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LossTop-1 acc (%)
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freq.(γ = 2)82.5
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Mask shapeTop-1 acc (%)
circle83.1
square82.9
rhombus82.8
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Sampling ratioTop-1 acc (%)
0.382.5
0.583.1
0.782.7
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Mask typeTop-1 acc (%)
none76.5
low-pass82.4
high-pass82.3
random83.1
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Mask radiusTop-1 acc (%)
882.8
1683.1
2482.7
3282.6
[8,24]83.0
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Reconstruction targetTop-1 acc (%)
masked spectrum83.1
full spectrum82.4
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TaskParameterTop-l acc (%)
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179.7
(b)Deblur381.2
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781.5
(c) Denoise2582.4
5082.6
7582.7
10082.6
(d)MFM882.8
1683.1
2482.7
3282.6
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MethodPre-train dataExtra modelMask tokenEpochsViT-SViT-B
Scratch (Touvron et al.,2021a)==--79.981.8
MoCo v3 (Chen et al.,2021)IN-1Kmomentum ViT60081.4+83.2
DINO (Caron et al.,2021)IN-1Kmomentum ViT=160081.582.8
BEiT (Bao et al.,2022)IN-1K+DALL-EdVAE30081.382.9
MAE (He et al.,2022)IN-1K-30080.682.9
SRIN-1K30080.882.4
DeblurIN-1K30079.481.7
DenoiseIN-1K30081.182.7
MFMIN-1K30081.683.1
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MethodEpochsTop-1 acc (%)
RSB A3-78.1
SR30077.9
Deblur30078.0
Denoise30077.5
MFM30078.5
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MethodEpochsTop-1 acc (%)
Original90=75.3
PyTorch9076.1
FixReS12077.0
DeiT30078.4
78.8
FAMS40079.5
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(c) Fine-tuning for 300 epochs.
MethodEpochsTop-1 acc (%)
RSB A2-79.8
SimSiam40079.1
MoCo v240079.6
SimCLR80079.9
BYOL40080.0
SwAV60080.1
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MethodmIoU
Supervised (Touvron et al.,2021a)45.3
MoCo v3 (Chen et al.,2021) DINO (Caron et al.,2021)47.2 46.8
BEiT (Bao et al.,2022) MAE (He et al., 2022)47.7 48.1
SR48.5
Deblur Denoise47.0
MFM47.6 48.6
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MethodRobustness benchmarksOrig.
FGSMPGDIN-C (↓)IN-AIN-RIN-SK
Scratch46.321.248.528.144.732.081.8
MAE38.911.252.331.548.333.882.9
SR46.121.546.329.149.235.582.4
Deblur42.517.249.225.346.933.281.7
Denoise47.624.347.830.748.434.882.7
MFM47.724.447.532.748.634.883.1
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MethodRobustness benchmarksOrig.
FGSMPGDIN-C (↓)IN-AIN-RIN-SK
Scratch20.23.477.06.636.025.078.1
SimMIM16.82.177.05.734.924.277.7
SR17.21.973.66.535.825.477.9
Deblur17.22.074.88.237.226.578.0
Denoise15.81.878.07.235.624.777.5
MFM18.52.374.29.036.926.778.5
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DecoderBlocksTop-1 acc (%)
linear183.1
Transformer blocks183.0
283.1
483.1
883.1
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Arch.TaskTop-1 acc (%)
ViT-B/16MIM82.8
MFM83.1
ResNet-50MIM77.7
MFM78.5
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MethodSetupTime per epoch
MoCo v32-view, 4-pass1.84×
DINO(2+10)-view,14-pass2.04×
BEiT1-view, 2-pass1.53×+
MAE1-view,1-pass0.82×
MFM1-view, 1-pass1.00×
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MethodPre-text task#Views#EpochsTop-1 acc (%)Training costs
iBOTMIM+CL230082.02.14×
data2vecMIM+CL230083.01.60×
MFMMFM130083.11.00×
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TaskTop-1 acc (%)
Individual task:
SR82.4
Deblur81.7
Denoise82.7
Integrated task:
SR+Denoise82.2
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ConfigurationValue
OptimizerAdamW (Loshchilov & Hutter,2017)
Pre-training epochs300
Peak learning rate1.2e-3
Batch size2048
Weight decay0.05
Optimizer momentumβ1,β2 = 0.9,0.95 (Chen et al.,2020a)
Learning rate scheduleCosine decay
Warmup epochs20
Gradient clipping3.0
Dropout (Srivastava et al., 2014)X
Stochastic depth (Huang et al.,2016)X
LayerScale (Touvron et al., 2021b)X
Data augmentationRandomResizedCrop
Pos.emb.in Transformer layers1-D absolute pos. emb. (Dosovitskiy et al., 2020)
Patch size16
Pre-training resolution224
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Configuration100 epoch FT300 epoch FT
OptimizerAdamW (Loshchilov & Hutter,2017)
Peak learning rate12e-3
Layer-wise learning rate decay (Bao et al., 2022)X
Batch size2048
Weight decay0.02
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Loss functionBinary cross-entropy loss
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Dropout (Srivastava et al.,2014)X
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Random augmentation (Cubuk et al., 2020)6/0.57/0.5
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Loss functionCross-entropy loss
Gradient clippingX
Dropout (Srivastava et al., 2014)X
Stochastic depth (Huang et al., 2016)0.1
Mixup (Zhang et al., 2017a)0.8
Cutmix (Yun et al.,2019)1.0
Label smoothing (Szegedy et al., 2016)0.1
Random augmentation (Cubuk et al., 2020)9 /0.5
Patch size16
