Harmony World Models: Boosting Sample Efficiency for Model-based Reinforcement Learning

Model-based reinforcement learning (MBRL) holds the promise of sample-efficient learning by utilizing a world model, which models how the environment works and typically encompasses components for two tasks: observation modeling and reward modeling. In this paper, through a dedicated empirical investigation, we gain a deeper understanding of the role each task plays in world models and uncover the overlooked potential of more efficient MBRL by harmonizing the interference between observation and reward modeling. Our key insight is that while prevalent approaches of explicit MBRL attempt to restore abundant details of the environment through observation models, it is difficult due to the environment's complexity and limited model capacity. On the other hand, reward models, while dominating in implicit MBRL and adept at learning task-centric dynamics, are inadequate for sample-efficient learning without richer learning signals. Capitalizing on these insights and discoveries, we propose a simple yet effective method, Harmony World Models (HarmonyWM), that introduces a lightweight harmonizer to maintain a dynamic equilibrium between the two tasks in world model learning. Our experiments on three visual control domains show that the base MBRL method equipped with HarmonyWM gains 10%-55% absolute performance boosts.

Koopa: Learning Non-stationary Time Series Dynamics with Koopman Predictors

Real-world time series is characterized by intrinsic non-stationarity that poses a principal challenge for deep forecasting models. While previous models suffer from complicated series variations induced by changing temporal distribution, we tackle non-stationary time series with modern Koopman theory that fundamentally considers the underlying time-variant dynamics. Inspired by Koopman theory of portraying complex dynamical systems, we disentangle time-variant and time-invariant components from intricate non-stationary series by Fourier Filter and design Koopman Predictor to advance respective dynamics forward. Technically, we propose Koopa as a novel Koopman forecaster composed of stackable blocks that learn hierarchical dynamics. Koopa seeks measurement functions for Koopman embedding and utilizes Koopman operators as linear portraits of implicit transition. To cope with time-variant dynamics that exhibits strong locality, Koopa calculates context-aware operators in the temporal neighborhood and is able to utilize incoming ground truth to scale up forecast horizon. Besides, by integrating Koopman Predictors into deep residual structure, we ravel out the binding reconstruction loss in previous Koopman forecasters and achieve end-to-end forecasting objective optimization. Compared with the state-of-the-art model, Koopa achieves competitive performance while saving 77.3% training time and 76.0% memory.

Pre-training Contextualized World Models with In-the-wild Videos for Reinforcement Learning

Unsupervised pre-training methods utilizing large and diverse datasets have achieved tremendous success across a range of domains. Recent work has investigated such unsupervised pre-training methods for model-based reinforcement learning (MBRL) but is limited to domain-specific or simulated data. In this paper, we study the problem of pre-training world models with abundant in-the-wild videos for efficient learning of downstream visual control tasks. However, in-the-wild videos are complicated with various contextual factors, such as intricate backgrounds and textured appearance, which precludes a world model from extracting shared world knowledge to generalize better. To tackle this issue, we introduce Contextualized World Models (ContextWM) that explicitly model both the context and dynamics to overcome the complexity and diversity of in-the-wild videos and facilitate knowledge transfer between distinct scenes. Specifically, a contextualized extension of the latent dynamics model is elaborately realized by incorporating a context encoder to retain contextual information and empower the image decoder, which allows the latent dynamics model to concentrate on essential temporal variations. Our experiments show that in-the-wild video pre-training equipped with ContextWM can significantly improve the sample-efficiency of MBRL in various domains, including robotic manipulation, locomotion, and autonomous driving.

Tune-Mode ConvBN Blocks For Efficient Transfer Learning

Convolution-BatchNorm (ConvBN) blocks are integral components in various computer vision tasks and other domains. A ConvBN block can operate in three modes: Train, Eval, and Deploy. While the Train mode is indispensable for training models from scratch, the Eval mode is suitable for transfer learning and model validation, and the Deploy mode is designed for the deployment of models. This paper focuses on the trade-off between stability and efficiency in ConvBN blocks: Deploy mode is efficient but suffers from training instability; Eval mode is widely used in transfer learning but lacks efficiency. To solve the dilemma, we theoretically reveal the reason behind the diminished training stability observed in the Deploy mode. Subsequently, we propose a novel Tune mode to bridge the gap between Eval mode and Deploy mode. The proposed Tune mode is as stable as Eval mode for transfer learning, and its computational efficiency closely matches that of the Deploy mode. Through extensive experiments in both object detection and classification tasks, carried out across various datasets and model architectures, we demonstrate that the proposed Tune mode does not hurt the original performance while significantly reducing GPU memory footprint and training time, thereby contributing an efficient solution to transfer learning with convolutional networks.

