BayesSim is a statistical technique for domain randomization in reinforcement learning based on likelihood-free inference of simulation parameters. This paper outlines BayesSimIG: a library that provides an implementation of BayesSim integrated with the recently released NVIDIA IsaacGym. This combination allows large-scale parameter inference with end-to-end GPU acceleration. Both inference and simulation get GPU speedup, with support for running more than 10K parallel simulation environments for complex robotics tasks that can have more than 100 simulation parameters to estimate. BayesSimIG provides an integration with TensorBoard to easily visualize slices of high-dimensional posteriors. The library is built in a modular way to support research experiments with novel ways to collect and process the trajectories from the parallel IsaacGym environments.

0
下载
关闭预览

相关内容

Integration:Integration, the VLSI Journal。 Explanation:集成,VLSI杂志。 Publisher:Elsevier。 SIT:http://dblp.uni-trier.de/db/journals/integration/

Federated learning is a distributed machine learning paradigm in which a large number of clients coordinate with a central server to learn a model without sharing their own training data. Standard federated optimization methods such as Federated Averaging (FedAvg) are often difficult to tune and exhibit unfavorable convergence behavior. In non-federated settings, adaptive optimization methods have had notable success in combating such issues. In this work, we propose federated versions of adaptive optimizers, including Adagrad, Adam, and Yogi, and analyze their convergence in the presence of heterogeneous data for general non-convex settings. Our results highlight the interplay between client heterogeneity and communication efficiency. We also perform extensive experiments on these methods and show that the use of adaptive optimizers can significantly improve the performance of federated learning.

0
0
下载
预览

In plane-wave imaging, multiple unfocused ultrasound waves are transmitted into a medium of interest from different angles and an image is formed from the recorded reflections. The number of plane waves used leads to a trade-off between frame-rate and image quality, with single-plane-wave (SPW) imaging being the fastest possible modality with the worst image quality. Recently, deep learning methods have been proposed to improve ultrasound imaging. One approach is to use image-to-image networks that work on the formed image and another is to directly learn a mapping from data to an image. Both approaches utilize purely data-driven models and require deep, expressive network architectures, combined with large numbers of training samples to obtain good results. Here, we propose a data-to-image architecture that incorporates a wave-physics-based image formation algorithm in-between deep convolutional neural networks. To achieve this, we implement the Fourier (FK) migration method as network layers and train the whole network end-to-end. We compare our proposed data-to-image network with an image-to-image network in simulated data experiments, mimicking a medical ultrasound application. Experiments show that it is possible to obtain high-quality SPW images, almost similar to an image formed using 75 plane waves over an angular range of $\pm$16$^\circ$. This illustrates the great potential of combining deep neural networks with physics-based image formation algorithms for SPW imaging.

0
0
下载
预览

The problem of generalizing deep neural networks from multiple source domains to a target one is studied under two settings: When unlabeled target data is available, it is a multi-source unsupervised domain adaptation (UDA) problem, otherwise a domain generalization (DG) problem. We propose a unified framework termed domain adaptive ensemble learning (DAEL) to address both problems. A DAEL model is composed of a CNN feature extractor shared across domains and multiple classifier heads each trained to specialize in a particular source domain. Each such classifier is an expert to its own domain and a non-expert to others. DAEL aims to learn these experts collaboratively so that when forming an ensemble, they can leverage complementary information from each other to be more effective for an unseen target domain. To this end, each source domain is used in turn as a pseudo-target-domain with its own expert providing supervisory signal to the ensemble of non-experts learned from the other sources. For unlabeled target data under the UDA setting where real expert does not exist, DAEL uses pseudo-label to supervise the ensemble learning. Extensive experiments on three multi-source UDA datasets and two DG datasets show that DAEL improves the state of the art on both problems, often by significant margins. The code is released at \url{https://github.com/KaiyangZhou/Dassl.pytorch}.

