Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that jointly optimizes both the visual representation model and the dynamics model using contrastive estimation. Using simulation data collected by randomly perturbing deformable objects on a table, we learn latent dynamics models for these objects in an offline fashion. Then, using the learned models, we use simple model-based planning to solve challenging deformable object manipulation tasks such as spreading ropes and cloths. Experimentally, we show substantial improvements in performance over standard model-based learning techniques across our rope and cloth manipulation suite. Finally, we transfer our visual manipulation policies trained on data purely collected in simulation to a real PR2 robot through domain randomization.
New York University（纽约大学）；Hyperfine Research（Hyperfine研究公司）；Yale University（耶鲁大学）
Establishing voxelwise semantic correspondence across distinct imaging modalities is a foundational yet formidable computer vision task. Current multi-modality registration techniques maximize hand-crafted inter-domain similarity functions, are limited in modeling nonlinear intensity-relationships and deformations, and may require significant re-engineering or underperform on new tasks, datasets, and domain pairs. This work presents ContraReg, an unsupervised contrastive representation learning approach to multi-modality deformable registration. By projecting learned multi-scale local patch fe…
Stanford University（斯坦福大学）；KTH Royal Institute of Technology（皇家理工学院(KTH)）
Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact topological representations to capture the state of highly deformable objects that are topologically nontrivial. We develop an approach that tracks the evolution of this topological state through time. Under several mild assumptions, we prove that the topology of the scene and its evolution can be recovered from point clouds representing the scene. Our further contr…
Reliable detection of anomalies is crucial when deploying machine learning models in practice, but remains challenging due to the lack of labeled data. To tackle this challenge, contrastive learning approaches are becoming increasingly popular, given the impressive results they have achieved in self-supervised representation learning settings. However, while most existing contrastive anomaly detection and segmentation approaches have been applied to images, none of them can use the contrastive losses directly for both anomaly detection and segmentation. In this paper, we close this gap by maki…
While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose a universal unsupervised learning approach to extract useful representations from high-dimensional data, which we call Contrastive Predictive Coding. The key insight of our model is to learn such representations by predicting the future in latent space by using powerful autoregressive models. We use a probabilistic contrastive loss which induces the latent s…
This thesis describes our ongoing work on Contrastive Predictive Coding (CPC) features for speaker verification. CPC is a recently proposed representation learning framework based on predictive coding and noise contrastive estimation. We focus on incorporating CPC features into the standard automatic speaker verification systems, and we present our methods, experiments, and analysis. This thesis also details necessary background knowledge in past and recent work on automatic speaker verification systems, conventional speech features, and the motivation and techniques behind CPC.
DeepMind；University of California, Berkeley（加利福尼亚大学伯克利分校）
Human observers can learn to recognize new categories of images from a handful of examples, yet doing so with artificial ones remains an open challenge. We hypothesize that data-efficient recognition is enabled by representations which make the variability in natural signals more predictable. We therefore revisit and improve Contrastive Predictive Coding, an unsupervised objective for learning such representations. This new implementation produces features which support state-of-the-art linear classification accuracy on the ImageNet dataset. When used as input for non-linear classification wit…
The Edmond and Lily Safra Center for Brain Sciences（埃德蒙和莉莉·萨夫拉脑科学中心）
Video prediction models often combine three components: an encoder from pixel space to a small latent space, a latent space prediction model, and a generative model back to pixel space. However, the large and unpredictable pixel space makes training such models difficult, requiring many training examples. We argue that finding a predictive latent variable and using it to evaluate the consistency of a future image enables data-efficient predictions because it precludes the necessity of a generative model training. To demonstrate it, we created sequence completion intelligence tests in which the…
University of Dundee（邓迪大学）；Ninewells Hospital and Medical School（奈恩韦尔斯医院与医学院）
Digital pathology tasks have benefited greatly from modern deep learning algorithms. However, their need for large quantities of annotated data has been identified as a key challenge. This need for data can be countered by using unsupervised learning in situations where data are abundant but access to annotations is limited. Feature representations learned from unannotated data using contrastive predictive coding (CPC) have been shown to enable classifiers to obtain state of the art performance from relatively small amounts of annotated computer vision data. We present a modification to the CP…
