John Canny

David M. Chan, Austin Myers, Sudheendra Vijayanarasimhan et al.

If you ask a human to describe an image, they might do so in a thousand different ways. Traditionally, image captioning models are trained to generate a single "best" (most like a reference) image caption. Unfortunately, doing so encourages captions that are "informationally impoverished," and focus on only a subset of the possible details, while ignoring other potentially useful information in the scene. In this work, we introduce a simple, yet novel, method: "Image Captioning by Committee Consensus" (IC3), designed to generate a single caption that captures high-level details from several annotator viewpoints. Humans rate captions produced by IC3 at least as helpful as baseline SOTA models more than two thirds of the time, and IC3 can improve the performance of SOTA automated recall systems by up to 84%, outperforming single human-generated reference captions, and indicating significant improvements over SOTA approaches for visual description. Code is available at https://davidmchan.github.io/caption-by-committee/

Eliza Kosoy, David M. Chan, Adrian Liu et al.

Recent work in machine learning and cognitive science has suggested that understanding causal information is essential to the development of intelligence. The extensive literature in cognitive science using the ``blicket detector'' environment shows that children are adept at many kinds of causal inference and learning. We propose to adapt that environment for machine learning agents. One of the key challenges for current machine learning algorithms is modeling and understanding causal overhypotheses: transferable abstract hypotheses about sets of causal relationships. In contrast, even young children spontaneously learn and use causal overhypotheses. In this work, we present a new benchmark -- a flexible environment which allows for the evaluation of existing techniques under variable causal overhypotheses -- and demonstrate that many existing state-of-the-art methods have trouble generalizing in this environment. The code and resources for this benchmark are available at https://github.com/CannyLab/casual_overhypotheses.

David Chan, Suzanne Petryk, Joseph E. Gonzalez et al.

The evaluation of machine-generated image captions poses an interesting yet persistent challenge. Effective evaluation measures must consider numerous dimensions of similarity, including semantic relevance, visual structure, object interactions, caption diversity, and specificity. Existing highly-engineered measures attempt to capture specific aspects, but fall short in providing a holistic score that aligns closely with human judgments. Here, we propose CLAIR, a novel method that leverages the zero-shot language modeling capabilities of large language models (LLMs) to evaluate candidate captions. In our evaluations, CLAIR demonstrates a stronger correlation with human judgments of caption quality compared to existing measures. Notably, on Flickr8K-Expert, CLAIR achieves relative correlation improvements over SPICE of 39.6% and over image-augmented methods such as RefCLIP-S of 18.3%. Moreover, CLAIR provides noisily interpretable results by allowing the language model to identify the underlying reasoning behind its assigned score. Code is available at https://davidmchan.github.io/clair/

Suhong Moon, Domas Buracas, Seunghyun Park et al.

A number of recent self-supervised learning methods have shown impressive performance on image classification and other tasks. A somewhat bewildering variety of techniques have been used, not always with a clear understanding of the reasons for their benefits, especially when used in combination. Here we treat the embeddings of images as point particles and consider model optimization as a dynamic process on this system of particles. Our dynamic model combines an attractive force for similar images, a locally dispersive force to avoid local collapse, and a global dispersive force to achieve a globally-homogeneous distribution of particles. The dynamic perspective highlights the advantage of using a delayed-parameter image embedding (a la BYOL) together with multiple views of the same image. It also uses a purely-dynamic local dispersive force (Brownian motion) that shows improved performance over other methods and does not require knowledge of other particle coordinates. The method is called MSBReg which stands for (i) a Multiview centroid loss, which applies an attractive force to pull different image view embeddings toward their centroid, (ii) a Singular value loss, which pushes the particle system toward spatially homogeneous density, (iii) a Brownian diffusive loss. We evaluate downstream classification performance of MSBReg on ImageNet as well as transfer learning tasks including fine-grained classification, multi-class object classification, object detection, and instance segmentation. In addition, we also show that applying our regularization term to other methods further improves their performance and stabilize the training by preventing a mode collapse.

David M Chan, Yiming Ni, David A Ross et al.

Traditional automated metrics for evaluating conditional natural language generation use pairwise comparisons between a single generated text and the best-matching gold-standard ground truth text. When multiple ground truths are available, scores are aggregated using an average or max operation across references. While this approach works well when diversity in the ground truth data (i.e. dispersion of the distribution of conditional texts) can be ascribed to noise, such as in automated speech recognition, it does not allow for robust evaluation in the case where diversity in the ground truths represents signal for the model. In this work we argue that existing metrics are not appropriate for domains such as visual description or summarization where ground truths are semantically diverse, and where the diversity in those captions captures useful additional information about the context. We propose a novel paradigm for multi-candidate evaluation of conditional language generation models, and a new family of metrics that compare the distributions of reference and model-generated caption sets using small sample sets of each. We demonstrate the utility of our approach with a case study in visual description: where we show that existing models optimize for single-description quality over diversity, and gain some insights into how sampling methods and temperature impact description quality and diversity.

Sumanth Gurram, Andy Fang, David Chan et al.