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Transformers (ViTs) and MLPs signal further efforts on replacing handwired features or inductive biases with general-purpose neural architectures. Existing works empower the models by massive data, such as large-scale pre-training and/or repeated strong data augmentations, and still report optimization-related problems (e.g., sensitivity to initialization and learning rates). Hence, this paper investigates ViTs and MLP-Mixers from the lens of loss geometry, intending to improve the models’ data efficiency at training and generalization at inference. Visualization and Hessian reveal extremely sharp local minima of converged models. By promoting smoothness with a recently proposed sharpnessaware optimizer, we substantially improve the accuracy and robustness of ViTs and MLP-Mixers on various tasks spanning supervised, adversarial, contrastive, and transfer learning (e.g., $+ 5 . 3 \%$ and $+ 1 1 . 0 \%$ top-1 accuracy on ImageNet for ViT-B/16 and Mixer-B/16, respectively, with the simple Inception-style preprocessing). We show that the improved smoothness attributes to sparser active neurons in the first few layers. The resultant ViTs outperform ResNets of similar size and throughput when trained from scratch on ImageNet without large-scale pre-training or strong data augmentations. Model checkpoints are available at https://github.com/google-research/vision_transformer. + +# 1 INTRODUCTION + +Transformers (Vaswani et al., 2017) have become the de-facto model of choice in natural language processing (NLP) (Devlin et al., 2018; Radford et al., 2018). In computer vision, there has recently been a surge of interest in end-to-end Transformers (Dosovitskiy et al., 2021; Touvron et al., 2021b; Liu et al., 2021b; Fan et al., 2021; Arnab et al., 2021; Bertasius et al., 2021; Akbari et al., 2021) and MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al., 2021a; Melas-Kyriazi, 2021), prompting the efforts to replace hand-wired features or inductive biases with general-purpose neural architectures powered by data-driven training. We envision these efforts may lead to a unified knowledge base that produces versatile representations for different data modalities, simplifying the inference and deployment of deep learning models in various application scenarios. + +Despite the appealing potential of moving toward general-purpose neural architectures, the lack of convolution-like inductive biases also challenges the training of vision Transformers (ViTs) and MLPs. When trained on ImageNet (Deng et al., 2009) with the conventional Inception-style data preprocessing (Szegedy et al., 2016), Transformers “yield modest accuracies of a few percentage points below ResNets of comparable size” (Dosovitskiy et al., 2021). To boost the performance, existing works resort to large-scale pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) and repeated strong data augmentations (Touvron et al., 2021b), resulting in excessive demands of data, computing, and sophisticated tuning of many hyperparameters. For instance, Dosovitskiy et al. (Dosovitskiy et al., 2021) pre-train ViTs using 304M labeled images, and Touvron et al. (2021b) repeatedly stack four strong image augmentations. + +In this paper, we show ViTs can outperform ResNets (He et al., 2016) of even bigger sizes in both accuracy and various forms of robustness by using a principled optimizer, without the need for largescale pre-training or strong data augmentations. MLP-Mixers (Tolstikhin et al., 2021) also become on par with ResNets. + +We first study the architectures fully trained on ImageNet from the lens of loss landscapes and draw the following findings. First, visualization and Hessian matrices of the loss landscapes reveal that Transformers and MLP-Mixers converge at extremely sharp local minima, whose largest principal curvatures are almost an order of magnitude bigger than ResNets’. Such effect accumulates when the gradients backpropagate from the last layer to the first, and the initial embedding layer suffers the largest eigenvalue of the corresponding sub-diagonal Hessian. Second, the networks all have very small training errors, and MLP-Mixers are more prone to overfitting than ViTs of more parameters (because of the difference in self-attention). Third, ViTs and MLP-Mixers have worse “trainabilities” than ResNets following the neural tangent kernel analyses (Xiao et al., 2020). + +Therefore, we need improved learning algorithms to prevent the convergence to a sharp local minimum when it comes to the convolution-free ViTs and MLP-Mixers. The first-order optimizers (e.g., SGD and Adam (Kingma & Ba, 2015)) only seek the model parameters that minimize the training error. They dismiss the higher-order information such as flatness that correlates with generalization (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Smith & Le, 2018; Chaudhari et al., 2017). + +The above study and reasoning lead us to the recently proposed sharpness-aware minimizer (SAM) (Foret et al., 2021) that explicitly smooths the loss geometry during model training. SAM strives to find a solution whose entire neighborhood has low losses rather than focus on any singleton point. We show that the resultant models exhibit smoother loss landscapes, and their generalization capabilities improve tremendously across different tasks including supervised, adversarial, contrastive, and transfer learning (e.g., $+ 5 . 