Variational mutual information (MI) estimators are widely used in unsupervised representation learning methods such as contrastive predictive coding (CPC). A lower bound on MI can be obtained from a multi-class classification problem, where a critic attempts to distinguish a positive sample drawn from the underlying joint distribution from $(m-1)$ negative samples drawn from a suitable proposal distribution. Using this approach, MI estimates are bounded above by $\log m$, and could thus severely underestimate unless $m$ is very large. To overcome this limitation, we introduce a novel estimator…
Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a suitable representation, rich enough to capture the object shape, dynamics for manipulation and yet simple enough to be estimated reliably from visual observations. This work aims to learn latent Graph dynamics for DefOrmable Object Manipulation (G-DOOM). G-DOOM approximates a deformable object as a sparse set of interacting keypoints, which are extracted au…
The dichotomy between the challenging nature of obtaining annotations for activities, and the more straightforward nature of data collection from wearables, has resulted in significant interest in the development of techniques that utilize large quantities of unlabeled data for learning representations. Contrastive Predictive Coding (CPC) is one such method, learning effective representations by leveraging properties of time-series data to setup a contrastive future timestep prediction task. In this work, we propose enhancements to CPC, by systematically investigating the encoder architecture,…
Automatic detection of phoneme or word-like units is one of the core objectives in zero-resource speech processing. Recent attempts employ self-supervised training methods, such as contrastive predictive coding (CPC), where the next frame is predicted given past context. However, CPC only looks at the audio signal's frame-level structure. We overcome this limitation with a segmental contrastive predictive coding (SCPC) framework that can model the signal structure at a higher level e.g. at the phoneme level. In this framework, a convolutional neural network learns frame-level representation fr…
Department of EECS, MIT（麻省理工学院电子工程与计算机科学系）；Department of Computer Science, University of Rochester（罗切斯特大学计算机科学系）
The InfoNCE objective, originally introduced for contrastive representation learning, has become a popular choice for mutual information (MI) estimation, despite its indirect connection to MI. In this paper, we demonstrate why InfoNCE should not be regarded as a valid MI estimator, and we introduce a simple modification, which we refer to as InfoNCE-anchor, for accurate MI estimation. Our modification introduces an auxiliary anchor class, enabling consistent density ratio estimation and yielding a plug-in MI estimator with significantly reduced bias. Beyond this, we generalize our framework us…
Feature extraction is crucial for human activity recognition (HAR) using body-worn movement sensors. Recently, learned representations have been used successfully, offering promising alternatives to manually engineered features. Our work focuses on effective use of small amounts of labeled data and the opportunistic exploitation of unlabeled data that are straightforward to collect in mobile and ubiquitous computing scenarios. We hypothesize and demonstrate that explicitly considering the temporality of sensor data at representation level plays an important role for effective HAR in challengin…
RMIT University（皇家墨尔本理工大学）；Data61, CSIRO（联邦科学与工业研究组织Data61研究院）；School of Computing Technologies, RMIT University（皇家墨尔本理工大学计算技术学院）
Change Point Detection (CPD) methods identify the times associated with changes in the trends and properties of time series data in order to describe the underlying behaviour of the system. For instance, detecting the changes and anomalies associated with web service usage, application usage or human behaviour can provide valuable insights for downstream modelling tasks. We propose a novel approach for self-supervised Time Series Change Point detection method based onContrastivePredictive coding (TS-CP^2). TS-CP^2 is the first approach to employ a contrastive learning strategy for CPD by learn…
Temporal Contrastive Transformer for Financial Crime Detection: Self-Supervised Sequence Embeddings via Predictive Contrastive Coding
NICE Actimize
本文提出了一种名为时间对比变压器（TCT）的表示学习框架，旨在捕捉金融交易序列中的时间动态。通过自监督对比目标训练模型，生成编码时间行为模式的嵌入，以支持下游的欺诈检测任务。实验结果显示，嵌入本身能实现有意义的预测性能（AUC 0.8644），但结合领域工程特征时，性能提升不显著（AUC 0.9205 vs. 0.9245），表明学习到的表示与现有特征抽象有较大重叠。这些发现表明TCT是一种有前景的表示学习方法，能够捕捉相关的行为信号，同时凸显了在强领域特征上实现加性价值的挑战。
In this work, we propose a flexible method for generating variations of discrete sequences in which tokens can be grouped into basic units, like sentences in a text or bars in music. More precisely, given a template sequence, we aim at producing novel sequences sharing perceptible similarities with the original template without relying on any annotation; so our problem of generating variations is intimately linked to the problem of learning relevant high-level representations without supervision. Our contribution is two-fold: First, we propose a self-supervised encoding technique, named Vector…
Deep learning on graphs has recently achieved remarkable success on a variety of tasks, while such success relies heavily on the massive and carefully labeled data. However, precise annotations are generally very expensive and time-consuming. To address this problem, self-supervised learning (SSL) is emerging as a new paradigm for extracting informative knowledge through well-designed pretext tasks without relying on manual labels. In this survey, we extend the concept of SSL, which first emerged in the fields of computer vision and natural language processing, to present a timely and comprehe…
NUS（新加坡国立大学）；Institute for Infocomm Research (IR) A*STAR（新加坡科技研究局资讯通信研究院）
