Philippe Beaudoin

Nicolas Heess

Michael Mozer

Visual environments are structured, consisting of distinct objects or entities. These entities have properties -- both visible and latent --… (voir plus) that determine the manner in which they interact with one another. To partition images into entities, deep-learning researchers have proposed structural inductive biases such as slot-based architectures. To model interactions among entities, equivariant graph neural nets (GNNs) are used, but these are not particularly well suited to the task for two reasons. First, GNNs do not predispose interactions to be sparse, as relationships among independent entities are likely to be. Second, GNNs do not factorize knowledge about interactions in an entity-conditional manner. As an alternative, we take inspiration from cognitive science and resurrect a classic approach, production systems, which consist of a set of rule templates that are applied by binding placeholder variables in the rules to specific entities. Rules are scored on their match to entities, and the best fitting rules are applied to update entity properties. In a series of experiments, we demonstrate that this architecture achieves a flexible, dynamic flow of control and serves to factorize entity-specific and rule-based information. This disentangling of knowledge achieves robust future-state prediction in rich visual environments, outperforming state-of-the-art methods using GNNs, and allows for the extrapolation from simple (few object) environments to more complex environments.

2021-12-06

Conference on Neural Information Processing Systems (Accept (Poster))

openreview.net

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence

Nicholas Roy

Ingmar Posner

T. Barfoot

Jeannette Bohg

Oliver Brock

Isabelle Depatie

Dieter Fox

D. Koditschek

Tom'as Lozano-p'erez

Vikash K. Mansinghka

Christopher Pal

Blake Aaron Richards

Dorsa Sadigh

Stefan Schaal

G. Sukhatme

Denis Therien

Marc Emile Toussaint

Michiel van de Panne

2021-10-27

ArXiv (prépublication)

Factorizing Declarative and Procedural Knowledge in Structured, Dynamical Environments

Charles Blundell

Sergey Levine

Michael Mozer

2021-05-02

International Conference on Learning Representations (Poster)

openreview.net

Neural Function Modules with Sparse Arguments: A Dynamic Approach to Integrating Information across Layers

Alex Lamb

Anirudh Goyal

Agnieszka Słowik

Michael Mozer

Feed-forward neural networks consist of a sequence of layers, in which each layer performs some processing on the information from the previ… (voir plus)ous layer. A downside to this approach is that each layer (or module, as multiple modules can operate in parallel) is tasked with processing the entire hidden state, rather than a particular part of the state which is most relevant for that module. Methods which only operate on a small number of input variables are an essential part of most programming languages, and they allow for improved modularity and code re-usability. Our proposed method, Neural Function Modules (NFM), aims to introduce the same structural capability into deep learning. Most of the work in the context of feed-forward networks combining top-down and bottom-up feedback is limited to classification problems. The key contribution of our work is to combine attention, sparsity, top-down and bottom-up feedback, in a flexible algorithm which, as we show, improves the results in standard classification, out-of-domain generalization, generative modeling, and learning representations in the context of reinforcement learning.

2021-04-12

International Conference on Artificial Intelligence and Statistics (Poster)

proceedings.mlr.press

Object Files and Schemata: Factorizing Declarative and Procedural Knowledge in Dynamical Systems

Sergey Levine

Charles Blundell

Michael Mozer

2020-06-28

arXiv (prépublication)

CLOSURE: Assessing Systematic Generalization of CLEVR Models

Dzmitry Bahdanau

Harm de Vries

Timothy J. O'Donnell

Shikhar Murty

Aaron Courville

The CLEVR dataset of natural-looking questions about 3D-rendered scenes has recently received much attention from the research community. A … (voir plus)number of models have been proposed for this task, many of which achieved very high accuracies of around 97-99%. In this work, we study how systematic the generalization of such models is, that is to which extent they are capable of handling novel combinations of known linguistic constructs. To this end, we test models' understanding of referring expressions based on matching object properties (such as e.g. "the object that is the same size as the red ball") in novel contexts. Our experiments on the thereby constructed CLOSURE benchmark show that state-of-the-art models often do not exhibit systematicity after being trained on CLEVR. Surprisingly, we find that an explicitly compositional Neural Module Network model also generalizes badly on CLOSURE, even when it has access to the ground-truth programs at test time. We improve the NMN's systematic generalization by developing a novel Vector-NMN module architecture with vector-valued inputs and outputs. Lastly, we investigate the extent to which few-shot transfer learning can help models that are pretrained on CLEVR to adapt to CLOSURE. Our few-shot learning experiments contrast the adaptation behavior of the models with intermediate discrete programs with that of the end-to-end continuous models.

2019-12-11

ArXiv (prépublication)

A deep learning framework for neuroscience

Blake Aaron Richards

Timothy P Lillicrap

Rafal Bogacz

Amelia Christensen

Claudia Clopath

Rui Ponte Costa

Archy de Berker

Surya Ganguli

Colleen J Gillon

Danijar Hafner

Adam Kepecs

Nikolaus Kriegeskorte

Peter Latham

Grace W. Lindsay

Kenneth D. Miller

Richard Naud

Christopher C. Pack

Panayiota Poirazi … (voir 12 de plus)

Pieter Roelfsema

João Sacramento

Andrew Saxe

Benjamin Scellier

Anna C. Schapiro

Walter Senn

Greg Wayne

Daniel Yamins

Friedemann Zenke

Joel Zylberberg

Denis Therien

Konrad Paul Kording

2019-10-27

Nature Neuroscience (publié)

Disentangling the independently controllable factors of variation by interacting with the world

Valentin Thomas

William Fedus

It has been postulated that a good representation is one that disentangles the underlying explanatory factors of variation. However, it rema… (voir plus)ins an open question what kind of training framework could potentially achieve that. Whereas most previous work focuses on the static setting (e.g., with images), we postulate that some of the causal factors could be discovered if the learner is allowed to interact with its environment. The agent can experiment with different actions and observe their effects. More specifically, we hypothesize that some of these factors correspond to aspects of the environment which are independently controllable, i.e., that there exists a policy and a learnable feature for each such aspect of the environment, such that this policy can yield changes in that feature with minimal changes to other features that explain the statistical variations in the observed data. We propose a specific objective function to find such factors, and verify experimentally that it can indeed disentangle independently controllable aspects of the environment without any extrinsic reward signal.

2017-12-31

arXiv (prépublication)

Independently Controllable Factors

Valentin Thomas

Marie-Jean Meurs

It has been postulated that a good representation is one that disentangles the underlying explanatory factors of variation. However, it rema… (voir plus)ins an open question what kind of training framework could potentially achieve that. Whereas most previous work focuses on the static setting (e.g., with images), we postulate that some of the causal factors could be discovered if the learner is allowed to interact with its environment. The agent can experiment with different actions and observe their effects. More specifically, we hypothesize that some of these factors correspond to aspects of the environment which are independently controllable, i.e., that there exists a policy and a learnable feature for each such aspect of the environment, such that this policy can yield changes in that feature with minimal changes to other features that explain the statistical variations in the observed data. We propose a specific objective function to find such factors and verify experimentally that it can indeed disentangle independently controllable aspects of the environment without any extrinsic reward signal.

2016-12-31

arXiv (prépublication)