3 \%$ and $+ 1 1 . 0 \%$ top-1 accuracy on ImageNet for ViT-B/16 and Mixer-B/16, respectively, with the simple Inception-style preprocessing). The enhanced ViTs achieve better accuracy and robustness than ResNets of similar and bigger sizes when trained from scratch on ImageNet, without large-scale pre-training or strong data augmentations. Moreover, we demonstrate that SAM can even enable ViT to be effectively trained with (momentum) SGD, which usually lies far behind Adam when training Transformers (Zhang et al., 2020). + +By analyzing some intrinsic model properties, we observe that SAM increases the sparsity of active neurons (especially for the first few layers), which contribute to the reduced Hessian eigenvalues. The weight norms increase, implying the commonly used weight decay may not be an effective regularization alone. A side observation is that, unlike ResNets and MLP-Mixers, ViTs have extremely sparse active neurons (see Figure 2 (right)), revealing the potential for network pruning (Akbari et al., 2021). Another interesting finding is that the improved ViTs appear to have visually more interpretable attention maps. Finally, we draw similarities between SAM and strong augmentations (e.g., mixup) in that they both smooth the average loss geometry and encourage the models to behave linearly between training images. + +# 2 BACKGROUND AND RELATED WORK + +We briefly review ViTs, MLP-Mixers, and some related works in this section. + +Dosovitskiy et al. (2021) show that a pure Transformer architecture (Vaswani et al., 2017) can achieve state-of-the-art accuracy on image classification by pre-training it on large datasets such as ImageNet-21k (Deng et al., 2009) and JFT-300M (Sun et al., 2017). Their vision Transformer (ViT) is a stack of residual blocks, each containing a multi-head self-attention, layer normalization (Ba et al., 2016), and a MLP layer. ViT first embeds an input image $x \in \mathbb { R } ^ { H \times \tilde { W } \times C }$ into a sequence of features $\boldsymbol { z } \in \mathbb { R } ^ { N \times D }$ by applying a linear projection over $N$ nonoverlapping image patches $\bar { \boldsymbol { x } _ { p } } \in \mathbb { R } ^ { N \times ( P ^ { 2 } \cdot C ) }$ , where $D$ is the feature dimension, $P$ is the patch resolution, and $N = H W / P ^ { 2 }$ is the sequence length. The self-attention layers in ViT are global and do not possess the locality and translation equivariance of convolutions. ViT is compatible with the popular architectures in NLP (Devlin et al., 2018; Radford et al., 2018) and, similar to its NLP counterparts, requires pretraining over massive datasets (Dosovitskiy et al., 2021; Akbari et al., 2021; Arnab et al., 2021) or strong data augmentations (Touvron et al., 2021b). Some works specialize the ViT architectures for visual data (Liu et al., 2021b; Yuan et al., 2021; Fan et al., 2021; Bertasius et al., 2021). + +Table 1: Number of paramettraining error at convergence K condition num, average flatness $\kappa$ Hessian, accura ominate eigenvalue on ImageNet, and $\lambda _ { m a x }$ $L _ { t r a i n }$ $L _ { t r a i n } ^ { \mathcal { N } }$ $\kappa$ gions; SAM rescues that and leads to better generalization. + +
ResNet-152ResNet-152- SAMViT-B/16ViT-B/16- SAMMixer-B/16Mixer-B/16- SAM
#Params60M87M59M
NTK κ † Hessian Xmax2801.64205.314468.0
179.842.0738.820.91644.422.5
Ltrain0.860.900.650.820.450.97
2.392.166.660.967.781.01
ImageNet (%)78.579.374.679.966.477.4
ImageNet-C (%)50.052.246.656.533.848.8
+ +† As it is prohibitive to compute the exact NTK, we approximate the value by averaging over its subdiagonal blocks (see Appendix G for details). We average the results for 1,000 random noises when calculating L N train. + +![](images/90a1966458dd87f3d40d761a3e0d43aaac687c117cce8b1514558f21d052385f.jpg) +Figure 1: Cross-entropy loss landscapes of ResNet-152, ViT-B/16, and Mixer-B/16. ViT and MLPMixer converge to sharper regions than ResNet when trained on ImageNet with the basic Inceptionstyle preprocessing. SAM, a sharpness-aware optimizer, significantly smooths the landscapes. + +More recent works find that the self-attention in ViT is not vital for performance, resulting in several architectures exclusively based on MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al., 2021a; Melas-Kyriazi, 2021). Here we take MLP-Mixer (Tolstikhin et al., 2021) as an example. MLP-Mixer shares the same input layer as ViT; namely, it partitions an image into a sequence of nonoverlapping patches/tokens. It then alternates between token and channel MLPs, where the former allows feature fusion from different spatial locations. + +We focus on ViTs and MLP-Mixers in this paper. We denote by “S” and “B” the small and base model sizes, respectively, and by an integer the image patch resolution. For instance, ViT-B/16 is the base ViT model taking as input a sequence of $1 6 \times 1 6$ patches. Appendices contain more details. + +# 3 VITS AND MLP-MIXERS CONVERGE AT SHARP LOCAL MINIMA + +The current training recipe of ViTs, MLP-Mixers, and related convolution-free architectures relies heavily on massive pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) or a bag of strong data augmentations (Touvron et al., 2021b; Tolstikhin et al., 2021; Cubuk et al., 2019; 2020; Zhang et al., 2018; Yun et al., 2019). It highly demands data and computing, and leads to many hyperparameters to tune. Existing works report that ViTs yield inferior accuracy to the ConvNets of similar size and throughput when trained from scratch on ImageNet without the combination of those advanced data augmentations, despite using various regularization techniques (e.g., large weight decay, Dropout (Srivastava et al., 2014), etc.). For instance, ViT-B/16 (Dosovitskiy et al., 2021) gives rise to $7 4 . 