Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task distributions that are very narrow. For example, a commonly used meta-reinforcement learning benchmark uses different running velocities for a simulated robot as different tasks. When policies are meta-trained on such narrow task distributions, they cannot possibly generalize to more quickly acquire entirely new tasks. Therefore, if the aim of these methods is to enable faster acquisition of entirely new behaviors, we must evaluate them on task distributions that are sufficiently broad to enable generalization to new behaviors. In this paper, we propose an open-source simulated benchmark for meta-reinforcement learning and multi-task learning consisting of 50 distinct robotic manipulation tasks. Our aim is to make it possible to develop algorithms that generalize to accelerate the acquisition of entirely new, held-out tasks. We evaluate 7 state-of-the-art meta-reinforcement learning and multi-task learning algorithms on these tasks. Surprisingly, while each task and its variations (e.g., with different object positions) can be learned with reasonable success, these algorithms struggle to learn with multiple tasks at the same time, even with as few as ten distinct training tasks. Our analysis and open-source environments pave the way for future research in multi-task learning and meta-learning that can enable meaningful generalization, thereby unlocking the full potential of these methods.
We present the results of the Machine Reading for Question Answering (MRQA) 2019 shared task on evaluating the generalization capabilities of reading comprehension systems. In this task, we adapted and unified 18 distinct question answering datasets into the same format. Among them, six datasets were made available for training, six datasets were made available for development, and the final six were hidden for final evaluation. Ten teams submitted systems, which explored various ideas including data sampling, multi-task learning, adversarial training and ensembling. The best system achieved an average F1 score of 72.5 on the 12 held-out datasets, 10.7 absolute points higher than our initial baseline based on BERT.
Self-supervised learning, which learns by constructing artificial labels given only the input signals, has recently gained considerable attention for learning representations with unlabeled datasets, i.e., learning without any human-annotated supervision. In this paper, we show that such a technique can be used to significantly improve the model accuracy even under fully-labeled datasets. Our scheme trains the model to learn both original and self-supervised tasks, but is different from conventional multi-task learning frameworks that optimize the summation of their corresponding losses. Our main idea is to learn a single unified task with respect to the joint distribution of the original and self-supervised labels, i.e., we augment original labels via self-supervision of input transformation. This simple, yet effective approach allows to train models easier by relaxing a certain invariant constraint during learning the original and self-supervised tasks simultaneously. It also enables an aggregated inference which combines the predictions from different augmentations to improve the prediction accuracy. Furthermore, we propose a novel knowledge transfer technique, which we refer to as self-distillation, that has the effect of the aggregated inference in a single (faster) inference. We demonstrate the large accuracy improvement and wide applicability of our framework on various fully-supervised settings, e.g., the few-shot and imbalanced classification scenarios.
We consider the problem of conversational question answering over a large-scale knowledge base. To handle huge entity vocabulary of a large-scale knowledge base, recent neural semantic parsing based approaches usually decompose the task into several subtasks and then solve them sequentially, which leads to following issues: 1) errors in earlier subtasks will be propagated and negatively affect downstream ones; and 2) each subtask cannot naturally share supervision signals with others. To tackle these issues, we propose an innovative multi-task learning framework where a pointer-equipped semantic parsing model is designed to resolve coreference in conversations, and naturally empower joint learning with a novel type-aware entity detection model. The proposed framework thus enables shared supervisions and alleviates the effect of error propagation. Experiments on a large-scale conversational question answering dataset containing 1.6M question answering pairs over 12.8M entities show that the proposed framework improves overall F1 score from 67% to 79% compared with previous state-of-the-art work.
Detecting manipulated facial images and videos is an increasingly important topic in digital media forensics. As advanced face synthesis and manipulation methods are made available, new types of fake face representations are being created which have raised significant concerns for their use in social media. Hence, it is crucial to detect manipulated face images and localize manipulated regions. Instead of simply using multi-task learning to simultaneously detect manipulated images and predict the manipulated mask (regions), we propose to utilize an attention mechanism to process and improve the feature maps for the classification task. The learned attention maps highlight the informative regions to further improve the binary classification (genuine face v. fake face), and also visualize the manipulated regions. To enable our study of manipulated face detection and localization, we collect a large-scale database that contains numerous types of facial forgeries. With this dataset, we perform a thorough analysis of data-driven fake face detection. We show that the use of an attention mechanism improves facial forgery detection and manipulated region localization.