Anomaly detection in multi-variate time series (MVTS) data is a huge challenge as it requires simultaneous representation of long term temporal dependencies and correlations across multiple variables. More often, this is solved by breaking the complexity through modeling one dependency at a time. In this paper, we propose a Time-series Representational Learning through Contrastive Predictive Coding (TRL-CPC) towards anomaly detection in MVTS data. First, we jointly optimize an encoder, an auto-regressor and a non-linear transformation function to effectively learn the representations of the MV…
Sony Computer Science Laboratory（索尼计算机科学实验室）；LTCI, Télécom Paris, Institut Polytechnique de Paris（LTCI，巴黎电信学院，巴黎综合理工学院）
Influenced by the field of Computer Vision, Generative Adversarial Networks (GANs) are often adopted for the audio domain using fixed-size two-dimensional spectrogram representations as the "image data". However, in the (musical) audio domain, it is often desired to generate output of variable duration. This paper presents VQCPC-GAN, an adversarial framework for synthesizing variable-length audio by exploiting Vector-Quantized Contrastive Predictive Coding (VQCPC). A sequence of VQCPC tokens extracted from real audio data serves as conditional input to a GAN architecture, providing step-wise t…
MRC Brain Networks Dynamics Unit（英国医学研究理事会脑网络动力学部门）；University of Oxford（牛津大学）
How the brain performs credit assignment is a fundamental unsolved problem in neuroscience. Many `biologically plausible' algorithms have been proposed, which compute gradients that approximate those computed by backpropagation (BP), and which operate in ways that more closely satisfy the constraints imposed by neural circuitry. Many such algorithms utilize the framework of energy-based models (EBMs), in which all free variables in the model are optimized to minimize a global energy function. However, in the literature, these algorithms exist in isolation and no unified theory exists linking t…
We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including the ease of incorporating physics priors in the dynamics model and perception model, and the ease of planning manipulation actions. In addition, physical states can naturally represent object instances of different appearances. Therefore, dynamics in the state space can be learned in one setting and directly used in other visually different settings. This is…
École Polytechnique Fédérale de Lausanne（洛桑联邦理工学院）
Learning in the brain is poorly understood and learning rules that respect biological constraints, yet yield deep hierarchical representations, are still unknown. Here, we propose a learning rule that takes inspiration from neuroscience and recent advances in self-supervised deep learning. Learning minimizes a simple layer-specific loss function and does not need to back-propagate error signals within or between layers. Instead, weight updates follow a local, Hebbian, learning rule that only depends on pre- and post-synaptic neuronal activity, predictive dendritic input and widely broadcasted …
Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
Department of Robotics, University of Michigan（机器人学系，密歇根大学）；Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign（机械科学与工程系，伊利诺伊大学厄巴纳-香槟分校）
Planning-Query-Guided Model Generation for Model-Based Deformable Object Manipulation
Department of Computer Science, Stevens Institute of Technology（斯蒂文斯理工学院计算机科学系）；Department of Robotics, University of Michigan（密歇根大学机器人学系）；Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
MIT CSAIL（麻省理工学院计算机科学与人工智能实验室）；MIT LIDS（麻省理工学院信息与决策系统实验室）；University of Pittsburgh（匹兹堡大学）
The generalization of representations learned via contrastive learning depends crucially on what features of the data are extracted. However, we observe that the contrastive loss does not always sufficiently guide which features are extracted, a behavior that can negatively impact the performance on downstream tasks via "shortcuts", i.e., by inadvertently suppressing important predictive features. We find that feature extraction is influenced by the difficulty of the so-called instance discrimination task (i.e., the task of discriminating pairs of similar points from pairs of dissimilar ones).…
This paper presents SimCLR: a simple framework for contrastive learning of visual representations. We simplify recently proposed contrastive self-supervised learning algorithms without requiring specialized architectures or a memory bank. In order to understand what enables the contrastive prediction tasks to learn useful representations, we systematically study the major components of our framework. We show that (1) composition of data augmentations plays a critical role in defining effective predictive tasks, (2) introducing a learnable nonlinear transformation between the representation and…
University of Notre Dame（圣母大学）；Brandeis University（布兰迪斯大学）
Among different existing graph self-supervised learning strategies, graph contrastive learning (GCL) has been one of the most prevalent approaches to this problem. Despite the remarkable performance those GCL methods have achieved, existing GCL methods that heavily depend on various manually designed augmentation techniques still struggle to alleviate the feature suppression issue without risking losing task-relevant information. Consequently, the learned representation is either brittle or unilluminating. In light of this, we introduce the Graph Contrastive Learning with Cross-View Reconstruc…
Carnegie Mellon University（卡内基梅隆大学）；D.E. Shaw & Co.（D.E. Shaw 公司）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
This paper introduces Relative Predictive Coding (RPC), a new contrastive representation learning objective that maintains a good balance among training stability, minibatch size sensitivity, and downstream task performance. The key to the success of RPC is two-fold. First, RPC introduces the relative parameters to regularize the objective for boundedness and low variance. Second, RPC contains no logarithm and exponential score functions, which are the main cause of training instability in prior contrastive objectives. We empirically verify the effectiveness of RPC on benchmark vision and spee…
