Iuri Frosio

David Durst, Feng Xie, Vishnu Sarukkai et al.

In multiplayer, first-person shooter games like Counter-Strike: Global Offensive (CS:GO), coordinated movement is a critical component of high-level strategic play. However, the complexity of team coordination and the variety of conditions present in popular game maps make it impractical to author hand-crafted movement policies for every scenario. We show that it is possible to take a data-driven approach to creating human-like movement controllers for CS:GO. We curate a team movement dataset comprising 123 hours of professional game play traces, and use this dataset to train a transformer-based movement model that generates human-like team movement for all players in a "Retakes" round of the game. Importantly, the movement prediction model is efficient. Performing inference for all players takes less than 0.5 ms per game step (amortized cost) on a single CPU core, making it plausible for use in commercial games today. Human evaluators assess that our model behaves more like humans than both commercially-available bots and procedural movement controllers scripted by experts (16% to 59% higher by TrueSkill rating of "human-like"). Using experiments involving in-game bot vs. bot self-play, we demonstrate that our model performs simple forms of teamwork, makes fewer common movement mistakes, and yields movement distributions, player lifetimes, and kill locations similar to those observed in professional CS:GO match play.

Yazhou Xing, Amrita Mazumdar, Anjul Patney et al.

Low dynamic range (LDR) cameras cannot deal with wide dynamic range inputs, frequently leading to local overexposure issues. We present a learning-based system to reduce these artifacts without resorting to complex acquisition mechanisms like alternating exposures or costly processing that are typical of high dynamic range (HDR) imaging. We propose a transformer-based deep neural network (DNN) to infer the missing HDR details. In an ablation study, we show the importance of using a multiscale DNN and train it with the proper cost function to achieve state-of-the-art quality. To aid the reconstruction of the overexposed areas, our DNN takes a reference frame from the past as an additional input. This leverages the commonly occurring temporal instabilities of autoexposure to our advantage: since well-exposed details in the current frame may be overexposed in the future, we use reinforcement learning to train a reference frame selection DNN that decides whether to adopt the current frame as a future reference. Without resorting to alternating exposures, we obtain therefore a causal, HDR hallucination algorithm with potential application in common video acquisition settings. Our demo video can be found at https://drive.google.com/file/d/1-r12BKImLOYCLUoPzdebnMyNjJ4Rk360/view

Iuri Frosio, Jan Kautz

Many defenses against adversarial attacks (\eg robust classifiers, randomization, or image purification) use countermeasures put to work only after the attack has been crafted. We adopt a different perspective to introduce $A^5$ (Adversarial Augmentation Against Adversarial Attacks), a novel framework including the first certified preemptive defense against adversarial attacks. The main idea is to craft a defensive perturbation to guarantee that any attack (up to a given magnitude) towards the input in hand will fail. To this aim, we leverage existing automatic perturbation analysis tools for neural networks. We study the conditions to apply $A^5$ effectively, analyze the importance of the robustness of the to-be-defended classifier, and inspect the appearance of the robustified images. We show effective on-the-fly defensive augmentation with a robustifier network that ignores the ground truth label, and demonstrate the benefits of robustifier and classifier co-training. In our tests, $A^5$ consistently beats state of the art certified defenses on MNIST, CIFAR10, FashionMNIST and Tinyimagenet. We also show how to apply $A^5$ to create certifiably robust physical objects. Our code at https://github.com/NVlabs/A5 allows experimenting on a wide range of scenarios beyond the man-in-the-middle attack tested here, including the case of physical attacks.

Assaf Hallak, Gal Dalal, Steven Dalton et al.

Tree Search (TS) is crucial to some of the most influential successes in reinforcement learning. Here, we tackle two major challenges with TS that limit its usability: \textit{distribution shift} and \textit{scalability}. We first discover and analyze a counter-intuitive phenomenon: action selection through TS and a pre-trained value function often leads to lower performance compared to the original pre-trained agent, even when having access to the exact state and reward in future steps. We show this is due to a distribution shift to areas where value estimates are highly inaccurate and analyze this effect using Extreme Value theory. To overcome this problem, we introduce a novel off-policy correction term that accounts for the mismatch between the pre-trained value and its corresponding TS policy by penalizing under-sampled trajectories. We prove that our correction eliminates the above mismatch and bound the probability of sub-optimal action selection. Our correction significantly improves pre-trained Rainbow agents without any further training, often more than doubling their scores on Atari games. Next, we address the scalability issue given by the computational complexity of exhaustive TS that scales exponentially with the tree depth. We introduce Batch-BFS: a GPU breadth-first search that advances all nodes in each depth of the tree simultaneously. Batch-BFS reduces runtime by two orders of magnitude and, beyond inference, enables also training with TS of depths that were not feasible before. We train DQN agents from scratch using TS and show improvement in several Atari games compared to both the original DQN and the more advanced Rainbow. The code for BCTS can be found in \url{https://github.com/NVlabs/bcts}.