Machine Reading Comprehension (MRC) for question answering (QA), which aims to answer a question given the relevant context passages, is an important way to test the ability of intelligence systems to understand human language. Multiple-Choice QA (MCQA) is one of the most difficult tasks in MRC because it often requires more advanced reading comprehension skills such as logical reasoning, summarization, and arithmetic operations, compared to the extractive counterpart where answers are usually spans of text within given passages. Moreover, most existing MCQA datasets are small in size, making the learning task even harder. We introduce MMM, a Multi-stage Multi-task learning framework for Multi-choice reading comprehension. Our method involves two sequential stages: coarse-tuning stage using out-of-domain datasets and multi-task learning stage using a larger in-domain dataset to help model generalize better with limited data. Furthermore, we propose a novel multi-step attention network (MAN) as the top-level classifier for this task. We demonstrate MMM significantly advances the state-of-the-art on four representative MCQA datasets.
Recent studies have shown that neural models can achieve high performance on several sequence labelling/tagging problems without the explicit use of linguistic features such as part-of-speech (POS) tags. These models are trained only using the character-level and the word embedding vectors as inputs. Others have shown that linguistic features can improve the performance of neural models on tasks such as chunking and named entity recognition (NER). However, the change in performance depends on the degree of semantic relatedness between the linguistic features and the target task; in some instances, linguistic features can have a negative impact on performance. This paper presents an approach to jointly learn these linguistic features along with the target sequence labelling tasks with a new multi-task learning (MTL) framework called Gated Tasks Interaction (GTI) network for solving multiple sequence tagging tasks. The GTI network exploits the relations between the multiple tasks via neural gate modules. These gate modules control the flow of information between the different tasks. Experiments on benchmark datasets for chunking and NER show that our framework outperforms other competitive baselines trained with and without external training resources.
We present the first single-network approach for 2D~whole-body pose estimation, which entails simultaneous localization of body, face, hands, and feet keypoints. Due to the bottom-up formulation, our method maintains constant real-time performance regardless of the number of people in the image. The network is trained in a single stage using multi-task learning, through an improved architecture which can handle scale differences between body/foot and face/hand keypoints. Our approach considerably improves upon OpenPose~\cite{cao2018openpose}, the only work so far capable of whole-body pose estimation, both in terms of speed and global accuracy. Unlike OpenPose, our method does not need to run an additional network for each hand and face candidate, making it substantially faster for multi-person scenarios. This work directly results in a reduction of computational complexity for applications that require 2D whole-body information (e.g., VR/AR, re-targeting). In addition, it yields higher accuracy, especially for occluded, blurry, and low resolution faces and hands. For code, trained models, and validation benchmarks, visit our project page: https://github.com/CMU-Perceptual-Computing-Lab/openpose_train.
Modern multiple object tracking (MOT) systems usually follow the \emph{tracking-by-detection} paradigm. It has 1) a detection model for target localization and 2) an appearance embedding model for data association. Having the two models separately executed might lead to efficiency problems, as the running time is simply a sum of the two steps without investigating potential structures that can be shared between them. Existing research efforts on real-time MOT usually focus on the association step, so they are essentially real-time association methods but not real-time MOT system. In this paper, we propose an MOT system that allows target detection and appearance embedding to be learned in a shared model. Specifically, we incorporate the appearance embedding model into a single-shot detector, such that the model can simultaneously output detections and the corresponding embeddings. We further propose a simple and fast association method that works in conjunction with the joint model. In both components the computation cost is significantly reduced compared with former MOT systems, resulting in a neat and fast baseline for future follow-ups on real-time MOT algorithm design. To our knowledge, this work reports the first (near) real-time MOT system, with a running speed of 22 to 40 FPS depending on the input resolution. Meanwhile, its tracking accuracy is comparable to the state-of-the-art trackers embodying separate detection and embedding (SDE) learning ($64.4\%$ MOTA \vs $66.1\%$ MOTA on MOT-16 challenge). Code and models are available at \url{https://github.com/Zhongdao/Towards-Realtime-MOT}.
We present a challenging new benchmark and learning-environment for robot learning: RLBench. The benchmark features 100 completely unique, hand-designed tasks ranging in difficulty, from simple target reaching and door opening, to longer multi-stage tasks, such as opening an oven and placing a tray in it. We provide an array of both proprioceptive observations and visual observations, which include rgb, depth, and segmentation masks from an over-the-shoulder stereo camera and an eye-in-hand monocular camera. Uniquely, each task comes with an infinite supply of demos through the use of motion planners operating on a series of waypoints given during task creation time; enabling an exciting flurry of demonstration-based learning. RLBench has been designed with scalability in mind; new tasks, along with their motion-planned demos, can be easily created and then verified by a series of tools, allowing users to submit their own tasks to the RLBench task repository. This large-scale benchmark aims to accelerate progress in a number of vision-guided manipulation research areas, including: reinforcement learning, imitation learning, multi-task learning, geometric computer vision, and in particular, few-shot learning. With the benchmark's breadth of tasks and demonstrations, we propose the first large-scale few-shot challenge in robotics. We hope that the scale and diversity of RLBench offers unparalleled research opportunities in the robot learning community and beyond.