Generating representations of video data is of key importance in advancing the field of machine perception. Most current techniques rely on hand-annotated data, which can be difficult to work with, expensive to generate, and hard to scale. In this work, we propose a novel learning approach based on contrastive learning, LAVA, which is capable of learning joint language, audio, and video representations in a self-supervised manner. We pre-train LAVA on the Kinetics 700 dataset using transformer encoders to learn representations for each modality. We then demonstrate that LAVA performs competitively with the current state-of-the-art self-supervised and weakly-supervised pretraining techniques on UCF-101 and HMDB-51 video action recognition while using a fraction of the unlabeled data.

Marwa Abdulhai, Gregory Serapio-Garcia, Clément Crepy et al.

Moral foundations theory (MFT) is a psychological assessment tool that decomposes human moral reasoning into five factors, including care/harm, liberty/oppression, and sanctity/degradation (Graham et al., 2009). People vary in the weight they place on these dimensions when making moral decisions, in part due to their cultural upbringing and political ideology. As large language models (LLMs) are trained on datasets collected from the internet, they may reflect the biases that are present in such corpora. This paper uses MFT as a lens to analyze whether popular LLMs have acquired a bias towards a particular set of moral values. We analyze known LLMs and find they exhibit particular moral foundations, and show how these relate to human moral foundations and political affiliations. We also measure the consistency of these biases, or whether they vary strongly depending on the context of how the model is prompted. Finally, we show that we can adversarially select prompts that encourage the moral to exhibit a particular set of moral foundations, and that this can affect the model's behavior on downstream tasks. These findings help illustrate the potential risks and unintended consequences of LLMs assuming a particular moral stance.

Suzanne Petryk, David M. Chan, Anish Kachinthaya et al.

Despite recent advances in multimodal pre-training for visual description, state-of-the-art models still produce captions containing errors, such as hallucinating objects not present in a scene. The existing prominent metric for object hallucination, CHAIR, is limited to a fixed set of MS COCO objects and synonyms. In this work, we propose a modernized open-vocabulary metric, ALOHa, which leverages large language models (LLMs) to measure object hallucinations. Specifically, we use an LLM to extract groundable objects from a candidate caption, measure their semantic similarity to reference objects from captions and object detections, and use Hungarian matching to produce a final hallucination score. We show that ALOHa correctly identifies 13.6% more hallucinated objects than CHAIR on HAT, a new gold-standard subset of MS COCO Captions annotated for hallucinations, and 30.8% more on nocaps, where objects extend beyond MS COCO categories. Our code is available at https://davidmchan.github.io/aloha/.

Victoria Lin, Taedong Yun, Maja Matarić et al.

Large language models (LLMs) show potential as simulators of human behavior, offering a scalable way to study responses to interventions. However, because LLMs are trained largely on observational data, interventions in experiments with LLM-simulated synthetic users can induce unintended shifts in latent user attributes, causing user drift where the implicit simulated population differs across treatment conditions, potentially distorting effect estimates. We formalize the confounding or selection bias that can arise due to user drift and show how intervention-dependent shifts can inflate or attenuate observed differences in user responses under intervention. To diagnose confounding, we propose using negative control outcomes--attributes that should remain invariant under intervention--to identify distribution shifts across intervention conditions, providing evidence of user drift. To mitigate drift, we study adjusting the persona specification by eliciting additional confounders, finding that targeted, setting-relevant confounders can substantially reduce bias across survey-style and multi-turn agent evaluations.

Stephanie C. Y. Chan, Samuel Fishman, John Canny et al.

Lack of reliability is a well-known issue for reinforcement learning (RL) algorithms. This problem has gained increasing attention in recent years, and efforts to improve it have grown substantially. To aid RL researchers and production users with the evaluation and improvement of reliability, we propose a set of metrics that quantitatively measure different aspects of reliability. In this work, we focus on variability and risk, both during training and after learning (on a fixed policy). We designed these metrics to be general-purpose, and we also designed complementary statistical tests to enable rigorous comparisons on these metrics. In this paper, we first describe the desired properties of the metrics and their design, the aspects of reliability that they measure, and their applicability to different scenarios. We then describe the statistical tests and make additional practical recommendations for reporting results. The metrics and accompanying statistical tools have been made available as an open-source library at https://github.com/google-research/rl-reliability-metrics. We apply our metrics to a set of common RL algorithms and environments, compare them, and analyze the results.

Roshan Rao, Nicholas Bhattacharya, Neil Thomas et al.

Protein modeling is an increasingly popular area of machine learning research. Semi-supervised learning has emerged as an important paradigm in protein modeling due to the high cost of acquiring supervised protein labels, but the current literature is fragmented when it comes to datasets and standardized evaluation techniques. To facilitate progress in this field, we introduce the Tasks Assessing Protein Embeddings (TAPE), a set of five biologically relevant semi-supervised learning tasks spread across different domains of protein biology. We curate tasks into specific training, validation, and test splits to ensure that each task tests biologically relevant generalization that transfers to real-life scenarios. We benchmark a range of approaches to semi-supervised protein representation learning, which span recent work as well as canonical sequence learning techniques. We find that self-supervised pretraining is helpful for almost all models on all tasks, more than doubling performance in some cases. Despite this increase, in several cases features learned by self-supervised pretraining still lag behind features extracted by state-of-the-art non-neural techniques. This gap in performance suggests a huge opportunity for innovative architecture design and improved modeling paradigms that better capture the signal in biological sequences. TAPE will help the machine learning community focus effort on scientifically relevant problems. Toward this end, all data and code used to run these experiments are available at https://github.com/songlab-cal/tape.

