distribution-based search. Within this framework, we introduce two new search algorithms: Heap Search, an enumerative method, and SQRT Sampling, a probabilistic method. We prove certain optimality guarantees for both methods, show how they integrate with probabilistic and neural techniques, and demonstrate how they can operate at scale across parallel compute environments. Collectively these findings offer theoretical and applied studies of search algorithms for program synthesis that integrate with recent developments in machine-learned program synthesizers.

Scaling Neural Program Synthesis with Distribution-Based Search

The question of what kind of convolutional neural network (CNN) structure performs well is fascinating. In this work, we move toward the answer with one more step by connecting zero stability and model performance. Specifically, we found that if a discrete solver of an ordinary differential equation is zero stable, the CNN corresponding to that solver performs well. We first give the interpretation of zero stability in the context of deep learning and then investigate the performance of existing first- and second-order CNNs under different zero-stable circumstances. Based on the preliminary observation, we provide a higher-order discretization to construct CNNs and then propose a zero-stable network (ZeroSNet). To guarantee zero stability of the ZeroSNet, we first deduce a structure that meets consistency conditions and then give a zero stable region of a training-free parameter. By analyzing the roots of a characteristic equation, we theoretically obtain the optimal coefficients of feature maps. Empirically, we present our results from three aspects: We provide extensive empirical evidence of different depth on different datasets to show that the moduli of the characteristic equation's roots are the keys for the performance of CNNs that require historical features; Our experiments show that ZeroSNet outperforms existing CNNs which is based on high-order discretization; ZeroSNets show better robustness against noises on the input. The source code is available at https://github.com/logichen/ZeroSNet.

Zero Stability Well Predicts Performance of Convolutional Neural Networks

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using Gaussian mixture models. Scene flow estimation is therefore converted into the problem of recovering motion from the alignment of probability density functions, which we achieve using a closed-form expression of the classic Cauchy-Schwarz divergence. Unlike existing nearest-neighbor-based approaches that use hard pairwise correspondences, our proposed approach establishes soft and implicit point correspondences between point clouds and generates more robust and accurate scene flow in the presence of missing correspondences and outliers. Comprehensive experiments show that our method makes noticeable gains over the Chamfer Distance and the Earth Mover's Distance in real-world environments and achieves state-of-the-art performance among self-supervised learning methods on FlyingThings3D and KITTI, even outperforming some supervised methods with ground truth annotations.

Self-Supervised Robust Scene Flow Estimation via the Alignment of Probability Density Functions

Automated high-stake decision-making, such as medical diagnosis, requires models with high interpretability and reliability. We consider the sparse high-order interaction model as an interpretable and reliable model with a good prediction ability. However, finding statistically significant high-order interactions is challenging because of the intrinsically high dimensionality of the combinatorial effects. Another problem in data-driven modeling is the effect of ``cherry-picking" (i.e., selection bias). Our main contribution is extending the recently developed parametric programming approach for selective inference to high-order interaction models. An exhaustive search over the cherry tree (all possible interactions) can be daunting and impractical, even for small-sized problems. We introduced an efficient pruning strategy and demonstrated the computational efficiency and statistical power of the proposed method using both synthetic and real data.

Fast and More Powerful Selective Inference for Sparse High-Order Interaction Model

Understanding the black-box prediction for neural networks is challenging. To achieve this, early studies have designed influence function (IF) to measure the effect of removing a single training point on neural networks. However, the classic implicit Hessian-vector product (IHVP) method for calculating IF is fragile, and theoretical analysis of IF in the context of neural networks is still lacking. To this end, we utilize the neural tangent kernel (NTK) theory to calculate IF for the neural network trained with regularized mean-square loss, and prove that the approximation error can be arbitrarily small when the width is sufficiently large for two-layer ReLU networks. We analyze the error bound for the classic IHVP method in the over-parameterized regime to understand when and why it fails or not. In detail, our theoretical analysis reveals that (1) the accuracy of IHVP depends on the regularization term, and is pretty low under weak regularization; (2) the accuracy of IHVP has a significant correlation with the probability density of corresponding training points. We further borrow the theory from NTK to understand the IFs better, including quantifying the complexity for influential samples and depicting the variation of IFs during the training dynamics. Numerical experiments on real-world data confirm our theoretical results and demonstrate our findings.

