The backpropagation algorithm is the most popular algorithm training neural networks nowadays. However, it suffers from the forward locking, backward locking and update locking problems, especially when a neural network is so large that its layers are distributed across multiple devices. Existing solutions either can only handle one locking problem or lead to severe accuracy loss or memory inefficiency. Moreover, none of them consider the straggler problem among devices. In this paper, we propose Layer-wise Staleness and a novel efficient training algorithm, Diversely Stale Parameters (DSP), which can address all these challenges without loss of accuracy nor memory issue. We also analyze the convergence of DSP with two popular gradient-based methods and prove that both of them are guaranteed to converge to critical points for non-convex problems. Finally, extensive experimental results on training deep convolutional neural networks demonstrate that our proposed DSP algorithm can achieve significant training speedup with stronger robustness and better generalization than compared methods.

In the last few years the systematic adoption of deep learning to visual generation has produced impressive results that, amongst others, definitely benefit from the massive exploration of convolutional architectures. In this paper, we propose a general approach to visual generation that combines learning capabilities with logic descriptions of the target to be generated. The process of generation is regarded as a constrained satisfaction problem, where the constraints describe a set of properties that characterize the target. Interestingly, the constraints can also involve logic variables, while all of them are converted into real-valued functions by means of the t-norm theory. We use deep architectures to model the involved variables, and propose a computational scheme where the learning process carries out a satisfaction of the constraints. We propose some examples in which the theory can naturally be used, including the modeling of GAN and auto-encoders, and report promising results in problems with the generation of handwritten characters and face transformations.

-- Fully autonomous navigation using nano drones has numerous application in the real world, ranging from search and rescue to source seeking. Nano drones are well-suited for source seeking because of their agility, low price, and ubiquitous character . Unfortunately, their constrained form factor limits flight time, sensor payload, and compute capability. These challenges are a crucial limitation for the use of source-seeking nano drones in GPSdenied and highly cluttered environments. Hereby, we introduce a fully autonomous deep reinforcement learning-based light-seeking nano drone. We present the method for efficiently training, converting, and utilizing deep reinforcement learning policies. Our training methodology and novel quantization scheme allow fitting the trained policy in 3 kB of memory. The quantization scheme uses representative input data and input scaling to arrive at a full 8-bit model. Finally, we evaluate the approach in simulation and flight tests using a Bitcraze CrazyFlie, achieving 80% success rate on average in a highly cluttered and randomized test environment. Even more, the drone finds the light source in 29% fewer steps compared to a baseline simulation (obstacle avoidance without source information). T o our knowledge, this is the first deep reinforcement learning method that enables source seeking within a highly constrained nano drone demonstrating robust flight behavior . Our general methodology is suitable for any (source seeking) highly constrained platform using deep reinforcement learning. In recent years, nano drones have gained traction in the robotics community. Their agility, maneuverability, and low price make them suitable for a wide range of applications, especially in GPSdenied and cluttered environments.

Learning modular structures which reflect the dynamics of the environment can lead to better generalization and robustness to changes which only affect a few of the underlying causes. We propose Recurrent Independent Mechanisms (RIMs), a new recurrent architecture in which multiple groups of recurrent cells operate with nearly independent transition dynamics, communicate only sparingly through the bottleneck of attention, and are only updated at time steps where they are most relevant. We show that this leads to specialization amongst the RIMs, which in turn allows for dramatically improved generalization on tasks where some factors of variation differ systematically between training and evaluation.

A long-term goal of artificial intelligence is to have an agent execute commands communicated through natural language. In many cases the commands are grounded in a visual environment shared by the human who gives the command and the agent. Execution of the command then requires mapping the command into the physical visual space, after which the appropriate action can be taken. In this paper we consider the former. Or more specifically, we consider the problem in an autonomous driving setting, where a passenger requests an action that can be associated with an object found in a street scene. Our work presents the Talk2Car dataset, which is the first object referral dataset that contains commands written in natural language for self-driving cars. We provide a detailed comparison with related datasets such as ReferIt, RefCOCO, RefCOCO, RefCOCOg, Cityscape-Ref and CLEVR-Ref. Additionally, we include a performance analysis using strong state-of- the-art models. The results show that the proposed object referral task is a challenging one for which the models show promising results but still require additional research in natural language processing, computer vision and the intersection of these fields. The dataset can be found on our website: http:// macchina-ai.eu/ 1 Introduction Researchers have studied the problem of understanding actions communicated through natural language in both simulated (Das et al., 2017; Gordon et al., 2017; Hermann et al., 2017) and real environments (Loghmani et al., 2018; de Vries et al., 2018; Anderson et al., 2017). This paper focuses on the latter. More concretely, we consider the problem in an autonomous driving setting, where a passenger can control the actions of an Autonomous V ehicle (A V) by giving natural language commands. We hereunder argue why this problem setting is particularly interesting.