Jinkyu Kim, Anna Rohrbach, Trevor Darrell et al.

Deep neural perception and control networks have become key components of self-driving vehicles. User acceptance is likely to benefit from easy-to-interpret textual explanations which allow end-users to understand what triggered a particular behavior. Explanations may be triggered by the neural controller, namely introspective explanations, or informed by the neural controller's output, namely rationalizations. We propose a new approach to introspective explanations which consists of two parts. First, we use a visual (spatial) attention model to train a convolutional network end-to-end from images to the vehicle control commands, i.e., acceleration and change of course. The controller's attention identifies image regions that potentially influence the network's output. Second, we use an attention-based video-to-text model to produce textual explanations of model actions. The attention maps of controller and explanation model are aligned so that explanations are grounded in the parts of the scene that mattered to the controller. We explore two approaches to attention alignment, strong- and weak-alignment. Finally, we explore a version of our model that generates rationalizations, and compare with introspective explanations on the same video segments. We evaluate these models on a novel driving dataset with ground-truth human explanations, the Berkeley DeepDrive eXplanation (BDD-X) dataset. Code is available at https://github.com/JinkyuKimUCB/explainable-deep-driving.

Suhong Moon, Minwoo Kang, Joseph Suh et al.

Humans act via a nuanced process that depends both on rational deliberation and also on identity and contextual factors. In this work, we study how large language models (LLMs) can simulate human action in the context of social dilemma games. While prior work has focused on "steering" (weak binding) of chat models to simulate personas, we analyze here how deep binding of base models with extended backstories leads to more faithful replication of identity-based behaviors. Our study has these findings: simulation fidelity vs human studies is improved by conditioning base LMs with rich context of narrative identities and checking consistency using instruction-tuned models. We show that LLMs can also model contextual factors such as time (year that a study was performed), question framing, and participant pool effects. LLMs, therefore, allow us to explore the details that affect human studies but which are often omitted from experiment descriptions, and which hamper accurate replication.

Kuang-Huei Lee, Xinyun Chen, Hiroki Furuta et al.

Current Large Language Models (LLMs) are not only limited to some maximum context length, but also are not able to robustly consume long inputs. To address these limitations, we propose ReadAgent, an LLM agent system that increases effective context length up to 20x in our experiments. Inspired by how humans interactively read long documents, we implement ReadAgent as a simple prompting system that uses the advanced language capabilities of LLMs to (1) decide what content to store together in a memory episode, (2) compress those memory episodes into short episodic memories called gist memories, and (3) take actions to look up passages in the original text if ReadAgent needs to remind itself of relevant details to complete a task. We evaluate ReadAgent against baselines using retrieval methods, using the original long contexts, and using the gist memories. These evaluations are performed on three long-document reading comprehension tasks: QuALITY, NarrativeQA, and QMSum. ReadAgent outperforms the baselines on all three tasks while extending the effective context window by 3.5-20x.

Minwoo Kang, Suhong Moon, Seung Hyeong Lee et al.

Large language models (LLMs) are increasingly capable of simulating human behavior, offering cost-effective ways to estimate user responses to various surveys and polls. However, the questions in these surveys usually reflect socially understood attitudes: the patterns of attitudes of old/young, liberal/conservative, as understood by both members and non-members of those groups. It is not clear whether the LLM binding is \emph{deep}, meaning the LLM answers as a member of a particular in-group would, or \emph{shallow}, meaning the LLM responds as an out-group member believes an in-group member would. To explore this difference, we use questions that expose known in-group/out-group biases. This level of fidelity is critical for applying LLMs to various political science studies, including timely topics on polarization dynamics, inter-group conflict, and democratic backsliding. To this end, we propose a novel methodology for constructing virtual personas with synthetic user "backstories" generated as extended, multi-turn interview transcripts. This approach is justified by the theory of \emph{narrative identity} which argues that personality at the highest level is \emph{constructed} from self-narratives. Our generated backstories are longer, rich in detail, and consistent in authentically describing a singular individual, compared to previous methods. We show that virtual personas conditioned on our backstories closely replicate human response distributions (up to an 87% improvement as measured by Wasserstein Distance) and produce effect sizes that closely match those observed in the original studies of in-group/out-group biases. Altogether, our work extends the applicability of LLMs beyond estimating socially understood responses, enabling their use in a broader range of human studies.

Taedong Yun, Eric Yang, Mustafa Safdari et al. · berkeley

We present an end-to-end framework for generating synthetic users for evaluating interactive agents designed to encourage positive behavior changes, such as in health and lifestyle coaching. The synthetic users are grounded in health and lifestyle conditions, specifically sleep and diabetes management in this study, to ensure realistic interactions with the health coaching agent. Synthetic users are created in two stages: first, structured data are generated grounded in real-world health and lifestyle factors in addition to basic demographics and behavioral attributes; second, full profiles of the synthetic users are developed conditioned on the structured data. Interactions between synthetic users and the coaching agent are simulated using generative agent-based models such as Concordia, or directly by prompting a language model. Using two independently-developed agents for sleep and diabetes coaching as case studies, the validity of this framework is demonstrated by analyzing the coaching agent's understanding of the synthetic users' needs and challenges. Finally, through multiple blinded evaluations of user-coach interactions by human experts, we demonstrate that our synthetic users with health and behavioral attributes more accurately portray real human users with the same attributes, compared to generic synthetic users not grounded in such attributes. The proposed framework lays the foundation for efficient development of conversational agents through extensive, realistic, and grounded simulated interactions.

