We investigate an experiential learning paradigm for acquiring an internal model of intuitive physics. Our model is evaluated on a real-world robotic manipulation task that requires displacing objects to target locations by poking. The robot gathered over 400 hours of experience by executing more than 50K pokes on different objects. We propose a novel approach based on deep neural networks for modeling the dynamics of robot's interactions directly from images, by jointly estimating forward and inverse models of dynamics. The inverse model objective provides supervision to construct informative visual features, which the forward model can then predict and in turn regularize the feature space for the inverse model.

We present a neural program synthesis approach integrating components which write, execute, and assess code to navigate the search space of possible programs. We equip the search process with an interpreter or a read-eval-print-loop (REPL), which immediately executes partially written programs, exposing their semantics. The REPL addresses a basic challenge of program synthesis: tiny changes in syntax can lead to huge changes in semantics. We train a pair of models, a policy that proposes the new piece of code to write, and a value function that assesses the prospects of the code written so-far. At test time we can combine these models with a Sequential Monte Carlo algorithm. We apply our approach to two domains: synthesizing text editing programs and inferring 2D and 3D graphics programs.

Combinatorial dimensions play an important role in the theory of machine learning. For example, VC dimension characterizes PAC learning, SQ dimension characterizes weak learning with statistical queries, and Littlestone dimension characterizes online learning. In this paper we aim to develop combinatorial dimensions that characterize bounded memory learning. We propose a candidate solution for the case of realizable strong learning under a known distribution, based on the SQ dimension of neighboring distributions. We prove both upper and lower bounds for our candidate solution, that match in some regime of parameters. This is the first characterization of strong learning under space constraints in any regime. In this parameter regime there is an equivalence between bounded memory and SQ learning. We conjecture that our characterization holds in a much wider regime of parameters.

Federated Learning (FL) is a distributed machine learning framework that trains accurate global models while preserving clients' privacy-sensitive data. However, most FL approaches assume that clients possess labeled data, which is often not the case in practice. Federated Semi-Supervised Learning (FSSL) addresses this label deficiency problem, targeting situations where only the server has a small amount of labeled data while clients do not. However, a significant performance gap exists between Centralized Semi-Supervised Learning (SSL) and FSSL. This gap arises from confirmation bias, which is more pronounced in FSSL due to multiple local training epochs and the separation of labeled and unlabeled data.

Continual learning has primarily focused on the issue of catastrophic forgetting and the associated stability-plasticity tradeoffs. However, little attention has been paid to the efficacy of continually learned representations, as representations are learned alongside classifiers throughout the learning process. Our primary contribution is empirically demonstrating that existing online continually trained deep networks produce inferior representations compared to a simple pre-defined random transforms. Our approach projects raw pixels using a fixed random transform, approximating an RBF-Kernel initialized before any data is seen. We then train a simple linear classifier on top without storing any exemplars, processing one sample at a time in an online continual learning setting. This method, called RanDumb, significantly outperforms state-of-the-art continually learned representations across all standard online continual learning benchmarks. Our study reveals the significant limitations of representation learning, particularly in low-exemplar and online continual learning scenarios. Extending our investigation to popular exemplar-free scenarios with pretrained models, we find that training only a linear classifier on top of pretrained representations surpasses most continual fine-tuning and prompt-tuning strategies. Overall, our investigation challenges the prevailing assumptions about effective representation learning in online continual learning.

Federated learning poses new statistical and systems challenges in training machine learning models over distributed networks of devices.

We propose a new active learning algorithm for parametric linear regression with random design. We provide finite sample convergence guarantees for general distributions in the misspecified model. This is the first active learner for this setting that provably can improve over passive learning. Unlike other learning settings (such as classification), in regression the passive learning rate of O(1/ɛ) cannot in general be improved upon. Nonetheless, the so-called'constant' in the rate of convergence, which is characterized by a distribution-dependent risk, can be improved in many cases. For a given distribution, achieving the optimal risk requires prior knowledge of the distribution. Following the stratification technique advocated in Monte-Carlo function integration, our active learner approaches the optimal risk using piecewise constant approximations.

We show how to estimate a model's test error from unlabeled data, on distributions very different from the training distribution, while assuming only that certain conditional independencies are preserved between train and test. We do not need to assume that the optimal predictor is the same between train and test, or that the true distribution lies in any parametric family. We can also efficiently compute gradients of the estimated error and hence perform unsupervised discriminative learning. Our technical tool is the method of moments, which allows us to exploit conditional independencies in the absence of a fully-specified model. Our framework encompasses a large family of losses including the log and exponential loss, and extends to structured output settings such as conditional random fields.

Continual learning (CL) aims to adapt to non-stationary data distributions while retaining previously acquired knowledge. However, CL models typically face a trade-off between preserving old task knowledge and excelling in new task performance. Existing approaches often sacrifice one for the other. To overcome this limitation, orthogonal to existing approaches, we propose a novel perspective that views the CL model ability in preserving old knowledge and performing well in new task as a matter of model sensitivity to parameter updates. Excessive parameter sensitivity can lead to two drawbacks: (1) significant forgetting of previous knowledge; and (2) overfitting to new tasks. To reduce parameter sensitivity, we optimize the model's performance based on the parameter distribution, which achieves the worst-case CL performance within a distribution neighborhood. This innovative learning paradigm offers dual benefits: (1) reduced forgetting of old knowledge by mitigating drastic changes in model predictions under small parameter updates; and (2) enhanced new task performance by preventing overfitting to new tasks. Consequently, our method achieves superior ability in retaining old knowledge and achieving excellent new task performance simultaneously. Importantly, our approach is compatible with existing CL methodologies, allowing seamless integration while delivering significant improvements in effectiveness, efficiency, and versatility with both theoretical and empirical supports.

We give a novel formal theoretical framework for unsupervised learning with two distinctive characteristics. First, it does not assume any generative model and based on a worst-case performance metric. Second, it is comparative, namely performance is measured with respect to a given hypothesis class. This allows to avoid known computational hardness results and improper algorithms based on convex relaxations. We show how several families of unsupervised learning models, which were previously only analyzed under probabilistic assumptions and are otherwise provably intractable, can be efficiently learned in our framework by convex optimization.