Publications

Iterated Denoising Energy Matching for Sampling from Boltzmann Densities
Tara Akhound-Sadegh
Jarrid Rector-Brooks
Joey Bose
Sarthak Mittal
Pablo Lemos
Cheng-Hao Liu
Marcin Sendera
Siamak Ravanbakhsh
Gauthier Gidel
Yoshua Bengio
Nikolay Malkin
Alexander Tong
Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-… (voir plus)body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Iterated Denoising Energy Matching for Sampling from Boltzmann Densities
Tara Akhound-Sadegh
Jarrid Rector-Brooks
Joey Bose
Sarthak Mittal
Pablo Lemos
Cheng-Hao Liu
Marcin Sendera
Siamak Ravanbakhsh
Gauthier Gidel
Yoshua Bengio
Nikolay Malkin
Alexander Tong
Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-… (voir plus)body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Iterated Denoising Energy Matching for Sampling from Boltzmann Densities
Tara Akhound-Sadegh
Jarrid Rector-Brooks
Joey Bose
Sarthak Mittal
Pablo Lemos
Cheng-Hao Liu
Marcin Sendera
Siamak Ravanbakhsh
Gauthier Gidel
Yoshua Bengio
Nikolay Malkin
Alexander Tong
Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-… (voir plus)body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Iterated Denoising Energy Matching for Sampling from Boltzmann Densities
Tara Akhound-Sadegh
Jarrid Rector-Brooks
Joey Bose
Sarthak Mittal
Pablo Lemos
Cheng-Hao Liu
Marcin Sendera
Siamak Ravanbakhsh
Gauthier Gidel
Yoshua Bengio
Nikolay Malkin
Alexander Tong
Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-… (voir plus)body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Iterated Denoising Energy Matching for Sampling from Boltzmann Densities
Tara Akhound-Sadegh
Jarrid Rector-Brooks
Joey Bose
Sarthak Mittal
Pablo Lemos
Cheng-Hao Liu
Marcin Sendera
Siamak Ravanbakhsh
Gauthier Gidel
Yoshua Bengio
Nikolay Malkin
Alexander Tong
Efficiently generating statistically independent samples from an unnormalized probability distribution, such as equilibrium samples of many-… (voir plus)body systems, is a foundational problem in science. In this paper, we propose Iterated Denoising Energy Matching (iDEM), an iterative algorithm that uses a novel stochastic score matching objective leveraging solely the energy function and its gradient -- and no data samples -- to train a diffusion-based sampler. Specifically, iDEM alternates between (I) sampling regions of high model density from a diffusion-based sampler and (II) using these samples in our stochastic matching objective to further improve the sampler. iDEM is scalable to high dimensions as the inner matching objective, is simulation-free, and requires no MCMC samples. Moreover, by leveraging the fast mode mixing behavior of diffusion, iDEM smooths out the energy landscape enabling efficient exploration and learning of an amortized sampler. We evaluate iDEM on a suite of tasks ranging from standard synthetic energy functions to invariant
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Simon Chamorro
Victor Klemm
Miguel de La Iglesia Valls
Chris Pal
Roland Siegwart
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across v… (voir plus)arious domains. One significant challenge faced by many of these robots is their limited capability to navigate stairs, which hampers their functionality in multi-story environments. This study proposes a method aimed at addressing this limitation, employing reinforcement learning to develop a versatile controller applicable to a wide range of robots. In contrast to the conventional velocity-based controllers, our approach builds upon a position-based formulation of the RL task, which we show to be vital for stair climbing. Furthermore, the methodology leverages an asymmetric actor-critic structure, enabling the utilization of privileged information from simulated environments during training while eliminating the reliance on exteroceptive sensors during real-world deployment. Another key feature of the proposed approach is the incorporation of a boolean observation within the controller, enabling the activation or deactivation of a stair-climbing mode. We present our results on different quadrupeds and bipedal robots in simulation and showcase how our method allows the balancing robot Ascento to climb 15cm stairs in the real world, a task that was previously impossible for this robot.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
Reinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Simon Chamorro
Victor Klemm
Miguel de La Iglesia Valls
Chris Pal
Roland Siegwart
In recent years, legged and wheeled-legged robots have gained prominence for tasks in environments predominantly created for humans across v… (voir plus)arious domains. One significant challenge faced by many of these robots is their limited capability to navigate stairs, which hampers their functionality in multi-story environments. This study proposes a method aimed at addressing this limitation, employing reinforcement learning to develop a versatile controller applicable to a wide range of robots. In contrast to the conventional velocity-based controllers, our approach builds upon a position-based formulation of the RL task, which we show to be vital for stair climbing. Furthermore, the methodology leverages an asymmetric actor-critic structure, enabling the utilization of privileged information from simulated environments during training while eliminating the reliance on exteroceptive sensors during real-world deployment. Another key feature of the proposed approach is the incorporation of a boolean observation within the controller, enabling the activation or deactivation of a stair-climbing mode. We present our results on different quadrupeds and bipedal robots in simulation and showcase how our method allows the balancing robot Ascento to climb 15cm stairs in the real world, a task that was previously impossible for this robot.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
On the Privacy of Selection Mechanisms with Gaussian Noise
Jonathan Lebensold
Doina Precup
Borja Balle
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
V-STaR: Training Verifiers for Self-Taught Reasoners
Arian Hosseini
Xingdi Yuan
Nikolay Malkin
Aaron Courville
Alessandro Sordoni
Rishabh Agarwal
Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (voir plus) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
V-STaR: Training Verifiers for Self-Taught Reasoners
Arian Hosseini
Xingdi Yuan
Nikolay Malkin
Aaron Courville
Alessandro Sordoni
Rishabh Agarwal
Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (voir plus) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
V-STaR: Training Verifiers for Self-Taught Reasoners
Arian Hosseini
Xingdi Yuan
Nikolay Malkin
Aaron Courville
Alessandro Sordoni
Rishabh Agarwal
Common self-improvement approaches for large language models (LLMs), such as STaR, iteratively fine-tune LLMs on self-generated solutions to… (voir plus) improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org
V-STaR: Training Verifiers for Self-Taught Reasoners
Arian Hosseini
Xingdi Yuan
Nikolay Malkin
Aaron Courville
Alessandro Sordoni
Rishabh Agarwal
Common self-improvement approaches for large language models (LLMs), such as STaR (Zelikman et al., 2022), iteratively fine-tune LLMs on sel… (voir plus)f-generated solutions to improve their problem-solving ability. However, these approaches discard the large amounts of incorrect solutions generated during this process, potentially neglecting valuable information in such solutions. To address this shortcoming, we propose V-STaR that utilizes both the correct and incorrect solutions generated during the self-improvement process to train a verifier using DPO that judges correctness of model-generated solutions. This verifier is used at inference time to select one solution among many candidate solutions. Running V-STaR for multiple iterations results in progressively better reasoners and verifiers, delivering a 4% to 17% test accuracy improvement over existing self-improvement and verification approaches on common code generation and math reasoning benchmarks with LLaMA2 models.
2024-02-09
ArXiv (prépublication)
doi.org
arxiv.org