Konstantina Christakopoulou, Iris Qu, John Canny et al.

The language generation and reasoning capabilities of large language models (LLMs) have enabled conversational systems with impressive performance in a variety of tasks, from code generation, to composing essays, to passing STEM and legal exams, to a new paradigm for knowledge search. Besides those short-term use applications, LLMs are increasingly used to help with real-life goals or tasks that take a long time to complete, involving multiple sessions across days, weeks, months, or even years. Thus to enable conversational systems for long term interactions and tasks, we need language-based agents that can plan for long horizons. Traditionally, such capabilities were addressed by reinforcement learning agents with hierarchical planning capabilities. In this work, we explore a novel architecture where the LLM acts as the meta-controller deciding the agent's next macro-action, and tool use augmented LLM-based option policies execute the selected macro-action. We instantiate this framework for a specific set of macro-actions enabling adaptive planning for users' personal plans through conversation and follow-up questions collecting user feedback. We show how this paradigm can be applicable in scenarios ranging from tutoring for academic and non-academic tasks to conversational coaching for personal health plans.

Eliza Kosoy, Adrian Liu, Jasmine Collins et al.

Despite recent progress in reinforcement learning (RL), RL algorithms for exploration still remain an active area of research. Existing methods often focus on state-based metrics, which do not consider the underlying causal structures of the environment, and while recent research has begun to explore RL environments for causal learning, these environments primarily leverage causal information through causal inference or induction rather than exploration. In contrast, human children - some of the most proficient explorers - have been shown to use causal information to great benefit. In this work, we introduce a novel RL environment designed with a controllable causal structure, which allows us to evaluate exploration strategies used by both agents and children in a unified environment. In addition, through experimentation on both computation models and children, we demonstrate that there are significant differences between information-gain optimal RL exploration in causal environments and the exploration of children in the same environments. We conclude with a discussion of how these findings may inspire new directions of research into efficient exploration and disambiguation of causal structures for RL algorithms.

Kehan Wang, David Chan, Seth Z. Zhao et al.

With the growing adoption of short-form video by social media platforms, reducing the spread of misinformation through video posts has become a critical challenge for social media providers. In this paper, we develop methods to detect misinformation in social media posts, exploiting modalities such as video and text. Due to the lack of large-scale public data for misinformation detection in multi-modal datasets, we collect 160,000 video posts from Twitter, and leverage self-supervised learning to learn expressive representations of joint visual and textual data. In this work, we propose two new methods for detecting semantic inconsistencies within short-form social media video posts, based on contrastive learning and masked language modeling. We demonstrate that our new approaches outperform current state-of-the-art methods on both artificial data generated by random-swapping of positive samples and in the wild on a new manually-labeled test set for semantic misinformation.

Philippe Laban, Elicia Ye, Srujay Korlakunta et al.

News podcasts are a popular medium to stay informed and dive deep into news topics. Today, most podcasts are handcrafted by professionals. In this work, we advance the state-of-the-art in automatically generated podcasts, making use of recent advances in natural language processing and text-to-speech technology. We present NewsPod, an automatically generated, interactive news podcast. The podcast is divided into segments, each centered on a news event, with each segment structured as a Question and Answer conversation, whose goal is to engage the listener. A key aspect of the design is the use of distinct voices for each role (questioner, responder), to better simulate a conversation. Another novel aspect of NewsPod allows listeners to interact with the podcast by asking their own questions and receiving automatically generated answers. We validate the soundness of this system design through two usability studies, focused on evaluating the narrative style and interactions with the podcast, respectively. We find that NewsPod is preferred over a baseline by participants, with 80% claiming they would use the system in the future.

Forrest Huang, Eldon Schoop, David Ha et al.

Sketching is a natural and effective visual communication medium commonly used in creative processes. Recent developments in deep-learning models drastically improved machines' ability in understanding and generating visual content. An exciting area of development explores deep-learning approaches used to model human sketches, opening opportunities for creative applications. This chapter describes three fundamental steps in developing deep-learning-driven creativity support tools that consumes and generates sketches: 1) a data collection effort that generated a new paired dataset between sketches and mobile user interfaces; 2) a sketch-based user interface retrieval system adapted from state-of-the-art computer vision techniques; and, 3) a conversational sketching system that supports the novel interaction of a natural-language-based sketch/critique authoring process. In this chapter, we survey relevant prior work in both the deep-learning and human-computer-interaction communities, document the data collection process and the systems' architectures in detail, present qualitative and quantitative results, and paint the landscape of several future research directions in this exciting area.

Kuang-Huei Lee, Anurag Arnab, Sergio Guadarrama et al.