0
0
下载
预览

Recently, adaptive inference is gaining increasing attention due to its high computational efficiency. Different from existing works, which mainly exploit architecture redundancy for adaptive network design, in this paper, we focus on spatial redundancy of input samples, and propose a novel Resolution Adaptive Network (RANet). Our motivation is that low-resolution representations can be sufficient for classifying "easy" samples containing canonical objects, while high-resolution features are curial for recognizing some "hard" ones. In RANet, input images are first routed to a lightweight sub-network that efficiently extracts coarse feature maps, and samples with high confident predictions will exit early from the sub-network. The high-resolution paths are only activated for those "hard" samples whose previous predictions are unreliable. By adaptively processing the features in varying resolutions, the proposed RANet can significantly improve its computational efficiency. Experiments on three classification benchmark tasks (CIFAR-10, CIFAR-100 and ImageNet) demonstrate the effectiveness of the proposed model in both anytime prediction setting and budgeted batch classification setting.

0
5
下载
预览

Deep reinforcement learning (RL) has achieved many recent successes, yet experiment turn-around time remains a key bottleneck in research and in practice. We investigate how to optimize existing deep RL algorithms for modern computers, specifically for a combination of CPUs and GPUs. We confirm that both policy gradient and Q-value learning algorithms can be adapted to learn using many parallel simulator instances. We further find it possible to train using batch sizes considerably larger than are standard, without negatively affecting sample complexity or final performance. We leverage these facts to build a unified framework for parallelization that dramatically hastens experiments in both classes of algorithm. All neural network computations use GPUs, accelerating both data collection and training. Our results include using an entire DGX-1 to learn successful strategies in Atari games in mere minutes, using both synchronous and asynchronous algorithms.

0
5
下载
预览

Proximal Policy Optimization (PPO) is a highly popular model-free reinforcement learning (RL) approach. However, in continuous state and actions spaces and a Gaussian policy -- common in computer animation and robotics -- PPO is prone to getting stuck in local optima. In this paper, we observe a tendency of PPO to prematurely shrink the exploration variance, which naturally leads to slow progress. Motivated by this, we borrow ideas from CMA-ES, a black-box optimization method designed for intelligent adaptive Gaussian exploration, to derive PPO-CMA, a novel proximal policy optimization approach that can expand the exploration variance on objective function slopes and shrink the variance when close to the optimum. This is implemented by using separate neural networks for policy mean and variance and training the mean and variance in separate passes. Our experiments demonstrate a clear improvement over vanilla PPO in many difficult OpenAI Gym MuJoCo tasks.

0
3
下载
预览

Most Deep Reinforcement Learning (Deep RL) algorithms require a prohibitively large number of training samples for learning complex tasks. Many recent works on speeding up Deep RL have focused on distributed training and simulation. While distributed training is often done on the GPU, simulation is not. In this work, we propose using GPU-accelerated RL simulations as an alternative to CPU ones. Using NVIDIA Flex, a GPU-based physics engine, we show promising speed-ups of learning various continuous-control, locomotion tasks. With one GPU and CPU core, we are able to train the Humanoid running task in less than 20 minutes, using 10-1000x fewer CPU cores than previous works. We also demonstrate the scalability of our simulator to multi-GPU settings to train more challenging locomotion tasks.

0
4
下载
预览

This work focuses on combining nonparametric topic models with Auto-Encoding Variational Bayes (AEVB). Specifically, we first propose iTM-VAE, where the topics are treated as trainable parameters and the document-specific topic proportions are obtained by a stick-breaking construction. The inference of iTM-VAE is modeled by neural networks such that it can be computed in a simple feed-forward manner. We also describe how to introduce a hyper-prior into iTM-VAE so as to model the uncertainty of the prior parameter. Actually, the hyper-prior technique is quite general and we show that it can be applied to other AEVB based models to alleviate the {\it collapse-to-prior} problem elegantly. Moreover, we also propose HiTM-VAE, where the document-specific topic distributions are generated in a hierarchical manner. HiTM-VAE is even more flexible and can generate topic distributions with better variability. Experimental results on 20News and Reuters RCV1-V2 datasets show that the proposed models outperform the state-of-the-art baselines significantly. The advantages of the hyper-prior technique and the hierarchical model construction are also confirmed by experiments.

0
3
下载
预览

Topic models have been widely explored as probabilistic generative models of documents. Traditional inference methods have sought closed-form derivations for updating the models, however as the expressiveness of these models grows, so does the difficulty of performing fast and accurate inference over their parameters. This paper presents alternative neural approaches to topic modelling by providing parameterisable distributions over topics which permit training by backpropagation in the framework of neural variational inference. In addition, with the help of a stick-breaking construction, we propose a recurrent network that is able to discover a notionally unbounded number of topics, analogous to Bayesian non-parametric topic models. Experimental results on the MXM Song Lyrics, 20NewsGroups and Reuters News datasets demonstrate the effectiveness and efficiency of these neural topic models.