Rethinking Influence Functions of Neural Networks in the Over-Parameterized Regime

Knowledge Distillation (KD) is a widely-used technology to inherit information from cumbersome teacher models to compact student models, consequently realizing model compression and acceleration. Compared with image classification, object detection is a more complex task, and designing specific KD methods for object detection is non-trivial. In this work, we elaborately study the behaviour difference between the teacher and student detection models, and obtain two intriguing observations: First, the teacher and student rank their detected candidate boxes quite differently, which results in their precision discrepancy. Second, there is a considerable gap between the feature response differences and prediction differences between teacher and student, indicating that equally imitating all the feature maps of the teacher is the sub-optimal choice for improving the student's accuracy. Based on the two observations, we propose Rank Mimicking (RM) and Prediction-guided Feature Imitation (PFI) for distilling one-stage detectors, respectively. RM takes the rank of candidate boxes from teachers as a new form of knowledge to distill, which consistently outperforms the traditional soft label distillation. PFI attempts to correlate feature differences with prediction differences, making feature imitation directly help to improve the student's accuracy. On MS COCO and PASCAL VOC benchmarks, extensive experiments are conducted on various detectors with different backbones to validate the effectiveness of our method. Specifically, RetinaNet with ResNet50 achieves 40.4% mAP on MS COCO, which is 3.5% higher than its baseline, and also outperforms previous KD methods.

Knowledge Distillation for Object Detection via Rank Mimicking and Prediction-Guided Feature Imitation

k-means and k-median clustering are powerful unsupervised machine learning techniques. However, due to complicated dependences on all the features, it is challenging to interpret the resulting cluster assignments. Moshkovitz, Dasgupta, Rashtchian, and  Frost  proposed an elegant model of explainable k-means and k-median clustering  in ICML 2020. In this model, a  decision tree with k leaves provides a straightforward characterization of the data set into clusters. 
 
 
 We study two natural algorithmic questions about explainable clustering.  (1) For a given clustering, how to find the ``best explanation'' by using a decision tree with k leaves?  (2) For a given set of points, how to find a decision tree with k leaves minimizing the k-means/median objective of the resulting explainable clustering?
To address the first question, we introduce a new model of explainable clustering. Our model, inspired by the notion of outliers in robust statistics, is the following. We are seeking a small number of points (outliers) whose removal makes the existing clustering well-explainable. For addressing the second question, we initiate the study of the model of Moshkovitz et al. from the perspective of multivariate complexity. Our rigorous algorithmic analysis sheds some light on the influence of parameters like the input size, dimension of the data, the number of outliers, the number of clusters, and the approximation ratio,  on the computational complexity of explainable clustering.

How to Find a Good Explanation for Clustering?

From an engineering perspective, a design should not only perform well in an ideal condition, but should also resist noises. Such a design methodology, namely robust design, has been widely implemented in the industry for product quality control. However, classic robust design requires a lot of evaluations for a single design target, while the results of these evaluations could not be reused for a new target. To achieve data-efficient robust design, we propose Robust Inverse Design under Noise (RID-Noise), which can utilize existing data to train a conditional invertible neural network. Specifically, we estimate the robustness of a design parameter by its predictability, measured by the prediction error of a forward neural network. We also define a sample-wise weight, which can be used in the maximum weighted likelihood estimation of an inverse model based on a conditional invertible neural network. With the visual results from experiments, we clearly justify how RID-Noise works by learning the distribution and robustness from data. Further experiments on several real-world benchmark tasks with noises confirm that our method is more effective than other state-of-the-art inverse design methods. Code and supplementary is publicly available at https://github.com/ThyrixYang/rid-noise-aaai22

RID-Noise: Towards Robust Inverse Design under Noisy Environments

In many games, moves consist of several decisions made by the player. These decisions can be viewed as separate moves, which is already a common practice in multi-action games for efficiency reasons. Such division of a player move into a sequence of simpler / lower level moves is called splitting. So far, split moves have been applied only in forementioned straightforward cases, and furthermore, there was almost no study revealing its impact on agents' playing strength. Taking the knowledge-free perspective, we aim to answer how to effectively use split moves within Monte-Carlo Tree Search (MCTS) and what is the practical impact of split design on agents' strength. This paper proposes a generalization of MCTS that works with arbitrarily split moves. We design several variations of the algorithm and try to measure the impact of split moves separately on efficiency, quality of MCTS, simulations, and action-based heuristics. The tests are carried out on a set of board games and performed using the Regular Boardgames General Game Playing formalism, where split strategies of different granularity can be automatically derived based on an abstract description of the game. The results give an overview of the behavior of agents using split design in different ways. We conclude that split design can be greatly beneficial for single- as well as multi-action games.

Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

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Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

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