Learning effective visual representations that generalize well without human supervision is a fundamental problem in order to apply Machine Learning to a wide variety of tasks. Recently, two families of self-supervised methods, contrastive learning and latent bootstrapping, exemplified by SimCLR and BYOL respectively, have made significant progress. In this work, we hypothesize that adding explicit information compression to these algorithms yields better and more robust representations. We verify this by developing SimCLR and BYOL formulations compatible with the Conditional Entropy Bottleneck (CEB) objective, allowing us to both measure and control the amount of compression in the learned representation, and observe their impact on downstream tasks. Furthermore, we explore the relationship between Lipschitz continuity and compression, showing a tractable lower bound on the Lipschitz constant of the encoders we learn. As Lipschitz continuity is closely related to robustness, this provides a new explanation for why compressed models are more robust. Our experiments confirm that adding compression to SimCLR and BYOL significantly improves linear evaluation accuracies and model robustness across a wide range of domain shifts. In particular, the compressed version of BYOL achieves 76.0% Top-1 linear evaluation accuracy on ImageNet with ResNet-50, and 78.8% with ResNet-50 2x.

Daniel Seita, Abhinav Gopal, Zhao Mandi et al.

Deep reinforcement learning (RL) has shown great empirical successes, but suffers from brittleness and sample inefficiency. A potential remedy is to use a previously-trained policy as a source of supervision. In this work, we refer to these policies as teachers and study how to transfer their expertise to new student policies by focusing on data usage. We propose a framework, Data CUrriculum for Reinforcement learning (DCUR), which first trains teachers using online deep RL, and stores the logged environment interaction history. Then, students learn by running either offline RL or by using teacher data in combination with a small amount of self-generated data. DCUR's central idea involves defining a class of data curricula which, as a function of training time, limits the student to sampling from a fixed subset of the full teacher data. We test teachers and students using state-of-the-art deep RL algorithms across a variety of data curricula. Results suggest that the choice of data curricula significantly impacts student learning, and that it is beneficial to limit the data during early training stages while gradually letting the data availability grow over time. We identify when the student can learn offline and match teacher performance without relying on specialized offline RL algorithms. Furthermore, we show that collecting a small fraction of online data provides complementary benefits with the data curriculum. Supplementary material is available at https://tinyurl.com/teach-dcur.

Philippe Laban, John Canny, Marti A. Hearst

This work describes an automatic news chatbot that draws content from a diverse set of news articles and creates conversations with a user about the news. Key components of the system include the automatic organization of news articles into topical chatrooms, integration of automatically generated questions into the conversation, and a novel method for choosing which questions to present which avoids repetitive suggestions. We describe the algorithmic framework and present the results of a usability study that shows that news readers using the system successfully engage in multi-turn conversations about specific news stories.

Philippe Laban, Andrew Hsi, John Canny et al.

This work presents a new approach to unsupervised abstractive summarization based on maximizing a combination of coverage and fluency for a given length constraint. It introduces a novel method that encourages the inclusion of key terms from the original document into the summary: key terms are masked out of the original document and must be filled in by a coverage model using the current generated summary. A novel unsupervised training procedure leverages this coverage model along with a fluency model to generate and score summaries. When tested on popular news summarization datasets, the method outperforms previous unsupervised methods by more than 2 R-1 points, and approaches results of competitive supervised methods. Our model attains higher levels of abstraction with copied passages roughly two times shorter than prior work, and learns to compress and merge sentences without supervision.

David M. Chan, Sudheendra Vijayanarasimhan, David A. Ross et al.

Automatic video captioning aims to train models to generate text descriptions for all segments in a video, however, the most effective approaches require large amounts of manual annotation which is slow and expensive. Active learning is a promising way to efficiently build a training set for video captioning tasks while reducing the need to manually label uninformative examples. In this work we both explore various active learning approaches for automatic video captioning and show that a cluster-regularized ensemble strategy provides the best active learning approach to efficiently gather training sets for video captioning. We evaluate our approaches on the MSR-VTT and LSMDC datasets using both transformer and LSTM based captioning models and show that our novel strategy can achieve high performance while using up to 60% fewer training data than the strong state of the art baselines.

Kuang-Huei Lee, Ian Fischer, Anthony Liu et al.

The Predictive Information is the mutual information between the past and the future, I(X_past; X_future). We hypothesize that capturing the predictive information is useful in RL, since the ability to model what will happen next is necessary for success on many tasks. To test our hypothesis, we train Soft Actor-Critic (SAC) agents from pixels with an auxiliary task that learns a compressed representation of the predictive information of the RL environment dynamics using a contrastive version of the Conditional Entropy Bottleneck (CEB) objective. We refer to these as Predictive Information SAC (PI-SAC) agents. We show that PI-SAC agents can substantially improve sample efficiency over challenging baselines on tasks from the DM Control suite of continuous control environments. We evaluate PI-SAC agents by comparing against uncompressed PI-SAC agents, other compressed and uncompressed agents, and SAC agents directly trained from pixels. Our implementation is given on GitHub.

Bofan Xue, David Chan, John Canny

We present a new publicly available dataset with the goal of advancing multi-modality learning by offering vision and language data within the same context. This is achieved by obtaining data from a social media website with posts containing multiple paired images/videos and text, along with comment trees containing images/videos and/or text. With a total of 677k posts, 2.9 million post images, 488k post videos, 1.4 million comment images, 4.6 million comment videos, and 96.9 million comments, data from different modalities can be jointly used to improve performances for a variety of tasks such as image captioning, image classification, next frame prediction, sentiment analysis, and language modeling. We present a wide range of statistics for our dataset. Finally, we provide baseline performance analysis for one of the regression tasks using pre-trained models and several fully connected networks.