0
8
下载
预览

Deep reinforcement learning (RL) methods generally engage in exploratory behavior through noise injection in the action space. An alternative is to add noise directly to the agent's parameters, which can lead to more consistent exploration and a richer set of behaviors. Methods such as evolutionary strategies use parameter perturbations, but discard all temporal structure in the process and require significantly more samples. Combining parameter noise with traditional RL methods allows to combine the best of both worlds. We demonstrate that both off- and on-policy methods benefit from this approach through experimental comparison of DQN, DDPG, and TRPO on high-dimensional discrete action environments as well as continuous control tasks. Our results show that RL with parameter noise learns more efficiently than traditional RL with action space noise and evolutionary strategies individually.

0
3
下载
预览
小贴士
相关论文
Sashank Reddi,Zachary Charles,Manzil Zaheer,Zachary Garrett,Keith Rush,Jakub Konečný,Sanjiv Kumar,H. Brendan McMahan
0+阅读 · 9月8日
Single Plane-Wave Imaging using Physics-Based Deep Learning
Georgios Pilikos,Chris L. de Korte,Tristan van Leeuwen,Felix Lucka
0+阅读 · 9月8日
Kaiyang Zhou,Yongxin Yang,Yu Qiao,Tao Xiang
0+阅读 · 9月8日
Le Yang,Yizeng Han,Xi Chen,Shiji Song,Jifeng Dai,Gao Huang
5+阅读 · 2020年3月16日
Accelerated Methods for Deep Reinforcement Learning
Adam Stooke,Pieter Abbeel
5+阅读 · 2019年1月10日
PPO-CMA: Proximal Policy Optimization with Covariance Matrix Adaptation
Perttu Hämäläinen,Amin Babadi,Xiaoxiao Ma,Jaakko Lehtinen
3+阅读 · 2018年12月18日
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning
Jacky Liang,Viktor Makoviychuk,Ankur Handa,Nuttapong Chentanez,Miles Macklin,Dieter Fox
4+阅读 · 2018年10月24日
Xuefei Ning,Yin Zheng,Zhuxi Jiang,Yu Wang,Huazhong Yang,Junzhou Huang
3+阅读 · 2018年6月18日
Yishu Miao,Edward Grefenstette,Phil Blunsom
8+阅读 · 2018年5月21日
Matthias Plappert,Rein Houthooft,Prafulla Dhariwal,Szymon Sidor,Richard Y. Chen,Xi Chen,Tamim Asfour,Pieter Abbeel,Marcin Andrychowicz
3+阅读 · 2018年1月31日
相关VIP内容
Fariz Darari简明《博弈论Game Theory》介绍,35页ppt
专知会员服务
61+阅读 · 2020年5月15日
Keras François Chollet 《Deep Learning with Python 》, 386页pdf
专知会员服务
60+阅读 · 2019年10月12日
强化学习最新教程,17页pdf
专知会员服务
66+阅读 · 2019年10月11日
【SIGGRAPH2019】TensorFlow 2.0深度学习计算机图形学应用
专知会员服务
16+阅读 · 2019年10月9日
相关资讯
Transferring Knowledge across Learning Processes
CreateAMind
7+阅读 · 2019年5月18日
无人机视觉挑战赛 | ICCV 2019 Workshop—VisDrone2019
PaperWeekly
5+阅读 · 2019年5月5日
逆强化学习-学习人先验的动机
CreateAMind
6+阅读 · 2019年1月18日
强化学习的Unsupervised Meta-Learning
CreateAMind
7+阅读 · 2019年1月7日
Unsupervised Learning via Meta-Learning
CreateAMind
29+阅读 · 2019年1月3日
meta learning 17年:MAML SNAIL
CreateAMind
9+阅读 · 2019年1月2日
Ray RLlib: Scalable 降龙十八掌
CreateAMind
5+阅读 · 2018年12月28日
spinningup.openai 强化学习资源完整
CreateAMind
4+阅读 · 2018年12月17日
【论文】变分推断(Variational inference)的总结
机器学习研究会
24+阅读 · 2017年11月16日
Top