Named entity recognition (NER) identifies typed entity mentions in raw text. While the task is well-established, there is no universally used tagset: often, datasets are annotated for use in downstream applications and accordingly only cover a small set of entity types relevant to a particular task. For instance, in the biomedical domain, one corpus might annotate genes, another chemicals, and another diseases---despite the texts in each corpus containing references to all three types of entities. In this paper, we propose a deep structured model to integrate these "partially annotated" datasets to jointly identify all entity types appearing in the training corpora. By leveraging multiple datasets, the model can learn robust input representations; by building a joint structured model, it avoids potential conflicts caused by combining several models' predictions at test time. Experiments show that the proposed model significantly outperforms strong multi-task learning baselines when training on multiple, partially annotated datasets and testing on datasets that contain tags from more than one of the training corpora.
Making an adaptive prediction based on one's input is an important ability for general artificial intelligence. In this work, we step forward in this direction and propose a semi-parametric method, Meta-Neighborhoods, where predictions are made adaptively to the neighborhood of the input. We show that Meta-Neighborhoods is a generalization of $k$-nearest-neighbors. Due to the simpler manifold structure around a local neighborhood, Meta-Neighborhoods represent the predictive distribution $p(y \mid x)$ more accurately. To reduce memory and computation overhead, we propose induced neighborhoods that summarize the training data into a much smaller dictionary. A meta-learning based training mechanism is then exploited to jointly learn the induced neighborhoods and the model. Extensive studies demonstrate the superiority of our method.
In this work we present Ludwig, a flexible, extensible and easy to use toolbox which allows users to train deep learning models and use them for obtaining predictions without writing code. Ludwig implements a novel approach to deep learning model building based on two main abstractions: data types and declarative configuration files. The data type abstraction allows for easier code and sub-model reuse, and the standardized interfaces imposed by this abstraction allow for encapsulation and make the code easy to extend. Declarative model definition configuration files enable inexperienced users to obtain effective models and increase the productivity of expert users. Alongside these two innovations, Ludwig introduces a general modularized deep learning architecture called Encoder-Combiner-Decoder that can be instantiated to perform a vast amount of machine learning tasks. These innovations make it possible for engineers, scientists from other fields and, in general, a much broader audience to adopt deep learning models for their tasks, concretely helping in its democratization.
Online and Early detection of gestures is crucial for building touchless gesture based interfaces. These interfaces should operate on a stream of video frames instead of the complete video and detect the presence of gestures at an earlier stage than post-completion for providing real time user experience. To achieve this, it is important to recognize the progression of the gesture across different stages so that appropriate responses can be triggered on reaching the desired execution stage. To address this, we propose a simple yet effective multi-task learning framework which models the progression of the gesture along with frame level recognition. The proposed framework recognizes the gestures at an early stage with high precision and also achieves state-of-the-art recognition accuracy of 87.8% which is closer to human accuracy of 88.4% on the NVIDIA gesture dataset in the offline configuration and advances the state-of-the-art by more than 4%. We also introduce tightly segmented annotations for the NVIDIA gesture dataset and setup a strong baseline for gesture localization for this dataset. We also evaluate our framework on the Montalbano dataset and report competitive results.
Neural Architecture Search (NAS) technologies have emerged in many domains to jointly learn the architectures and weights of the neural network. However, most existing NAS works claim they are task-specific and focus only on optimizing a single architecture to replace a human-designed neural network, in fact, their search processes are almost independent of domain knowledge of the tasks. In this paper, we propose Pose Neural Fabrics Search (PoseNFS). We explore a new solution for NAS and human pose estimation task: part-specific neural architecture search, which can be seen as a variant of multi-task learning. Firstly, we design a new neural architecture search space, Cell-based Neural Fabric (CNF), to learn micro as well as macro neural architecture using a differentiable search strategy. Then, we view locating human keypoints as multiple disentangled prediction sub-tasks, and then use prior knowledge of body structure as guidance to search for multiple part-specific neural architectures for different human parts. After search, all these part-specific CNFs have distinct micro and macro architecture parameters. The results show that such knowledge-guided NAS-based architectures have obvious performance improvements to a hand-designed part-based baseline model. The experiments on MPII and MS-COCO datasets demonstrate that PoseNFS\footnote{Code is available at \url{https://github.com/yangsenius/PoseNFS}} can achieve comparable performance to some efficient and state-of-the-art methods.
