RL Unplugged: Benchmarks for Offline Reinforcement Learning

Offline methods for reinforcement learning have a potential to help bridge the gap between reinforcement learning research and real-world applications. They make it possible to learn policies from offline datasets, thus overcoming concerns associated with online data collection in the real-world, including cost, safety, or ethical concerns. In this paper, we propose a benchmark called RL Unplugged to evaluate and compare offline RL methods. RL Unplugged includes data from a diverse range of domains including games ({\em e.g.,} Atari benchmark) and simulated motor control problems ({\em e.g.,} DM Control Suite). The datasets include domains that are partially or fully observable, use continuous or discrete actions, and have stochastic vs. deterministic dynamics. We propose detailed evaluation protocols for each domain in RL Unplugged and provide an extensive analysis of supervised learning and offline RL methods using these protocols. We will release data for all our tasks and open-source all algorithms presented in this paper. We hope that our suite of benchmarks will increase the reproducibility of experiments and make it possible to study challenging tasks with a limited computational budget, thus making RL research both more systematic and more accessible across the community. Moving forward, we view RL Unplugged as a living benchmark suite that will evolve and grow with datasets contributed by the research community and ourselves. Our project page is available on github (https://git.io/JJUhd).

Big Self-Supervised Models are Strong Semi-Supervised Learners

One paradigm for learning from few labeled examples while making best use of a large amount of unlabeled data is unsupervised pretraining followed by supervised fine-tuning. Although this paradigm uses unlabeled data in a task-agnostic way, in contrast to most previous approaches to semi-supervised learning for computer vision, we show that it is surprisingly effective for semi-supervised learning on ImageNet. A key ingredient of our approach is the use of a big (deep and wide) network during pretraining and fine-tuning. We find that, the fewer the labels, the more this approach (task-agnostic use of unlabeled data) benefits from a bigger network. After fine-tuning, the big network can be further improved and distilled into a much smaller one with little loss in classification accuracy by using the unlabeled examples for a second time, but in a task-specific way. The proposed semi-supervised learning algorithm can be summarized in three steps: unsupervised pretraining of a big ResNet model using SimCLRv2 (a modification of SimCLR), supervised fine-tuning on a few labeled examples, and distillation with unlabeled examples for refining and transferring the task-specific knowledge. This procedure achieves 73.9\% ImageNet top-1 accuracy with just 1\% of the labels ($\le$13 labeled images per class) using ResNet-50, a $10\times$ improvement in label efficiency over the previous state-of-the-art. With 10\% of labels, ResNet-50 trained with our method achieves 77.5\% top-1 accuracy, outperforming standard supervised training with all of the labels.

Dynamic Programming Encoding for Subword Segmentation in Neural Machine Translation

This paper introduces Dynamic Programming Encoding (DPE), a new segmentation algorithm for tokenizing sentences into subword units. We view the subword segmentation of output sentences as a latent variable that should be marginalized out for learning and inference. A mixed character-subword transformer is proposed, which enables exact log marginal likelihood estimation and exact MAP inference to find target segmentations with maximum posterior probability. DPE uses a lightweight mixed character-subword transformer as a means of pre-processing parallel data to segment output sentences using dynamic programming. Empirical results on machine translation suggest that DPE is effective for segmenting output sentences and can be combined with BPE dropout for stochastic segmentation of source sentences. DPE achieves an average improvement of 0.9 BLEU over BPE (Sennrich et al., 2016) and an average improvement of 0.55 BLEU over BPE dropout (Provilkov et al., 2019) on several WMT datasets including English <=> (German, Romanian, Estonian, Finnish, Hungarian).

Non-Autoregressive Machine Translation with Latent Alignments

This paper investigates two latent alignment models for non-autoregressive machine translation, namely CTC and Imputer. CTC generates outputs in a single step, makes strong conditional independence assumptions about output variables, and marginalizes out latent alignments using dynamic programming. Imputer generates outputs in a constant number of steps, and approximately marginalizes out possible generation orders and latent alignments for training. These models are simpler than existing non-autoregressive methods, since they do not require output length prediction as a pre-process. In addition, our architecture is simpler than typical encoder-decoder architectures, since input-output cross attention is not used. On the competitive WMT'14 En$\rightarrow$De task, our CTC model achieves 25.7 BLEU with a single generation step, while Imputer achieves 27.5 BLEU with 2 generation steps, and 28.0 BLEU with 4 generation steps. This compares favourably to the baseline autoregressive Transformer with 27.8 BLEU.

Exemplar VAEs for Exemplar based Generation and Data Augmentation

This paper presents a framework for exemplar based generative modeling, featuring Exemplar VAEs. To generate a sample from the Exemplar VAE, one first draws a random exemplar from a training dataset, and then stochastically transforms that exemplar into a latent code, which is then used to generate a new observation. We show that the Exemplar VAE can be interpreted as a VAE with a mixture of Gaussians prior in the latent space, with Gaussian means defined by the latent encoding of the exemplars. To enable optimization and avoid overfitting, Exemplar VAE's parameters are learned using leave-one-out and exemplar subsampling, where, for the generation of each data point, we build a prior based on a random subset of the remaining data points. To accelerate learning, which requires finding the exemplars that exert the greatest influence on the generation of each data point, we use approximate nearest neighbor search in the latent space, yielding a lower bound on the log marginal likelihood. Experiments demonstrate the effectiveness of Exemplar VAEs in density estimation, representation learning, and generative data augmentation for supervised learning.

NiLBS: Neural Inverse Linear Blend Skinning

In this technical report, we investigate efficient representations of articulated objects (e.g. human bodies), which is an important problem in computer vision and graphics. To deform articulated geometry, existing approaches represent objects as meshes and deform them using "skinning" techniques. The skinning operation allows a wide range of deformations to be achieved with a small number of control parameters. This paper introduces a method to invert the deformations undergone via traditional skinning techniques via a neural network parameterized by pose. The ability to invert these deformations allows values (e.g., distance function, signed distance function, occupancy) to be pre-computed at rest pose, and then efficiently queried when the character is deformed. We leave empirical evaluation of our approach to future work.

SUMO: Unbiased Estimation of Log Marginal Probability for Latent Variable Models

Standard variational lower bounds used to train latent variable models produce biased estimates of most quantities of interest. We introduce an unbiased estimator of the log marginal likelihood and its gradients for latent variable models based on randomized truncation of infinite series. If parameterized by an encoder-decoder architecture, the parameters of the encoder can be optimized to minimize its variance of this estimator. We show that models trained using our estimator give better test-set likelihoods than a standard importance-sampling based approach for the same average computational cost. This estimator also allows use of latent variable models for tasks where unbiased estimators, rather than marginal likelihood lower bounds, are preferred, such as minimizing reverse KL divergences and estimating score functions.

Imputer: Sequence Modelling via Imputation and Dynamic Programming

This paper presents the Imputer, a neural sequence model that generates output sequences iteratively via imputations. The Imputer is an iterative generative model, requiring only a constant number of generation steps independent of the number of input or output tokens. The Imputer can be trained to approximately marginalize over all possible alignments between the input and output sequences, and all possible generation orders. We present a tractable dynamic programming training algorithm, which yields a lower bound on the log marginal likelihood. When applied to end-to-end speech recognition, the Imputer outperforms prior non-autoregressive models and achieves competitive results to autoregressive models. On LibriSpeech test-other, the Imputer achieves 11.1 WER, outperforming CTC at 13.0 WER and seq2seq at 12.5 WER.