SimMTM: A Simple Pre-Training Framework for Masked Time-Series Modeling

Time series analysis is widely used in extensive areas. Recently, to reduce labeling expenses and benefit various tasks, self-supervised pre-training has attracted immense interest. One mainstream paradigm is masked modeling, which successfully pre-trains deep models by learning to reconstruct the masked content based on the unmasked part. However, since the semantic information of time series is mainly contained in temporal variations, the standard way of randomly masking a portion of time points will ruin vital temporal variations of time series seriously, making the reconstruction task too difficult to guide representation learning. We thus present SimMTM, a Simple pre-training framework for Masked Time-series Modeling. By relating masked modeling to manifold learning, SimMTM proposes to recover masked time points by the weighted aggregation of multiple neighbors outside the manifold, which eases the reconstruction task by assembling ruined but complementary temporal variations from multiple masked series. SimMTM further learns to uncover the local structure of the manifold helpful for masked modeling. Experimentally, SimMTM achieves state-of-the-art fine-tuning performance in two canonical time series analysis tasks: forecasting and classification, covering both in- and cross-domain settings.

CLIPood: Generalizing CLIP to Out-of-Distributions

Out-of-distribution (OOD) generalization, where the model needs to handle distribution shifts from training, is a major challenge of machine learning. Recently, contrastive language-image pre-training (CLIP) models have shown impressive zero-shot ability, revealing a promising path toward OOD generalization. However, to boost upon zero-shot performance, further adaptation of CLIP on downstream tasks is indispensable but undesirably degrades OOD generalization ability. In this paper, we aim at generalizing CLIP to out-of-distribution test data on downstream tasks. Beyond the two canonical OOD situations, domain shift and open class, we tackle a more general but difficult in-the-wild setting where both OOD situations may occur on the unseen test data. We propose CLIPood, a simple fine-tuning method that can adapt CLIP models to all OOD situations. To exploit semantic relations between classes from the text modality, CLIPood introduces a new training objective, margin metric softmax (MMS), with class adaptive margins for fine-tuning. Moreover, to incorporate both the pre-trained zero-shot model and the fine-tuned task-adaptive model, CLIPood proposes a new Beta moving average (BMA) to maintain a temporal ensemble according to Beta distribution. Experiments on diverse datasets with different OOD scenarios show that CLIPood consistently outperforms existing generalization techniques.

Solving High-Dimensional PDEs with Latent Spectral Models

Deep models have achieved impressive progress in solving partial differential equations (PDEs). A burgeoning paradigm is learning neural operators to approximate the input-output mappings of PDEs. While previous deep models have explored the multiscale architectures and elaborative operator designs, they are limited to learning the operators as a whole in the coordinate space. In real physical science problems, PDEs are complex coupled equations with numerical solvers relying on discretization into high-dimensional coordinate space, which cannot be precisely approximated by a single operator nor efficiently learned for the curse of dimensionality. We present Latent Spectral Models (LSM) toward an efficient and precise solver for high-dimensional PDEs. Going beyond the coordinate space, LSM enables an attention-based hierarchical projection network to reduce the high-dimensional data into a compact latent space in linear time. Inspired by classical spectral methods in numerical analysis, we design a neural spectral block to solve PDEs in the latent space that well approximates complex input-output mappings via learning multiple basis operators, enjoying nice theoretical guarantees for convergence and approximation. Experimentally, LSM achieves consistent state-of-the-art and yields a relative gain of 11.5% averaged on seven benchmarks covering both solid and fluid physics.

ForkMerge: Overcoming Negative Transfer in Multi-Task Learning

The goal of multi-task learning is to utilize useful knowledge from multiple related tasks to improve the generalization performance of all tasks. However, learning multiple tasks simultaneously often results in worse performance than learning them independently, which is known as negative transfer. Most previous works attribute negative transfer in multi-task learning to gradient conflicts between different tasks and propose several heuristics to manipulate the task gradients for mitigating this problem, which mainly considers the optimization difficulty and overlooks the generalization problem. To fully understand the root cause of negative transfer, we experimentally analyze negative transfer from the perspectives of optimization, generalization, and hypothesis space. Stemming from our analysis, we introduce ForkMerge, which periodically forks the model into multiple branches with different task weights, and merges dynamically to filter out detrimental parameter updates to avoid negative transfer. On a series of multi-task learning tasks, ForkMerge achieves improved performance over state-of-the-art methods and largely avoids negative transfer.

Out-of-Dynamics Imitation Learning from Multimodal Demonstrations

Existing imitation learning works mainly assume that the demonstrator who collects demonstrations shares the same dynamics as the imitator. However, the assumption limits the usage of imitation learning, especially when collecting demonstrations for the imitator is difficult. In this paper, we study out-of-dynamics imitation learning (OOD-IL), which relaxes the assumption to that the demonstrator and the imitator have the same state spaces but could have different action spaces and dynamics. OOD-IL enables imitation learning to utilize demonstrations from a wide range of demonstrators but introduces a new challenge: some demonstrations cannot be achieved by the imitator due to the different dynamics. Prior works try to filter out such demonstrations by feasibility measurements, but ignore the fact that the demonstrations exhibit a multimodal distribution since the different demonstrators may take different policies in different dynamics. We develop a better transferability measurement to tackle this newly-emerged challenge. We firstly design a novel sequence-based contrastive clustering algorithm to cluster demonstrations from the same mode to avoid the mutual interference of demonstrations from different modes, and then learn the transferability of each demonstration with an adversarial-learning based algorithm in each cluster. Experiment results on several MuJoCo environments, a driving environment, and a simulated robot environment show that the proposed transferability measurement more accurately finds and down-weights non-transferable demonstrations and outperforms prior works on the final imitation learning performance. We show the videos of our experiment results on our website.