6 \%$ top-1 accuracy on the ImageNet validation set (224 image resolution), compared with $78 . 5 \%$ of ResNet-152 (He et al., 2016). Mixer-B/16 (Tolstikhin et al., 2021) performs even worse $( 6 6 . 4 \% )$ . There also exists a large gap between ViTs and ResNets in robustness tests (see Table 2 for details). + +Moreover, Chen et al. (2021c) find that the gradients can spike and cause a sudden accuracy dip when training ViTs, and Touvron et al. (2021b) report the training is sensitive to initialization and hyperparameters. These all point to optimization problems. In this paper, we investigate the loss landscapes of ViTs and MLP-Mixers to understand them from the optimization perspective, intending to reduce their dependency on the large-scale pre-training or strong data augmentations. + +![](images/ae32274bd02eb0799db3729591c90459bb055b5df5c67f8be23f0e313db98297.jpg) +Figure 2: Left and Middle: ImageNet training error and validation accuracy vs. iteration for ViTs and MLP-Mixers. Right: Percentage of active neurons for ResNet-152, ViT-B/16, and Mixer-B/16. + +ViTs and MLP-Mixers converge at extremely sharp local minima. It has been extensively studied that the convergence to a flat region whose curvature is small benefits the generalization of neural networks (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Chen & Hsieh, 2020; Smith & Le, 2018; Zela et al., 2020; Chaudhari et al., 2017). Following Li et al. (2018), we plot the loss landscapes at convergence when ResNets, ViTs, and MLP-Mixers are trained from scratch on ImageNet with the basic Inception-style preprocessing (Szegedy et al., 2016) (see Appendices for details). As shown in Figures 1(a) to 1(c), ViTs and MLP-Mixers converge at much sharper regions than ResNets. Besides, we calculate the training error under Gaussian perturbations on the model parameters $L _ { t r a i n } ^ { N } = \mathbb { E } _ { \epsilon \sim \mathcal { N } } [ L _ { t r a i n } ( w + \epsilon ) ]$ in Table 1, which reveals the average flatness. Although ViT-B/16 and Mixer-B/16 achieve lower training error $L _ { t r a i n }$ than that of ResNet-152, their loss values after random weight perturbation become much higher. We further validate the results by computing the dominate Hessian eigenvalue $\lambda _ { m a x }$ , which is a mathematical evaluation of the worstcase landscape curvature. The $\lambda _ { m a x }$ values of ViT and MLP-Mixer are orders of magnitude larger than that of ResNet, and MLP-Mixer suffers the largest curvature among the three species (see Section 4.4 for a detailed analysis). + +Small training errors. This convergence at sharp regions coincides with the training dynamics shown in Figure 2 (left). Although Mixer-B/16 has fewer parameters than ViT-B/16 (59M vs. 87M), it has a smaller training error (also see $L _ { t r a i n }$ in Table 1) but much worse test accuracy, implying that using the cross-token MLP to learn the interplay across image patches is more prone to overfitting than ViTs’ self-attention mechanism whose behavior is restricted by a softmax. To validate this statement, we simply remove the softmax in ViT-B/16, such that the query and key matrices can freely interact with each other. Although having lower $L _ { t r a i n }$ (0.56 vs. 0.65), the obtained ViTB/16-Free performs much worse than the original ViT-B/16 ( $7 0 . 5 \%$ vs. $7 4 . 6 \%$ ). Its $L _ { t r a i n } ^ { \mathcal { N } }$ and $\lambda _ { m a x }$ are 7.01 and 1236.2, revealing that ViT-B/16-Free converges to a sharper region than ViTB/16 $L _ { t r a i n } ^ { \mathcal { N } }$ is 6.66 and $\lambda _ { m a x }$ is 738.8) both on average and in the worst-case direction. Such a difference probably explains why it is easier for MLP-Mixers to get stuck in sharp local minima. + +ViTs and MLP-Mixers have worse trainability. Furthermore, we discover that ViTs and MLPMixers suffer poor trainabilities, defined as the effectiveness of a network to be optimized by gradient descent (Xiao et al., 2020; Burkholz & Dubatovka, 2019; Shin & Karniadakis, 2020). Xiao et al. (2020) show that the trainability of a neural network can be characterized by the condition number of the associated neural tangent kernel (NTK), $\Theta ( x , x ^ { \prime } ) = J ( x ) J ( x ^ { \prime } ) ^ { T }$ , where $J$ is the Jacobian matrix. Denoting by $\lambda _ { 1 } \geq \cdots \geq \lambda _ { m }$ the eigenvalues of NTK $\Theta _ { t r a i n }$ , the smallest eigenvalue $\lambda _ { m }$ converges exponentially at a rate given by the condition number $\kappa = \lambda _ { 1 } / \lambda _ { m }$ . If $\kappa$ diverges then the network will become untrainable (Xiao et al., 2020; Chen et al., 2021a). As shown in Table 1, $\kappa$ is pretty stable for ResNets, echoing previous results that ResNets enjoy superior trainability regardless of the depth (Yang & Schoenholz, 2017; Li et al., 2018). However, we observe that the condition number diverges when it comes to ViT and MLP-Mixer, confirming that the training of ViTs desires extra care (Chen et al., 2021c; Touvron et al., 2021b). + +# 4 A PRINCIPLED OPTIMIZER FOR CONVOLUTION-FREE ARCHITECTURES + +The commonly used first-order optimizers (e.g., SGD (Nesterov, 1983), Adam (Kingma & Ba, 2015)) only seek to minimize the training loss $L _ { t r a i n } ( w )$ . They usually dismiss the higher-order information such as curvature that correlates with the generalization (Keskar et al., 2017; Chaudhari et al., 2017; Dziugaite & Roy, 2017). However, the objective $L _ { t r a i n }$ for deep neural networks are highly non-convex, making it easy to reach near-zero training error but high generalization error $L _ { t e s t }$ during evaluation, let alone their robustness when the test sets have different distributions (Hendrycks & Dietterich, 2019; Hendrycks et al., 2020). ViTs and MLPs amplify such drawbacks of first-order optimizers due to the lack of inductive bias for visual data, resulting in excessively sharp loss landscapes and poor generalization, as shown in the previous section. We hypothesize that smoothing the loss landscapes at convergence can significantly improve the generalization ability of those convolution-free architectures, leading us to the recently proposed sharpness-aware minimizer (SAM) (Foret et al., 2021) that explicitly avoids sharp minima. + +# 4.1 SAM: OVERVIEW + +Intuitively, SAM (Foret et al., 2021) seeks to find the parameter $w$ whose entire neighbours have low training loss $L _ { t r a i n }$ by formulating a minimax objective: + +$$ +\operatorname* { m i n } _ { w } \operatorname* { m a x } _ { \| \epsilon \| _ { 2 } \leq \rho } L _ { t r a i n } ( w + \epsilon ) , +$$ + +where $\rho$ is the size of the neighbourhood ball. Without loss of generality, here we use $l _ { 2 }$ norm for its strong empirical results (Foret et al., 2021) and omit the regularization term for simplicity. Since the exact solution of the inner maximization $\begin{array} { r } { \epsilon _ { . } ^ { \star } = \arg \operatorname* { m a x } _ { \| \epsilon \| _ { 2 } \leq \rho } L _ { t r a i n } ( w + \epsilon ) } \end{array}$ is hard to obtain, they employ an efficient first-order approximation: + +$$ +\boldsymbol { \hat { \epsilon } } ( \boldsymbol { w } ) = \operatorname* { a r g m a x } _ { \| \boldsymbol { \epsilon } \| _ { 2 } \leq \rho } L _ { t r a i n } ( \boldsymbol { w } ) + \epsilon ^ { T } \nabla _ { \boldsymbol { w } } L _ { t r a i n } ( \boldsymbol { w } ) = \rho \nabla _ { \boldsymbol { w } } L _ { t r a i n } ( \boldsymbol { w } ) / \| \nabla _ { \boldsymbol { w } } L _ { t r a i n } ( \boldsymbol { w } ) \| _ { 2 } . +$$ + +Under the $l _ { 2 }$ norm, $\hat { \epsilon } ( w )$ is simply a scaled gradient of the current weight $w$ . After computing $\hat { \epsilon }$ , SAM updates $w$ based on the sharpness-aware gradient $\nabla _ { w } L _ { t r a i n } ( w ) | _ { w + \hat { \epsilon } ( w ) }$ . + +# 4.2 SHARPNESS-AWARE OPTIMIZATION IMPROVES VITS AND MLP-MIXERS + +We train ViTs and MLP-Mixers with no large-scale pre-training or strong data augmentations. We directly apply SAM to the original ImageNet training pipeline of ViTs (Dosovitskiy et al., 2021) without changing any hyperparameters. The pipeline employs the basic Inception-style preprocessing (Szegedy et al., 2016). The original training setup of MLP-Mixers (Tolstikhin et al., 2021) includes a combination of strong data augmentations, and we replace it with the same Inceptionstyle preprocessing for a fair comparison. Note that we perform grid search for the learning rate, weight decay, Dropout before applying SAM. Please see Appendices for training details. + +Smoother regions around the local minima. Thanks to SAM, both ViTs and MLP-Mixers converge at much smoother regions, as shown in Figures 1(d) and 1(e). Moreover, both the average and the worst-case curvature, i.e., $L _ { t r a i n } ^ { \mathcal { N } }$ and $\lambda _ { m a x }$ , decrease dramatically (see Table 1). + +Higher accuracy. What comes along is tremendously improved generalization performance. On ImageNet, SAM boosts the top-1 accuracy of ViT-B/16 from $7 4 . 6 \%$ to $7 9 . 9 \%$ , and Mixer-B/16 from $6 6 . 4 \%$ to $7 7 . 4 \%$ . For comparison, the improvement on a similarly sized ResNet-152 is $0 . 8 \%$ . Empirically, the degree of improvement negatively correlates with the constraints of inductive biases built into the architecture. ResNets with inherent translation equivalence and locality benefit less from landscape smoothing than the attention-based ViTs. MLP-Mixers gain the most from the smoothed loss geometry. In Table 3, we further train two hybrid models (Dosovitskiy et al., 2021) to validate this observation, where the Transformer takes the feature map extracted from a ResNet-50 as the input sequence. The improvement brought by SAM decreases after we introduce the convolution to ViT, for instance, $+ 2 . 