Knowledge Distillation (KD) aims to transfer knowledge in a teacher-student framework, by providing the predictions of the teacher network to the student network in the training stage to help the student network generalize better. It can use either a teacher with high capacity or {an} ensemble of multiple teachers. However, the latter is not convenient when one wants to use feature-map-based distillation methods. For a solution, this paper proposes a versatile and powerful training algorithm named FEature-level Ensemble for knowledge Distillation (FEED), which aims to transfer the ensemble knowledge using multiple teacher networks. We introduce a couple of training algorithms that transfer ensemble knowledge to the student at the feature map level. Among the feature-map-based distillation methods, using several non-linear transformations in parallel for transferring the knowledge of the multiple teacher{s} helps the student find more generalized solutions. We name this method as parallel FEED, andexperimental results on CIFAR-100 and ImageNet show that our method has clear performance enhancements, without introducing any additional parameters or computations at test time. We also show the experimental results of sequentially feeding teacher's information to the student, hence the name sequential FEED, and discuss the lessons obtained. Additionally, the empirical results on measuring the reconstruction errors at the feature map give hints for the enhancements.

Yijiong Lin 1, Jiancong Huang 1, Matthieu Zimmer 2, Juan Rojas 1, Paul Weng 2 Abstract -- Deep reinforcement learning (DRL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. We propose two novel data augmentation techniques for DRL based on invariant transformations of trajectories in order to reuse more efficiently observed interaction. The first one called Kaleidoscope Experience Replay exploits reflectional symmetries, while the second called Goal-augmented Experience Replay takes advantage of lax goal definitions. In the Fetch tasks from OpenAI Gym, our experimental results show a large increase in learning speed. I. INTRODUCTION Deep reinforcement learning (DRL) has demonstrated great promise in recent years [1], [2]. However, despite being shown to be a viable approach in robotics [3], [4], DRL still suffers from low sample efficiency in practice--an acute issue in robot learning. Given how critical this issue is, many diverse propositions have been presented. For brevity, we only recall the most related to our work.

Large neural language models trained on massive amounts of text have emerged as a formidable strategy for Natural Language Understanding tasks. However, the strength of these models as Natural Language Generators is less clear. Though anecdotal evidence suggests that these models generate better quality text, there has been no detailed study characterizing their generation abilities. In this work, we compare the performance of an extensively pretrained model, OpenAI GPT2-117 (Radford et al., 2019), to a state-of-the-art neural story generation model (Fan et al., 2018). By evaluating the generated text across a wide variety of automatic metrics, we characterize the ways in which pretrained models do, and do not, make better storytellers. We find that although GPT2-117 conditions more strongly on context, is more sensitive to ordering of events, and uses more unusual words, it is just as likely to produce repetitive and under-diverse text when using likelihood-maximizing decoding algorithms.

Language model pre-training, such as BERT, has significantly improved the performances of many natural language processing tasks. However, pre-trained language models are usually computationally expensive and memory intensive, so it is difficult to effectively execute them on some resource-restricted devices. To accelerate inference and reduce model size while maintaining accuracy, we firstly propose a novel transformer distillation method that is a specially designed knowledge distillation (KD) method for transformer-based models. By leveraging this new KD method, the plenty of knowledge encoded in a large teacher BERT can be well transferred to a small student TinyBERT. Moreover, we introduce a new two-stage learning framework for TinyBERT, which performs transformer distillation at both the pre-training and task-specific learning stages. This framework ensures that TinyBERT can capture both the general-domain and task-specific knowledge of the teacher BERT. TinyBERT is empirically effective and achieves comparable results with BERT in GLUE datasets, while being 7.5x smaller and 9.4x faster on inference. TinyBERT is also significantly better than state-of-the-art baselines, even with only about 28% parameters and 31% inference time of baselines.

Since the recent advent of deep reinforcement learning for game play and simulated robotic control, a multitude of new algorithms have flourished. Most are model-free algorithms which can be categorized into three families: deep Q-learning, policy gradients, and Q-value policy gradients. These have developed along separate lines of research, such that few, if any, code bases incorporate all three kinds. Yet these algorithms share a great depth of common deep reinforcement learning machinery. We are pleased to share rlpyt, which implements all three algorithm families on top of a shared, optimized infrastructure, in a single repository. It contains modular implementations of many common deep RL algorithms in Python using PyTorch, a leading deep learning library. rlpyt is designed as a high-throughput code base for small- to medium-scale research in deep RL. This white paper summarizes its features, algorithms implemented, and relation to prior work, and concludes with detailed implementation and usage notes. rlpyt is available at https://github.com/astooke/rlpyt.