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；Mila（米拉研究所）；University of Montreal（蒙特利尔大学）
Meta-learning algorithms adapt quickly to new tasks that are drawn from the same task distribution as the training tasks. The mechanism leading to fast adaptation is the conditioning of a downstream predictive model on the inferred representation of the task's underlying data generative process, or \emph{function}. This \emph{meta-representation}, which is computed from a few observed examples of the underlying function, is learned jointly with the predictive model. In this work, we study the implications of this joint training on the transferability of the meta-representations. Our goal is to…
Texas A&M University（德克萨斯农工大学）；The University of Texas at Austin（德克萨斯大学奥斯汀分校）
Contrastive learning has become a key component of self-supervised learning approaches for graph-structured data. Despite their success, existing graph contrastive learning methods are incapable of uncertainty quantification for node representations or their downstream tasks, limiting their application in high-stakes domains. In this paper, we propose a novel Bayesian perspective of graph contrastive learning methods showing random augmentations leads to stochastic encoders. As a result, our proposed method represents each node by a distribution in the latent space in contrast to existing tech…
Conditional Neural Processes~(CNPs) bridge neural networks with probabilistic inference to approximate functions of Stochastic Processes under meta-learning settings. Given a batch of non-{\it i.i.d} function instantiations, CNPs are jointly optimized for in-instantiation observation prediction and cross-instantiation meta-representation adaptation within a generative reconstruction pipeline. There can be a challenge in tying together such two targets when the distribution of function observations scales to high-dimensional and noisy spaces. Instead, noise contrastive estimation might be able …
There are a wide range of applications that involve multi-modal data, such as cross-modal retrieval, visual question-answering, and image captioning. Such applications are primarily dependent on aligned distributions of the different constituent modalities. Existing approaches generate latent embeddings for each modality in a joint fashion by representing them in a common manifold. However these joint embedding spaces fail to sufficiently reduce the modality gap, which affects the performance in downstream tasks. We hypothesize that these embeddings retain the intra-class relationships but are…
Robot Deformable Object Manipulation via NMPC-generated Demonstrations in Deep Reinforcement Learning
Hubei Key Laboratory of Brain-inspired Intelligent Systems and the Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（湖北脑启发智能系统重点实验室和图像处理与智能控制重点实验室，人工智能与自动化学院，华中科技大学）
University of Illinois at Chicago（伊利诺伊大学芝加哥分校）；Amazon Alexa（亚马逊Alexa）
Speech emotion recognition (SER) is a key technology to enable more natural human-machine communication. However, SER has long suffered from a lack of public large-scale labeled datasets. To circumvent this problem, we investigate how unsupervised representation learning on unlabeled datasets can benefit SER. We show that the contrastive predictive coding (CPC) method can learn salient representations from unlabeled datasets, which improves emotion recognition performance. In our experiments, this method achieved state-of-the-art concordance correlation coefficient (CCC) performance for all em…
The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；The Hong Kong University of Science and Technology（香港科技大学）
Graph self-supervised learning (SSL) has been vastly employed to learn representations from unlabeled graphs. Existing methods can be roughly divided into predictive learning and contrastive learning, where the latter one attracts more research attention with better empirical performance. We argue that, however, predictive models weaponed with powerful decoder could achieve comparable or even better representation power than contrastive models. In this work, we propose a Wiener Graph Deconvolutional Network (WGDN), an augmentation-adaptive decoder empowered by graph wiener filter to perform in…
Department of Computer Science The University of Western Ontario（西安大略大学计算机科学系）
Learning rich visual representations using contrastive self-supervised learning has been extremely successful. However, it is still a major question whether we could use a similar approach to learn superior auditory representations. In this paper, we expand on prior work (SimCLR) to learn better auditory representations. We (1) introduce various data augmentations suitable for auditory data and evaluate their impact on predictive performance, (2) show that training with time-frequency audio features substantially improves the quality of the learned representations compared to raw signals, and …
MIT CSAIL（麻省理工学院计算机科学与人工智能实验室）；MIT-IBM Watson AI Lab（麻省理工学院-IBM沃森人工智能实验室）
Contrastive learning is one of the fastest growing research areas in machine learning due to its ability to learn useful representations without labeled data. However, contrastive learning is susceptible to feature suppression, i.e., it may discard important information relevant to the task of interest, and learn irrelevant features. Past work has addressed this limitation via handcrafted data augmentations that eliminate irrelevant information. This approach however does not work across all datasets and tasks. Further, data augmentations fail in addressing feature suppression in multi-attribu…