Forrest Huang, Eldon Schoop, David Ha et al.

Iteratively refining and critiquing sketches are crucial steps to developing effective designs. We introduce Scones, a mixed-initiative, machine-learning-driven system that enables users to iteratively author sketches from text instructions. Scones is a novel deep-learning-based system that iteratively generates scenes of sketched objects composed with semantic specifications from natural language. Scones exceeds state-of-the-art performance on a text-based scene modification task, and introduces a mask-conditioned sketching model that can generate sketches with poses specified by high-level scene information. In an exploratory user evaluation of Scones, participants reported enjoying an iterative drawing task with Scones, and suggested additional features for further applications. We believe Scones is an early step towards automated, intelligent systems that support human-in-the-loop applications for communicating ideas through sketching in art and design.

Eliza Kosoy, Jasmine Collins, David M. Chan et al.

Research in developmental psychology consistently shows that children explore the world thoroughly and efficiently and that this exploration allows them to learn. In turn, this early learning supports more robust generalization and intelligent behavior later in life. While much work has gone into developing methods for exploration in machine learning, artificial agents have not yet reached the high standard set by their human counterparts. In this work we propose using DeepMind Lab (Beattie et al., 2016) as a platform to directly compare child and agent behaviors and to develop new exploration techniques. We outline two ongoing experiments to demonstrate the effectiveness of a direct comparison, and outline a number of open research questions that we believe can be tested using this methodology.

Jinkyu Kim, Teruhisa Misu, Yi-Ting Chen et al.

Recent success suggests that deep neural control networks are likely to be a key component of self-driving vehicles. These networks are trained on large datasets to imitate human actions, but they lack semantic understanding of image contents. This makes them brittle and potentially unsafe in situations that do not match training data. Here, we propose to address this issue by augmenting training data with natural language advice from a human. Advice includes guidance about what to do and where to attend. We present the first step toward advice giving, where we train an end-to-end vehicle controller that accepts advice. The controller adapts the way it attends to the scene (visual attention) and the control (steering and speed). Attention mechanisms tie controller behavior to salient objects in the advice. We evaluate our model on a novel advisable driving dataset with manually annotated human-to-vehicle advice called Honda Research Institute-Advice Dataset (HAD). We show that taking advice improves the performance of the end-to-end network, while the network cues on a variety of visual features that are provided by advice. The dataset is available at https://usa.honda-ri.com/HAD.

Daniel Seita, David Chan, Roshan Rao et al.

Learning from demonstrations is a popular tool for accelerating and reducing the exploration requirements of reinforcement learning. When providing expert demonstrations to human students, we know that the demonstrations must fall within a particular range of difficulties called the "Zone of Proximal Development (ZPD)". If they are too easy the student learns nothing, but if they are too difficult the student is unable to follow along. This raises the question: Given a set of potential demonstrators, which among them is best suited for teaching any particular learner? Prior work, such as the popular Deep Q-learning from Demonstrations (DQfD) algorithm has generally focused on single demonstrators. In this work we consider the problem of choosing among multiple demonstrators of varying skill levels. Our results align with intuition from human learners: it is not always the best policy to draw demonstrations from the best performing demonstrator (in terms of reward). We show that careful selection of teaching strategies can result in sample efficiency gains in the learner's environment across nine Atari games

Daniel Seita, Aditya Ganapathi, Ryan Hoque et al.

Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation learning to learn policies that, given color (RGB), depth (D), or combined color-depth (RGBD) images of a rectangular fabric sample, estimate pick points and pull vectors to spread the fabric to maximize coverage. To generate data, we develop a fabric simulator and an algorithmic supervisor that has access to complete state information. We train policies in simulation using domain randomization and dataset aggregation (DAgger) on three tiers of difficulty in the initial randomized configuration. We present results comparing five baseline policies to learned policies and report systematic comparisons of RGB vs D vs RGBD images as inputs. In simulation, learned policies achieve comparable or superior performance to analytic baselines. In 180 physical experiments with the da Vinci Research Kit (dVRK) surgical robot, RGBD policies trained in simulation attain coverage of 83% to 95% depending on difficulty tier, suggesting that effective fabric smoothing policies can be learned from an algorithmic supervisor and that depth sensing is a valuable addition to color alone. Supplementary material is available at https://sites.google.com/view/fabric-smoothing.

Xinlei Pan, Daniel Seita, Yang Gao et al.

Deep reinforcement learning has recently made significant progress in solving computer games and robotic control tasks. A known problem, though, is that policies overfit to the training environment and may not avoid rare, catastrophic events such as automotive accidents. A classical technique for improving the robustness of reinforcement learning algorithms is to train on a set of randomized environments, but this approach only guards against common situations. Recently, robust adversarial reinforcement learning (RARL) was developed, which allows efficient applications of random and systematic perturbations by a trained adversary. A limitation of RARL is that only the expected control objective is optimized; there is no explicit modeling or optimization of risk. Thus the agents do not consider the probability of catastrophic events (i.e., those inducing abnormally large negative reward), except through their effect on the expected objective. In this paper we introduce risk-averse robust adversarial reinforcement learning (RARARL), using a risk-averse protagonist and a risk-seeking adversary. We test our approach on a self-driving vehicle controller. We use an ensemble of policy networks to model risk as the variance of value functions. We show through experiments that a risk-averse agent is better equipped to handle a risk-seeking adversary, and experiences substantially fewer crashes compared to agents trained without an adversary.