7 \%$ for R50-B/16 compared to $+ 5 . 3 \%$ for ViT-B/16. Moreover, SAM brings larger improvements to the models of larger capacity (e.g., $+ 4 . 1 \%$ for Mixer-S/16 vs. $+ 1 1 . 0 \%$ for Mixer-B/16) and longer patch sequence (e.g., $+ 2 . 1 \%$ for ViT-S/32 vs. $+ 5 . 3 \%$ for ViT-S/8). Please see Table 2 for more results. + +SAM can be easily applied to common base optimizers. Besides Adam, we also apply SAM on top of the (momentum) SGD that usually performs much worse than Adam when training Transformers (Zhang et al., 2020). As expected, we find that under the same training budget (300 epochs), the ViT-B/16 trained with SGD only achieves $7 1 . 5 \%$ accuracy on ImageNet, whereas Adam achieves + +Table 2: Performance of ResNets, ViTs, and MLP-Mixers trained from scratch on ImageNet with SAM (improvement over the vanilla model is shown in the parentheses). We use the Inception-style preprocessing (with resolution 224) rather than a combination of strong data augmentations. + +
Model#paramsThroughput (img/sec/core)ImageNetReaLV2ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216176.7 (+0.7)83.1 (+0.7)64.6 (+1.0)23.3 (+1.1)46.5 (+1.9)
ResNet-101-SAM44M133478.6 (+0.8)84.8 (+0.9)66.7 (+1.4)25.9 (+1.5)51.3 (+2.8)
ResNet-152-SAM60M93579.3 (+0.8)84.9 (+0.7)67.3 (+1.0)25.7 (+0.4)52.2 (+2.2)
ResNet-50x2-SAM98M89179.6 (+1.5)85.3 (+1.6)67.5 (+1.7)26.0 (+2.9)50.7 (+3.9)
ResNet-101x2-SAM173M51980.9 (+2.4)86.4 (+2.4)69.1 (+2.8)27.8(+3.2)54.0 (+4.7)
ResNet-152x2-SAM236M35681.1 (+1.8)86.4 (+1.9)69.6 (+2.3)28.1 (+2.8)55.0 (+4.2)
Vision Transformer
ViT-S/32-SAM23M688870.5 (+2.1)77.5 (+2.3)56.9 (+2.6)21.4 (+2.4)46.2 (+2.9)
ViT-S/16-SAM22M204378.1 (+3.7)84.1 (+3.7)65.6(+3.9)24.7 (+4.7)53.0 (+6.5)
ViT-S/14-SAM22M123478.8 (+4.0)84.8 (+4.5)67.2(+5.2)24.4 (+4.7)54.2 (+7.0)
ViT-S/8-SAM22M33381.3 (+5.3)86.7 (+5.5)70.4 (+6.2)25.3 (+6.1)55.6 (+8.5)
ViT-B/32-SAM88M280573.6 (+4.1)80.3 (+5.1)60.0 (+4.7)24.0 (+4.1)50.7 (+6.7)
ViT-B/16-SAM87M86379.9 (+5.3)85.2 (+5.4)67.5 (+6.2)26.4 (+6.3)56.5 (+9.9)
MLP-Mixer
Mixer-S/32-SAM19M1140166.7 (+2.8)73.8 (+3.5)52.4 (+2.9)18.6 (+2.7)39.3 (+4.1)
Mixer-S/16-SAM18M400572.9 (+4.1)79.8 (+4.7)58.9 (+4.1)20.1 (+4.2)42.0 (+6.4)
Mixer-S/8-SAM20M149875.9 (+5.7)82.5 (+6.3)62.3 (+6.2)20.5 (+5.1)42.4 (+7.8)
Mixer-B/32-SAM60M420972.4 (+9.9)79.0 (+10.9)58.0 (+10.4)22.8 (+8.2)46.2 (12.4)
Mixer-B/16-SAM Mixer-B/8-SAM59M139077.4 (+11.0)83.5 (+11.4) 84.4(+10.1)63.9 (+13.1)24.7 (+10.2)48.8 (+15.0)
64M46679.0 (+10.4)65.5 (+11.6)23.5 (+9.2)48.9 (+16.9)
+ +$7 4 . 6 \%$ . Surprisingly, $\mathrm { S G D + S A M }$ can push the result to $7 9 . 1 \%$ , which is a huge $+ 7 . 6 \%$ absolute improvement. Although Ad $\mathrm { a m } + \mathrm { S A M }$ is still higher $( 7 9 . 9 \% )$ , their gap largely shrinks. + +Better robustness. We also evaluate the models’ robustness using ImageNet-R (Hendrycks et al., 2020) and ImageNet-C (Hendrycks & Dietterich, 2019) and find even bigger impacts of the smoothed loss landscapes. On ImageNet-C, which corrupts images by noise, bad weather, blur, etc., we report the average accuracy against 19 corruptions across five levels. As shown in Tables 1 and 2, the accuracies of ViT-B/16 and Mixer-B/16 increase by $9 . 9 \%$ and $1 5 . 0 \%$ (which are $2 1 . 2 \%$ and $4 4 . 4 \%$ relative improvements), after SAM smooths their converged local regions. In comparison, SAM improves the accuracy of ResNet-152 by $2 . 2 \%$ $4 . 4 \%$ relative improvement). We can see that SAM enhances the robustness even more than the relative clean accuracy improvements $7 . 1 \%$ , $1 6 . 6 \%$ , and $1 . 0 \%$ for ViT-B/16, Mixer-B/16, and ResNet-152, respectively). + +# 4.3 VITS OUTPERFORM RESNETS WITHOUT PRE-TRAINING OR STRONG AUGMENTATIONS + +The performance of an architecture is often conflated with the training strategies (Bello et al., 2021), where data augmentations play a key role (Cubuk et al., 2019; 2020; Zhang et al., 2018; Xie et al., 2020; Chen et al., 2021b). However, the design of augmentations requires substantial domain expertise and may not translate between images and videos, for instance. Thanks to the principled sharpness-aware opti + +Table 3: Accuracy and robustness of two hybrid architectures. + +
Model#paramsImageNet (%)ImageNet-C (%)
R50-S/16 R50-S/16-SAM34M79.8 81.0 (+1.2)53.4 57.2 (+3.8)
R50-B/1679.754.4
R50-B/16-SAM99M82.4 (+2.7)61.0 (+6.6)
