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Register a new userMeasuring and Harnessing Transference in Multi-Task Learning
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Christopher Fifty
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Multi-task learning can leverage information learned by one task to benefit the training of other tasks. Despite this capacity, naive formulations often degrade performance and in particular, identifying the tasks that would benefit from co-training remains a challenging design question. In this paper, we analyze the dynamics of information transfer, or transference, across tasks throughout training. Specifically, we develop a similarity measure that can quantify transference among tasks and use this quantity to both better understand the optimization dynamics of multi-task learning as well as improve overall learning performance. In the latter case, we propose two methods to leverage our transference metric. The first operates at a macro-level by selecting which tasks should train together while the second functions at a micro-level by determining how to combine task gradients at each training step. We find these methods can lead to significant improvement over prior work on three supervised multi-task learning benchmarks and one multi-task reinforcement learning paradigm.
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Multi-task learning can leverage information learned by one task to benefit the training of other tasks. Despite this capacity, naively training all tasks together in one model often degrades performance, and exhaustively searching through combinations of task groupings can be prohibitively expensive. As a result, efficiently identifying the tasks that would benefit from co-training remains a challenging design question without a clear solution. In this paper, we suggest an approach to select which tasks should train together in multi-task learning models. Our method determines task groupings in a single training run by co-training all tasks together and quantifying the effect to which one tasks gradient would affect another tasks loss. On the large-scale Taskonomy computer vision dataset, we find this method can decrease test loss by 10.0% compared to simply training all tasks together while operating 11.6 times faster than a state-of-the-art task grouping method.
Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by utilizing simulated robot experiments. Our neural network takes monocular RGB images and the instance segmentation mask of a specified target object as inputs, and predicts the probability of successfully grasping the specified object for each candidate motor command. The proposed transfer learning framework trains a model for instance grasping in simulation and uses a domain-adversarial loss to transfer the trained model to real robots using indiscriminate grasping data, which is available both in simulation and the real world. We evaluate our model in real-world robot experiments, comparing it with alternative model architectures as well as an indiscriminate grasping baseline.
We tackle the Multi-task Batch Reinforcement Learning problem. Given multiple datasets collected from different tasks, we train a multi-task policy to perform well in unseen tasks sampled from the same distribution. The task identities of the unseen tasks are not provided. To perform well, the policy must infer the task identity from collected transitions by modelling its dependency on states, actions and rewards. Because the different datasets may have state-action distributions with large divergence, the task inference module can learn to ignore the rewards and spuriously correlate $textit{only}$ state-action pairs to the task identity, leading to poor test time performance. To robustify task inference, we propose a novel application of the triplet loss. To mine hard negative examples, we relabel the transitions from the training tasks by approximating their reward functions. When we allow further training on the unseen tasks, using the trained policy as an initialization leads to significantly faster convergence compared to randomly initialized policies (up to $80%$ improvement and across 5 different Mujoco task distributions). We name our method $textbf{MBML}$ ($textbf{M}text{ulti-task}$ $textbf{B}text{atch}$ RL with $textbf{M}text{etric}$ $textbf{L}text{earning}$).
Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains unclear what parameters in the network should be reused across tasks, and how the gradients from different tasks may interfere with each other. Thus, instead of naively sharing parameters across tasks, we introduce an explicit modularization technique on policy representation to alleviate this optimization issue. Given a base policy network, we design a routing network which estimates different routing strategies to reconfigure the base network for each task. Instead of directly selecting routes for each task, our task-specific policy uses a method called soft modularization to softly combine all the possible routes, which makes it suitable for sequential tasks. We experiment with various robotics manipulation tasks in simulation and show our method improves both sample efficiency and performance over strong baselines by a large margin.
One crucial objective of multi-task learning is to align distributions across tasks so that the information between them can be transferred and shared. However, existing approaches only focused on matching the marginal feature distribution while ignoring the semantic information, which may hinder the learning performance. To address this issue, we propose to leverage the label information in multi-task learning by exploring the semantic conditional relations among tasks. We first theoretically analyze the generalization bound of multi-task learning based on the notion of Jensen-Shannon divergence, which provides new insights into the value of label information in multi-task learning. Our analysis also leads to a concrete algorithm that jointly matches the semantic distribution and controls label distribution divergence. To confirm the effectiveness of the proposed method, we first compare the algorithm with several baselines on some benchmarks and then test the algorithms under label space shift conditions. Empirical results demonstrate that the proposed method could outperform most baselines and achieve state-of-the-art performance, particularly showing the benefits under the label shift conditions.
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