Ye Xia, Jinkyu Kim, John Canny et al.

Inspired by human vision, we propose a new periphery-fovea multi-resolution driving model that predicts vehicle speed from dash camera videos. The peripheral vision module of the model processes the full video frames in low resolution. Its foveal vision module selects sub-regions and uses high-resolution input from those regions to improve its driving performance. We train the fovea selection module with supervision from driver gaze. We show that adding high-resolution input from predicted human driver gaze locations significantly improves the driving accuracy of the model. Our periphery-fovea multi-resolution model outperforms a uni-resolution periphery-only model that has the same amount of floating-point operations. More importantly, we demonstrate that our driving model achieves a significantly higher performance gain in pedestrian-involved critical situations than in other non-critical situations.

Daniel Seita, Nawid Jamali, Michael Laskey et al.

A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. We present a supervised deep transfer learning approach to locate pick points using depth images for invariance to color and texture. We consider the task of bed-making, where a robot sequentially grasps and pulls at pick points to increase blanket coverage. We perform physical experiments with two mobile manipulator robots, the Toyota HSR and the Fetch, and three blankets of different colors and textures. We compare coverage results from (1) human supervision, (2) a baseline of picking at the uppermost blanket point, and (3) learned pick points. On a quarter-scale twin bed, a model trained with combined data from the two robots achieves 92% blanket coverage compared with 83% for the baseline and 95% for human supervisors. The model transfers to two novel blankets and achieves 93% coverage. Average coverage results of 92% for 193 beds suggest that transfer-invariant robot pick points on fabric can be effectively learned.

Xinlei Pan, Sung-Li Chiang, John Canny

Self-driving vehicle vision systems must deal with an extremely broad and challenging set of scenes. They can potentially exploit an enormous amount of training data collected from vehicles in the field, but the volumes are too large to train offline naively. Not all training instances are equally valuable though, and importance sampling can be used to prioritize which training images to collect. This approach assumes that objects in images are labeled with high accuracy. To generate accurate labels in the field, we exploit the spatio-temporal coherence of vehicle video. We use a near-to-far labeling strategy by first labeling large, close objects in the video, and tracking them back in time to induce labels on small distant presentations of those objects. In this paper we demonstrate the feasibility of this approach in several steps. First, we note that an optimal subset (relative to all the objects encountered and labeled) of labeled objects in images can be obtained by importance sampling using gradients of the recognition network. Next we show that these gradients can be approximated with very low error using the loss function, which is already available when the CNN is running inference. Then, we generalize these results to objects in a larger scene using an object detection system. Finally, we describe a self-labeling scheme using object tracking. Objects are tracked back in time (near-to-far) and labels of near objects are used to check accuracy of those objects in the far field. We then evaluate the accuracy of models trained on importance sampled data vs models trained on complete data.

Daniel Seita, Sanjay Krishnan, Roy Fox et al.

Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven systems. We propose and evaluate a novel two-phase coarse-to-fine calibration method. In Phase I (coarse), we place a red calibration marker on the end effector and let it randomly move through a set of open-loop trajectories to obtain a large sample set of camera pixels and internal robot end-effector configurations. This coarse data is then used to train a Deep Neural Network (DNN) to learn the coarse transformation bias. In Phase II (fine), the bias from Phase I is applied to move the end-effector toward a small set of specific target points on a printed sheet. For each target, a human operator manually adjusts the end-effector position by direct contact (not through teleoperation) and the residual compensation bias is recorded. This fine data is then used to train a Random Forest (RF) to learn the fine transformation bias. Subsequent experiments suggest that without calibration, position errors average 4.55mm. Phase I can reduce average error to 2.14mm and the combination of Phase I and Phase II can reduces average error to 1.08mm. We apply these results to debridement of raisins and pumpkin seeds as fragment phantoms. Using an endoscopic stereo camera with standard edge detection, experiments with 120 trials achieved average success rates of 94.5%, exceeding prior results with much larger fragments (89.4%) and achieving a speedup of 2.1x, decreasing time per fragment from 15.8 seconds to 7.3 seconds. Source code, data, and videos are available at https://sites.google.com/view/calib-icra/.

Jinkyu Kim, John Canny

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance companies, law enforcement, developers etc., can understand what triggered a particular behavior. Here we explore the use of visual explanations. These explanations take the form of real-time highlighted regions of an image that causally influence the network's output (steering control). Our approach is two-stage. In the first stage, we use a visual attention model to train a convolution network end-to-end from images to steering angle. The attention model highlights image regions that potentially influence the network's output. Some of these are true influences, but some are spurious. We then apply a causal filtering step to determine which input regions actually influence the output. This produces more succinct visual explanations and more accurately exposes the network's behavior. We demonstrate the effectiveness of our model on three datasets totaling 16 hours of driving. We first show that training with attention does not degrade the performance of the end-to-end network. Then we show that the network causally cues on a variety of features that are used by humans while driving.

