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When training highly parametrised models such as deep neural networks there is a risk of overfitting to the training data. This leads to greater generalization error. To help reduce overfitting we can introduce regularization into our training, discouraging certain solutions to decrease the extent to which our models will fit to noise. 0:01:41 – Overfitting and regularization 0:18:11 – Model regularization (L2, L1, dropout, batch norm, and data augmentation) 0:49:30 – Visualizing Regularisation and Overfitting, Bayesian Neural Networks ... https://www.youtube.com/watch?v=77KkT59DKu8
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Speaker: Sam Witteveen, Google Developer Expert Machine Learning
Video is reposted for educational purposes.
Yoshua Bengio, Tristan Deleu, Nasim Rahaman, Nan Rosemary Ke, Sebastien Lachapelle, Olexa Bilaniuk, Anirudh Goyal, Christopher Pal
Paper: https://openreview.net/pdf?id=ryxWIgBFPS
Code: https://github.com/ec6dde01667145e58de60f864e05a4/CausalOptimizationAnon
Review: https://openreview.net/forum?id=ryxWIgBFPS
Abstract:
We propose to use a meta-learning objective that maximizes the speed of transfer on a modified distribution to learn how to modularize acquired knowledge. In particular, we focus on how to factor a joint distribution into appropriate conditionals, consistent with the causal directions. We explain when this can work, using the assumption that the changes in distributions are localized (e.g. to one of the marginals, for example due to an intervention on one of the variables). We prove that under this assumption of localized changes in causal mechanisms, the correct causal graph will tend to have only a few of its parameters with non-zero gradient, i.e. that need to be adapted (those of the modified variables). We argue and observe experimentally that this leads to faster adaptation, and use this property to define a meta-learning surrogate score which, in addition to a continuous parametrization of graphs, would favour correct causal graphs. Finally, motivated by the AI agent point of view (e.g. of a robot discovering its environment autonomously), we consider how the same objective can discover the causal variables themselves, as a transformation of observed low-level variables with no causal meaning. Experiments in the two-variable case validate the proposed ideas and theoretical results.
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Source: https://slideslive.com/38917949/the-promise-and-challenge-of-ml-in-selfdriving
A diverse set of methods have been devised to develop autonomous driving platforms. They range from modular systems, systems that perform manual decomposition of the problem, systems where the components are optimized independently, and a large number of rules are programmed manually, to end-to-end deep-learning frameworks. Today’s systems rely on a subset of the following: camera images, HD maps, inertial measurement units, wheel encoders, and active 3D sensors (LIDAR, radar). There is a general agreement that much of the self-driving software stack will continue to incorporate some form of machine learning in any of the above mentioned systems in the future.
Self-driving cars present one of today’s greatest challenges and opportunities for Artificial Intelligence (AI). Despite substantial investments, existing methods for building autonomous vehicles have not yet succeeded, i.e., there are no driverless cars on public roads today without human safety drivers. Nevertheless, a few groups have started working on extending the idea of learned tasks to larger functions of autonomous driving. Initial results on learned road following are very promising.
The goal of this workshop is to explore ways to create a framework that is capable of learning autonomous driving capabilities beyond road following, towards fully driverless cars. The workshop will consider the current state of learning applied to autonomous vehicles and will explore how learning may be used in future systems. The workshop will span both theoretical frameworks and practical issues especially in the area of deep learning.
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Source: NeurIPS
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