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Register a new userRethinking Continual Learning for Autonomous Agents and Robots
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German I. Parisi
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Continual learning refers to the ability of a biological or artificial system to seamlessly learn from continuous streams of information while preventing catastrophic forgetting, i.e., a condition in which new incoming information strongly interferes with previously learned representations. Since it is unrealistic to provide artificial agents with all the necessary prior knowledge to effectively operate in real-world conditions, they must exhibit a rich set of learning capabilities enabling them to interact in complex environments with the aim to process and make sense of continuous streams of (often uncertain) information. While the vast majority of continual learning models are designed to alleviate catastrophic forgetting on simplified classification tasks, here we focus on continual learning for autonomous agents and robots required to operate in much more challenging experimental settings. In particular, we discuss well-established biological learning factors such as developmental and curriculum learning, transfer learning, and intrinsic motivation and their computational counterparts for modeling the progressive acquisition of increasingly complex knowledge and skills in a continual fashion.
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A continual learning agent should be able to build on top of existing knowledge to learn on new data quickly while minimizing forgetting. Current intelligent systems based on neural network function approximators arguably do the opposite---they are highly prone to forgetting and rarely trained to facilitate future learning. One reason for this poor behavior is that they learn from a representation that is not explicitly trained for these two goals. In this paper, we propose OML, an objective that directly minimizes catastrophic interference by learning representations that accelerate future learning and are robust to forgetting under online updates in continual learning. We show that it is possible to learn naturally sparse representations that are more effective for online updating. Moreover, our algorithm is complementary to existing continual learning strategies, such as MER and GEM. Finally, we demonstrate that a basic online updating strategy on representations learned by OML is competitive with rehearsal based methods for continual learning. We release an implementation of our method at https://github.com/khurramjaved96/mrcl .
Deep neural networks have shown promise in several domains, and the learned data (task) specific information is implicitly stored in the network parameters. Extraction and utilization of encoded knowledge representations are vital when data is no longer available in the future, especially in a continual learning scenario. In this work, we introduce {em flashcards}, which are visual representations that {em capture} the encoded knowledge of a network as a recursive function of predefined random image patterns. In a continual learning scenario, flashcards help to prevent catastrophic forgetting and consolidating knowledge of all the previous tasks. Flashcards need to be constructed only before learning the subsequent task, and hence, independent of the number of tasks trained before. We demonstrate the efficacy of flashcards in capturing learned knowledge representation (as an alternative to the original dataset) and empirically validate on a variety of continual learning tasks: reconstruction, denoising, task-incremental learning, and new-instance learning classification, using several heterogeneous benchmark datasets. Experimental evidence indicates that: (i) flashcards as a replay strategy is { em task agnostic}, (ii) performs better than generative replay, and (iii) is on par with episodic replay without additional memory overhead.
Continual learning is the problem of learning new tasks or knowledge while protecting old knowledge and ideally generalizing from old experience to learn new tasks faster. Neural networks trained by stochastic gradient descent often degrade on old tasks when trained successively on new tasks with different data distributions. This phenomenon, referred to as catastrophic forgetting, is considered a major hurdle to learning with non-stationary data or sequences of new tasks, and prevents networks from continually accumulating knowledge and skills. We examine this issue in the context of reinforcement learning, in a setting where an agent is exposed to tasks in a sequence. Unlike most other work, we do not provide an explicit indication to the model of task boundaries, which is the most general circumstance for a learning agent exposed to continuous experience. While various methods to counteract catastrophic forgetting have recently been proposed, we explore a straightforward, general, and seemingly overlooked solution - that of using experience replay buffers for all past events - with a mixture of on- and off-policy learning, leveraging behavioral cloning. We show that this strategy can still learn new tasks quickly yet can substantially reduce catastrophic forgetting in both Atari and DMLab domains, even matching the performance of methods that require task identities. When buffer storage is constrained, we confirm that a simple mechanism for randomly discarding data allows a limited size buffer to perform almost as well as an unbounded one.
Training a neural network for a classification task typically assumes that the data to train are given from the beginning. However, in the real world, additional data accumulate gradually and the model requires additional training without accessing the old training data. This usually leads to the catastrophic forgetting problem which is inevitable for the traditional training methodology of neural networks. In this paper, we propose a continual learning method that is able to learn additional tasks while retaining the performance of previously learned tasks by stacking parameters. Composed of two complementary components, the index module and the StackNet, our method estimates the index of the corresponding task for an input sample with the index module and utilizes a particular portion of StackNet with this index. The StackNet guarantees no degradation in the performance of the previously learned tasks and the index module shows high confidence in finding the origin of an input sample. Compared to the previous work of PackNet, our method is competitive and highly intuitive.
Learning a sequence of tasks without access to i.i.d. observations is a widely studied form of continual learning (CL) that remains challenging. In principle, Bayesian learning directly applies to this setting, since recursive and one-off Bayesian updates yield the same result. In practice, however, recursive updating often leads to poor trade-off solutions across tasks because approximate inference is necessary for most models of interest. Here, we describe an alternative Bayesian approach where task-conditioned parameter distributions are continually inferred from data. We offer a practical deep learning implementation of our framework based on probabilistic task-conditioned hypernetworks, an approach we term posterior meta-replay. Experiments on standard benchmarks show that our probabilistic hypernetworks compress sequences of posterior parameter distributions with virtually no forgetting. We obtain considerable performance gains compared to existing Bayesian CL methods, and identify task inference as our major limiting factor. This limitation has several causes that are independent of the considered sequential setting, opening up new avenues for progress in CL.
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