Matthew Trager, Bernd Sturmfels, John Canny et al.

The rational camera model recently introduced in [19] provides a general methodology for studying abstract nonlinear imaging systems and their multi-view geometry. This paper builds on this framework to study "physical realizations" of rational cameras. More precisely, we give an explicit account of the mapping between between physical visual rays and image points (missing in the original description), which allows us to give simple analytical expressions for direct and inverse projections. We also consider "primitive" camera models, that are orbits under the action of various projective transformations, and lead to a general notion of intrinsic parameters. The methodology is general, but it is illustrated concretely by an in-depth study of two-slit cameras, that we model using pairs of linear projections. This simple analytical form allows us to describe models for the corresponding primitive cameras, to introduce intrinsic parameters with a clear geometric meaning, and to define an epipolar tensor characterizing two-view correspondences. In turn, this leads to new algorithms for structure from motion and self-calibration.

Daniel Seita, Xinlei Pan, Haoyu Chen et al.

We present a novel Metropolis-Hastings method for large datasets that uses small expected-size minibatches of data. Previous work on reducing the cost of Metropolis-Hastings tests yield variable data consumed per sample, with only constant factor reductions versus using the full dataset for each sample. Here we present a method that can be tuned to provide arbitrarily small batch sizes, by adjusting either proposal step size or temperature. Our test uses the noise-tolerant Barker acceptance test with a novel additive correction variable. The resulting test has similar cost to a normal SGD update. Our experiments demonstrate several order-of-magnitude speedups over previous work.

Daniel Seita, Haoyu Chen, John Canny

A fundamental task in machine learning and related fields is to perform inference on Bayesian networks. Since exact inference takes exponential time in general, a variety of approximate methods are used. Gibbs sampling is one of the most accurate approaches and provides unbiased samples from the posterior but it has historically been too expensive for large models. In this paper, we present an optimized, parallel Gibbs sampler augmented with state replication (SAME or State Augmented Marginal Estimation) to decrease convergence time. We find that SAME can improve the quality of parameter estimates while accelerating convergence. Experiments on both synthetic and real data show that our Gibbs sampler is substantially faster than the state of the art sampler, JAGS, without sacrificing accuracy. Our ultimate objective is to introduce the Gibbs sampler to researchers in many fields to expand their range of feasible inference problems.

Huasha Zhao, Biye Jiang, John Canny

Gibbs sampling is a workhorse for Bayesian inference but has several limitations when used for parameter estimation, and is often much slower than non-sampling inference methods. SAME (State Augmentation for Marginal Estimation) \cite{Doucet99,Doucet02} is an approach to MAP parameter estimation which gives improved parameter estimates over direct Gibbs sampling. SAME can be viewed as cooling the posterior parameter distribution and allows annealed search for the MAP parameters, often yielding very high quality (lower loss) estimates. But it does so at the expense of additional samples per iteration and generally slower performance. On the other hand, SAME dramatically increases the parallelism in the sampling schedule, and is an excellent match for modern (SIMD) hardware. In this paper we explore the application of SAME to graphical model inference on modern hardware. We show that combining SAME with factored sample representation (or approximation) gives throughput competitive with the fastest symbolic methods, but with potentially better quality. We describe experiments on Latent Dirichlet Allocation, achieving speeds similar to the fastest reported methods (online Variational Bayes) and lower cross-validated loss than other LDA implementations. The method is simple to implement and should be applicable to many other models.

Anuj Tewari, Nitesh Goyal, Matthew K Chan et al.

Lack of proper English pronunciations is a major problem for immigrant population in developed countries like U.S. This poses various problems, including a barrier to entry into mainstream society. This paper presents a research study that explores the use of speech technologies merged with activity-based and arcade-based games to do pronunciation feedback for Hispanic children within the U.S. A 3-month long study with immigrant population in California was used to investigate and analyze the effectiveness of computer aided pronunciation feedback through games. In addition to quantitative findings that point to statistically significant gains in pronunciation quality, the paper also explores qualitative findings, interaction patterns and challenges faced by the researchers in dealing with this community. It also describes the issues involved in dealing with pronunciation as a competency.

Huasha Zhao, John Canny

Many large datasets exhibit power-law statistics: The web graph, social networks, text data, click through data etc. Their adjacency graphs are termed natural graphs, and are known to be difficult to partition. As a consequence most distributed algorithms on these graphs are communication intensive. Many algorithms on natural graphs involve an Allreduce: a sum or average of partitioned data which is then shared back to the cluster nodes. Examples include PageRank, spectral partitioning, and many machine learning algorithms including regression, factor (topic) models, and clustering. In this paper we describe an efficient and scalable Allreduce primitive for power-law data. We point out scaling problems with existing butterfly and round-robin networks for Sparse Allreduce, and show that a hybrid approach improves on both. Furthermore, we show that Sparse Allreduce stages should be nested instead of cascaded (as in the dense case). And that the optimum throughput Allreduce network should be a butterfly of heterogeneous degree where degree decreases with depth into the network. Finally, a simple replication scheme is introduced to deal with node failures. We present experiments showing significant improvements over existing systems such as PowerGraph and Hadoop.