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Register a new userOnline Unsupervised Learning of Visual Representations and Categories
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Added by
Mengye Ren
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Real world learning scenarios involve a nonstationary distribution of classes with sequential dependencies among the samples, in contrast to the standard machine learning formulation of drawing samples independently from a fixed, typically uniform distribution. Furthermore, real world interactions demand learning on-the-fly from few or no class labels. In this work, we propose an unsupervised model that simultaneously performs online visual representation learning and few-shot learning of new categories without relying on any class labels. Our model is a prototype-based memory network with a control component that determines when to form a new class prototype. We formulate it as an online Gaussian mixture model, where components are created online with only a single new example, and assignments do not have to be balanced, which permits an approximation to natural imbalanced distributions from uncurated raw data. Learning includes a contrastive loss that encourages different views of the same image to be assigned to the same prototype. The result is a mechanism that forms categorical representations of objects in nonstationary environments. Experiments show that our method can learn from an online stream of visual input data and is significantly better at category recognition compared to state-of-the-art self-supervised learning methods.
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In this paper, we explore the problem of interesting scene prediction for mobile robots. This area is currently underexplored but is crucial for many practical applications such as autonomous exploration and decision making. Inspired by industrial demands, we first propose a novel translation-invariant visual memory for recalling and identifying interesting scenes, then design a three-stage architecture of long-term, short-term, and online learning. This enables our system to learn human-like experience, environmental knowledge, and online adaption, respectively. Our approach achieves much higher accuracy than the state-of-the-art algorithms on challenging robotic interestingness datasets.
Cluster discrimination is an effective pretext task for unsupervised representation learning, which often consists of two phases: clustering and discrimination. Clustering is to assign each instance a pseudo label that will be used to learn representations in discrimination. The main challenge resides in clustering since many prevalent clustering methods (e.g., k-means) have to run in a batch mode that goes multiple iterations over the whole data. Recently, a balanced online clustering method, i.e., SwAV, is proposed for representation learning. However, the assignment is optimized within only a small subset of data, which can be suboptimal. To address these challenges, we first investigate the objective of clustering-based representation learning from the perspective of distance metric learning. Based on this, we propose a novel clustering-based pretext task with online textbf{Co}nstrained textbf{K}-mtextbf{e}ans (textbf{CoKe}) to learn representations and relations between instances simultaneously. Compared with the balanced clustering that each cluster has exactly the same size, we only constrain the minimum size of clusters to flexibly capture the inherent data structure. More importantly, our online assignment method has a theoretical guarantee to approach the global optimum. Finally, two variance reduction strategies are proposed to make the clustering robust for different augmentations. Without keeping representations of instances, the data is accessed in an online mode in CoKe while a single view of instances at each iteration is sufficient to demonstrate a better performance than contrastive learning methods relying on two views. Extensive experiments on ImageNet verify the efficacy of our proposal. Code will be released.
Contrastive learning has recently shown immense potential in unsupervised visual representation learning. Existing studies in this track mainly focus on intra-image invariance learning. The learning typically uses rich intra-image transformations to construct positive pairs and then maximizes agreement using a contrastive loss. The merits of inter-image invariance, conversely, remain much less explored. One major obstacle to exploit inter-image invariance is that it is unclear how to reliably construct inter-image positive pairs, and further derive effective supervision from them since there are no pair annotations available. In this work, we present a rigorous and comprehensive study on inter-image invariance learning from three main constituting components: pseudo-label maintenance, sampling strategy, and decision boundary design. Through carefully-designed comparisons and analysis, we propose a unified and generic framework that supports the integration of unsupervised intra- and inter-image invariance learning. With all the obtained recipes, our final model, namely InterCLR, shows consistent improvements over state-of-the-art intra-image invariance learning methods on multiple standard benchmarks. Codes will be released at https://github.com/open-mmlab/OpenSelfSup.
We propose a self-supervised approach for learning representations of objects from monocular videos and demonstrate it is particularly useful in situated settings such as robotics. The main contributions of this paper are: 1) a self-supervising objective trained with contrastive learning that can discover and disentangle object attributes from video without using any labels; 2) we leverage object self-supervision for online adaptation: the longer our online model looks at objects in a video, the lower the object identification error, while the offline baseline remains with a large fixed error; 3) to explore the possibilities of a system entirely free of human supervision, we let a robot collect its own data, train on this data with our self-supervise scheme, and then show the robot can point to objects similar to the one presented in front of it, demonstrating generalization of object attributes. An interesting and perhaps surprising finding of this approach is that given a limited set of objects, object correspondences will naturally emerge when using contrastive learning without requiring explicit positive pairs. Videos illustrating online object adaptation and robotic pointing are available at: https://online-objects.github.io/.
In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend Time-Contrastive Networks (TCN) that learn from visual observations by embedding multiple frames jointly in the embedding space as opposed to a single frame. We show that by doing so, we are now able to encode both position and velocity attributes significantly more accurately. We test the usefulness of this self-supervised approach in a reinforcement learning setting. We show that the representations learned by agents observing themselves take random actions, or other agents perform tasks successfully, can enable the learning of continuous control policies using algorithms like Proximal Policy Optimization (PPO) using only the learned embeddings as input. We also demonstrate significant improvements on the real-world Pouring dataset with a relative error reduction of 39.4% for motion attributes and 11.1% for static attributes compared to the single-frame baseline. Video results are available at https://sites.google.com/view/actionablerepresentations .
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