+ +mizer, we can remove the advanced augmentations and focus on the architectures themselves. + +When trained from scratch on ImageNet with SAM, ViTs outperform ResNets of similar and greater sizes (also comparable throughput at inference) regarding both clean accuracy (on ImageNet (Deng et al., 2009), ImageNet-ReaL (Beyer et al., 2020), and ImageNet V2 (Recht et al., 2019)) and robustness (on ImageNet-R (Hendrycks et al., 2020) and ImageNet-C (Hendrycks & Dietterich, 2019)). ViT-B/16 achieves $7 9 . 9 \%$ , $2 6 . 4 \%$ , and $5 6 . 6 \%$ top-1 accuracy on ImageNet, ImageNet-R, and ImageNet-C, while the counterpart numbers for ResNet-152 are $7 9 . 3 \%$ , $2 5 . 7 \%$ , and $5 2 . 2 \%$ , respectively (see Table 2). The gaps between ViTs and ResNets are even wider for small architectures. ViT-S/16 outperforms a similarly sized ResNet-50 by $1 . 4 \%$ on ImageNet, and $6 . 5 \%$ on ImageNet-C. SAM also significantly improves MLP-Mixers’ results. + +Table 4: Dominant eigenvalue $\lambda _ { m a x }$ of the sub-diagonal Hessians for different network components, and norm of the model parameter $w$ and the post-activation $a _ { k }$ of block $k$ . Each ViT block consists of a MSA and a MLP, and MLP-Mixer alternates between a token MLP a channel MLP. Shallower layers have larger $\lambda _ { m a x }$ . SAM smooths every component. + +
ModelXmax of diagonal blocks of Hessian|w|l2|a1|l2|a6|2|a12|l2
EmbeddingMSA/ Token MLPMLP/ Channel MLPBlock1Block6Block12Whole
ViT-B/16300.4179.8281.444.432.426.9738.8269.3104.9104.3138.1
ViT-B/16-SAM3.88.59.61.71.71.520.9353.8117.0120.397.2
Mixer-B/161042.395.8417.9239.341.25.11644.4197.696.7135.174.9
Mixer-B/16-SAM18.21.49.54.01.10.322.5389.9110.9176.0216.1
+ +# 4.4 INTRINSIC CHANGES AFTER SAM + +We take a deeper look into the models to understand how they intrinsically change to reduce the Hessian’ eigenvalue $\lambda _ { m a x }$ and what the changes imply in addition to the enhanced generalization. + +Smoother loss landscapes for every network component. In Table 4, we break down the Hessian of the whole architecture into small diagonal blocks of Hessians concerning each set of parameters, attempting to analyze what specific components cause the blowing up of $\lambda _ { m a x }$ in the models trained without SAM. We observe that shallower layers have larger Hessian eigenvalues $\lambda _ { m a x }$ , and the first linear embedding layer incurs the sharpest geometry. This agrees with the finding in (Chen et al., 2021c) that spiking gradients happen early in the embedding layer. Additionally, the multi-head self-attention (MSA) in ViTs and the Token MLPs in MLP-Mixers, both of which mix information across spatial locations, have comparably lower $\lambda _ { m a x }$ than the other network components. SAM consistently reduces the $\lambda _ { m a x }$ of all network blocks. + +We can gain insights into the above findings by the recursive formulation of Hessian matrices for MLPs (Botev et al., 2017). Let $h _ { k }$ and $a _ { k }$ be the pre-activation and post-activation values for layer $k$ , respectively. They satisfy $h _ { k } = W _ { k } a _ { k - 1 }$ and $\bar { a } _ { k } = f _ { k } ( h _ { k } )$ , where $W _ { k }$ is the weight matrix and $f _ { k }$ is the activation function (GELU (Hendrycks & Gimpel, 2020) in MLP-Mixers). Here we omit the bias term for simplicity. The diagonal block of Hessian matrix $H _ { k }$ with respect to $W _ { k }$ can be recursively calculated as: + +$$ +\begin{array} { r l r } & { } & { H _ { k } = ( a _ { k - 1 } a _ { k - 1 } ^ { T } ) \otimes \mathcal { H } _ { k } , \quad \mathcal { H } _ { k } = B _ { k } W _ { k + 1 } ^ { T } \mathcal { H } _ { k + 1 } W _ { k + 1 } B _ { k } + D _ { k } , } \\ & { } & { B _ { k } = \mathrm { d i a g } ( f _ { k } ^ { \prime } ( h _ { k } ) ) , \qquad D _ { k } = \mathrm { d i a g } ( f _ { k } ^ { \prime \prime } ( h _ { k } ) \frac { \partial L } { \partial a _ { k } } ) , } \end{array} +$$ + +where $\otimes$ is the Kronecker product, $\mathcal { H } _ { k }$ is the pre-activation Hessian for layer $k$ , and $L$ is the objective function. Therefore, the Hessian norm accumulates as the recursive formulation backpropagates to shallow layers, explaining why the first block has much larger $\lambda _ { m a x }$ than the last block in Table 4. + +Greater weight norms. After applying SAM, we find that in most cases, the norm of the postactivation value $a k _ { - 1 }$ and the weight $W _ { k + 1 }$ become even bigger (see Table 4), indicating that the commonly used weight decay may not effectively regularize ViTs and MLP-Mixers (see Appendix J for further verification when we vary the weight decay strength). + +Sparser active neurons in MLP-Mixers. Given the recursive formulation Equation (3), we identify another intrinsic measure of MLP-Mixers that contribute to the Hessian: the number of activated neurons. Indeed, $B _ { k }$ is determined by the activated neurons whose values are greater than zero, since the first-order derivative of GELU becomes much smaller when the input is negative. As a result, the number of active GELU neurons is directly connected to the Hessian norm. Figure 2 (right) shows the proportion of activated neurons for each block, counted using $10 \%$ of the ImageNet training set. We can see that SAM greatly reduces the proportion of activated neurons for the first few layers of the Mixer-B/16, pushing them to much sparser states. This result also suggests the potential redundancy of image patches. + +ViTs’ active neurons are highly sparse. Although Equations (3) and (4) only involve MLPs, we still observe a decrease of activated neurons in the first layer of ViTs (but not as significant as in MLP-Mixers). More interestingly, we find that the proportion of active neurons in ViT is much smaller than another two architectures — given an input image, less than $10 \%$ neurons have values greater than zero for most layers (see Figure 2 (right)). In other words, ViTs offer a huge potential for network pruning. This sparsity may also explain why one Transformer can handle multi-modality signals (vision, text, and audio) (Akbari et al., 2021). + +Table 5: Data augmentations, SAM, and their combination applied to different model architectures trained on ImageNet and its subsets from scratch. + +