Ekta Prashnani, Orazio Gallo, Joohwan Kim et al.

We tackle the problem of predicting saliency maps for videos of dynamic scenes. We note that the accuracy of the maps reconstructed from the gaze data of a fixed number of observers varies with the frame, as it depends on the content of the scene. This issue is particularly pressing when a limited number of observers are available. In such cases, directly minimizing the discrepancy between the predicted and measured saliency maps, as traditional deep-learning methods do, results in overfitting to the noisy data. We propose a noise-aware training (NAT) paradigm that quantifies and accounts for the uncertainty arising from frame-specific gaze data inaccuracy. We show that NAT is especially advantageous when limited training data is available, with experiments across different models, loss functions, and datasets. We also introduce a video game-based saliency dataset, with rich temporal semantics, and multiple gaze attractors per frame. The dataset and source code are available at https://github.com/NVlabs/NAT-saliency.

Steven Dalton, Iuri Frosio, Michael Garland

We introduce CuLE (CUDA Learning Environment), a CUDA port of the Atari Learning Environment (ALE) which is used for the development of deep reinforcement algorithms. CuLE overcomes many limitations of existing CPU-based emulators and scales naturally to multiple GPUs. It leverages GPU parallelization to run thousands of games simultaneously and it renders frames directly on the GPU, to avoid the bottleneck arising from the limited CPU-GPU communication bandwidth. CuLE generates up to 155M frames per hour on a single GPU, a finding previously achieved only through a cluster of CPUs. Beyond highlighting the differences between CPU and GPU emulators in the context of reinforcement learning, we show how to leverage the high throughput of CuLE by effective batching of the training data, and show accelerated convergence for A2C+V-trace. CuLE is available at https://github.com/NVLabs/cule .

Pavlo Molchanov, Arun Mallya, Stephen Tyree et al.

Structural pruning of neural network parameters reduces computation, energy, and memory transfer costs during inference. We propose a novel method that estimates the contribution of a neuron (filter) to the final loss and iteratively removes those with smaller scores. We describe two variations of our method using the first and second-order Taylor expansions to approximate a filter's contribution. Both methods scale consistently across any network layer without requiring per-layer sensitivity analysis and can be applied to any kind of layer, including skip connections. For modern networks trained on ImageNet, we measured experimentally a high (>93%) correlation between the contribution computed by our methods and a reliable estimate of the true importance. Pruning with the proposed methods leads to an improvement over state-of-the-art in terms of accuracy, FLOPs, and parameter reduction. On ResNet-101, we achieve a 40% FLOPS reduction by removing 30% of the parameters, with a loss of 0.02% in the top-1 accuracy on ImageNet. Code is available at https://github.com/NVlabs/Taylor_pruning.

Mohammad Babaeizadeh, Iuri Frosio, Stephen Tyree et al.

We introduce a hybrid CPU/GPU version of the Asynchronous Advantage Actor-Critic (A3C) algorithm, currently the state-of-the-art method in reinforcement learning for various gaming tasks. We analyze its computational traits and concentrate on aspects critical to leveraging the GPU's computational power. We introduce a system of queues and a dynamic scheduling strategy, potentially helpful for other asynchronous algorithms as well. Our hybrid CPU/GPU version of A3C, based on TensorFlow, achieves a significant speed up compared to a CPU implementation; we make it publicly available to other researchers at https://github.com/NVlabs/GA3C .

Aditya Jonnalagadda, Iuri Frosio, Seth Schneider et al.

Game publishers and anti-cheat companies have been unsuccessful in blocking cheating in online gaming. We propose a novel, vision-based approach that captures the final state of the frame buffer and detects illicit overlays. To this aim, we train and evaluate a DNN detector on a new dataset, collected using two first-person shooter games and three cheating software. We study the advantages and disadvantages of different DNN architectures operating on a local or global scale. We use output confidence analysis to avoid unreliable detections and inform when network retraining is required. In an ablation study, we show how to use Interval Bound Propagation to build a detector that is also resistant to potential adversarial attacks and study its interaction with confidence analysis. Our results show that robust and effective anti-cheating through machine learning is practically feasible and can be used to guarantee fair play in online gaming.

Zahra Ghodsi, Siva Kumar Sastry Hari, Iuri Frosio et al.

Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing scenarios using a state-of-the-art driving simulator. For any scenario, our method generates a set of possible driving paths and identifies all the possible safe driving trajectories that can be taken starting at different times, to compute metrics that quantify the complexity of the scenario. We use our method to characterize real driving data from the Next Generation Simulation (NGSIM) project, as well as adversarial scenarios generated in simulation. We rank the scenarios by defining metrics based on the complexity of avoiding accidents and provide insights into how the AV could have minimized the probability of incurring an accident. We demonstrate a strong correlation between the proposed metrics and human intuition.

Mengyuan Yan, Qingyun Sun, Iuri Frosio et al.