Convolutional neural network based systems have largely failed to be adopted in many high-risk application areas, including healthcare, military, security, transportation, finance, and legal, due to their highly uninterpretable "black-box" nature. Towards solving this deficiency, we teach a novel multi-task capsule network to improve the explainability of predictions by embodying the same high-level language used by human-experts. Our explainable capsule network, X-Caps, encodes high-level visual object attributes within the vectors of its capsules, then forms predictions based solely on these human-interpretable features. To encode attributes, X-Caps utilizes a new routing sigmoid function to independently route information from child capsules to parents. Further, to provide radiologists with an estimate of model confidence, we train our network on a distribution of expert labels, modeling inter-observer agreement and punishing over/under confidence during training, supervised by human-experts' agreement. X-Caps simultaneously learns attribute and malignancy scores from a multi-center dataset of over 1000 CT scans of lung cancer screening patients. We demonstrate a simple 2D capsule network can outperform a state-of-the-art deep dense dual-path 3D CNN at capturing visually-interpretable high-level attributes and malignancy prediction, while providing malignancy prediction scores approaching that of non-explainable 3D CNNs. To the best of our knowledge, this is the first study to investigate capsule networks for making predictions based on radiologist-level interpretable attributes and its applications to medical image diagnosis. Code is publicly available at https://github.com/lalonderodney/X-Caps .
Named Entity Recognition (NER) plays an important role in a wide range of natural language processing tasks, such as relation extraction, question answering, etc. However, previous studies on NER are limited to particular genres, using small manually-annotated or large but low-quality datasets. Meanwhile, previous datasets for open-domain NER, built using distant supervision, suffer from low precision, recall and ratio of annotated tokens (RAT). In this work, to address the low precision and recall problems, we first utilize DBpedia as the source of distant supervision to annotate abstracts from Wikipedia and design a neural correction model trained with a human-annotated NER dataset, DocRED, to correct the false entity labels. In this way, we build a large and high-quality dataset called AnchorNER and then train various models with it. To address the low RAT problem of previous datasets, we introduce a multi-task learning method to exploit the context information. We evaluate our methods on five NER datasets and our experimental results show that models trained with AnchorNER and our multi-task learning method obtain state-of-the-art performances in the open-domain setting.
Existing weakly supervised semantic segmentation (WSSS) methods usually utilize the results of pre-trained saliency detection (SD) models without explicitly modeling the connections between the two tasks, which is not the most efficient configuration. Here we propose a unified multi-task learning framework to jointly solve WSSS and SD using a single network, \ie saliency, and segmentation network (SSNet). SSNet consists of a segmentation network (SN) and a saliency aggregation module (SAM). For an input image, SN generates the segmentation result and, SAM predicts the saliency of each category and aggregating the segmentation masks of all categories into a saliency map. The proposed network is trained end-to-end with image-level category labels and class-agnostic pixel-level saliency labels. Experiments on PASCAL VOC 2012 segmentation dataset and four saliency benchmark datasets show the performance of our method compares favorably against state-of-the-art weakly supervised segmentation methods and fully supervised saliency detection methods.
Second language acquisition (SLA) modeling is to predict whether second language learners could correctly answer the questions according to what they have learned. It is a fundamental building block of the personalized learning system and has attracted more and more attention recently. However, as far as we know, almost all existing methods cannot work well in low-resource scenarios due to lacking of training data. Fortunately, there are some latent common patterns among different language-learning tasks, which gives us an opportunity to solve the low-resource SLA modeling problem. Inspired by this idea, in this paper, we propose a novel SLA modeling method, which learns the latent common patterns among different language-learning datasets by multi-task learning and are further applied to improving the prediction performance in low-resource scenarios. Extensive experiments show that the proposed method performs much better than the state-of-the-art baselines in the low-resource scenario. Meanwhile, it also obtains improvement slightly in the non-low-resource scenario.
Conversational question answering (ConvQA) is a simplified but concrete setting of conversational search. One of its major challenges is to leverage the conversation history to understand and answer the current question. In this work, we propose a novel solution for ConvQA that involves three aspects. First, we propose a positional history answer embedding method to encode conversation history with position information using BERT in a natural way. BERT is a powerful technique for text representation. Second, we design a history attention mechanism (HAM) to conduct a "soft selection" for conversation histories. This method attends to history turns with different weights based on how helpful they are on answering the current question. Third, in addition to handling conversation history, we take advantage of multi-task learning (MTL) to do answer prediction along with another essential conversation task (dialog act prediction) using a uniform model architecture. MTL is able to learn more expressive and generic representations to improve the performance of ConvQA. We demonstrate the effectiveness of our model with extensive experimental evaluations on QuAC, a large-scale ConvQA dataset. We show that position information plays an important role in conversation history modeling. We also visualize the history attention and provide new insights into conversation history understanding.