One fundamental difficulty in robotic learning is the sim-real gap problem. In this work, we propose to use segmentation as the interface between perception and control, as a domain-invariant state representation. We identify two sources of sim-real gap, one is dynamics sim-real gap, the other is visual sim-real gap. To close dynamics sim-real gap, we propose to use closed-loop control. For complex task with segmentation mask input, we further propose to learn a closed-loop model-free control policy with deep neural network using imitation learning. To close visual sim-real gap, we propose to learn a perception model in real environment using simulated target plus real background image, without using any real world supervision. We demonstrate this methodology in eye-in-hand grasping task. We train a closed-loop control policy model that taking the segmentation as input using simulation. We show that this control policy is able to transfer from simulation to real environment. The closed-loop control policy is not only robust with respect to discrepancies between the dynamic model of the simulated and real robot, but also is able to generalize to unseen scenarios where the target is moving and even learns to recover from failures. We train the perception segmentation model using training data generated by composing real background images with simulated images of the target. Combining the control policy learned from simulation with the perception model, we achieve an impressive $\bf{88\%}$ success rate in grasping a tiny sphere with a real robot.

Greg Heinrich, Iuri Frosio

Training intelligent agents through reinforcement learning is a notoriously unstable procedure. Massive parallelization on GPUs and distributed systems has been exploited to generate a large amount of training experiences and consequently reduce instabilities, but the success of training remains strongly influenced by the choice of the hyperparameters. To overcome this issue, we introduce HyperTrick, a new metaoptimization algorithm, and show its effective application to tune hyperparameters in the case of deep reinforcement learning, while learning to play different Atari games on a distributed system. Our analysis provides evidence of the interaction between the identification of the optimal hyperparameters and the learned policy, that is typical of the case of metaoptimization for deep reinforcement learning. When compared with state-of-the-art metaoptimization algorithms, HyperTrick is characterized by a simpler implementation and it allows learning similar policies, while making a more effective use of the computational resources in a distributed system.

Qi Guo, Iuri Frosio, Orazio Gallo et al.

Scene motion, multiple reflections, and sensor noise introduce artifacts in the depth reconstruction performed by time-of-flight cameras. We propose a two-stage, deep-learning approach to address all of these sources of artifacts simultaneously. We also introduce FLAT, a synthetic dataset of 2000 ToF measurements that capture all of these nonidealities, and allows to simulate different camera hardware. Using the Kinect 2 camera as a baseline, we show improved reconstruction errors over state-of-the-art methods, on both simulated and real data.

Mengyuan Yan, Iuri Frosio, Stephen Tyree et al.

In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a vision module and a closed-loop controller module. The two modules use target object segmentation as their common interface. The vision module extracts information from the robot end-effector camera, in the form of a binary segmentation mask of the target. We train it to achieve effective domain transfer by composing real background images with simulated images of the target. The controller module takes as input the binary segmentation mask, and thus is agnostic to visual discrepancies between simulated and real environments. We train our closed-loop controller in simulation using imitation learning and show it is robust with respect to discrepancies between the dynamic model of the simulated and real robot: when combined with eye-in-hand observations, we achieve a 90% success rate in grasping a tiny sphere with a real robot. The controller can generalize to unseen scenarios where the target is moving and even learns to recover from failures.

Iuri Frosio, Jan Kautz

To denoise a reference patch, the Non-Local-Means denoising filter processes a set of neighbor patches. Few Nearest Neighbors (NN) are used to limit the computational burden of the algorithm. Here here we show analytically that the NN approach introduces a bias in the denoised patch, and we propose a different neighbors' collection criterion, named Statistical NN (SNN), to alleviate this issue. Our approach outperforms the traditional one in case of both white and colored noise: fewer SNNs generate images of higher quality, at a lower computational cost.

Jingming Dong, Iuri Frosio, Jan Kautz

The non-stationary nature of image characteristics calls for adaptive processing, based on the local image content. We propose a simple and flexible method to learn local tuning of parameters in adaptive image processing: we extract simple local features from an image and learn the relation between these features and the optimal filtering parameters. Learning is performed by optimizing a user defined cost function (any image quality metric) on a training set. We apply our method to three classical problems (denoising, demosaicing and deblurring) and we show the effectiveness of the learned parameter modulation strategies. We also show that these strategies are consistent with theoretical results from the literature.

Hang Zhao, Orazio Gallo, Iuri Frosio et al.

Neural networks are becoming central in several areas of computer vision and image processing and different architectures have been proposed to solve specific problems. The impact of the loss layer of neural networks, however, has not received much attention in the context of image processing: the default and virtually only choice is L2. In this paper, we bring attention to alternative choices for image restoration. In particular, we show the importance of perceptually-motivated losses when the resulting image is to be evaluated by a human observer. We compare the performance of several losses, and propose a novel, differentiable error function. We show that the quality of the results improves significantly with better loss functions, even when the network architecture is left unchanged.