DatasetResNet-152ViT-B/16Mixer-B/16
Vanilla SAMAUGSAM + AUGVanilla SAMAUGSAM +AUGVanillaSAMAUGSAM + AUG
ImageNet78.579.378.878.974.679.979.681.566.477.476.578.1
i1k (1/2)74.275.675.175.564.975.473.175.853.971.070.473.1
i1k (1/4)68.070.370.270.652.466.863.265.637.262.861.065.8
i1k (1/10)54.657.159.259.532.846.138.545.721.043.543.051.0
+ +![](images/aab787bfaa975ef1497c10bad7ae3a875097e6eb7ec54cbdbb139c7c437a72eb.jpg) +Figure 3: Raw images (Left) and attention maps of ViT-S/16 with (Right) and without (Middle) sharpness-aware optimization. + +Visually improved attention maps in ViTs. We visualize ViT-S/16’s attention map of the classification token averaged over the last multi-head attentions in Figure 3 following Caron et al. (2021). Interestingly, the ViT model optimized with SAM appears to possess visually improved attention map compared with the one trained via the vanilla AdamW optimizer. + +# 4.5 SAM VS. STRONG AUGMENTATIONS + +Previous sections show that SAM can improve the generalization (and robustness) of ViTs and MLP-Mixers. Meanwhile, another paradigm to train these models on ImageNet from scratch is to stack multiple strong augmentations (Touvron et al., 2021b;a; Tolstikhin et al., 2021). Hence, it is interesting to study the differences and similarities between the models trained by SAM and by using strong data augmentations. For the augmentation experiments, we follow Tolstikhin et al. (2021)’s pipeline that includes mixup (Zhang et al., 2018) and RandAugment (Cubuk et al., 2020). + +Generalization. Table 5 shows the results of strong data augmentation, SAM, and their combination on ImageNet. Each row corresponds to a training set of a different fraction of ImageNet-1k. SAM benefits ViT-B/16 and Mixer-B/16 more than the strong data augmentations, especially when the training set is small. For instance, when the training set contains only 1/10 of ImageNet training images, ViT-B/16-SAM outperforms ViT-B/16-AUG by $7 . 6 \%$ . Apart from the improved validation accuracy, we also observe that both SAM and strong augmentations increase the training error (see Figure 2 (Middle) and Table 6), indicating their regularization effects. However, they have distinct training dynamics as the loss curve for ViT-B/16-AUG is much nosier than ViT-B/16-SAM. + +Sharpness at convergence. Another intriguing question is as follows. Can augmentations also smooth the loss geometry similarly to SAM? To answer it, we also plot the landscape of ViTB/16-AUG (see Figure 5 in the Appendix) and compute its Herage flatness $\lambda _ { m a x }$ together with the av-able 6. Surprisingly, $L _ { t r a i n } ^ { \mathcal { N } }$ strong augmentations even enlarge the $\lambda _ { m a x }$ + +Table 6: Comparison between ViT-B/16-SAM and ViT-B/16-AUG. $R$ denotes the missing rate under linear interpolation. + +
ModelXmaxLtrainR(↓)
ViT-B/16738.80.656.6657.9%
ViT-B/16-SAM20.90.820.9639.6%
ViT-B/16-AUG1659.30.851.2321.4%
+ +However, like SAM, augmentations make ViT-B/16-AUG smoother and achieve a significantly smaller training error under random Gaussian perturbations than ViT-B/16. These results show that both SAM and augmentations make the loss landscape flat on average. The difference is that SAM enforces the smoothness by reducing the largest curvature via a minimax formulation to optimize the worst-case scenario, while augmentations ignore the worse-case curvature and instead smooth the landscape over the directions induced by the augmentations. + +Interestingly, besides the similarity in smoothing the loss curvature on average, we also discover that SAM-trained models possess “linearality” resembling the property manually injected by the mixup augmentation. Following Zhang et al. (2018), we compute the prediction error in-between training data in Table 6, where a prediction $y$ is counted as a miss if it does not belong to $\{ y _ { i } , y _ { j } \}$ evaluated at $x = 0 . 5 x _ { i } + 0 . 5 x _ { j }$ . We observe that SAM greatly reduces the missing rate $( R )$ compared with the vanilla baseline, showing a similar effect to mixup that explicitly encourages such linearity. + +# 5 ABLATION STUDIES + +In this section, we provide a more comprehensive study about SAM’s effect on various vision models and under different training setups. We refer to Appendices B to $\mathrm { D }$ for the adversarial, contrastive and transfer learning results. + +# 5.1 WHEN SCALING THE TRAINING SET SIZE + +Previous studies scale up training data to show massive pre-training trumps inductive biases (Dosovitskiy et al., 2021; Tolstikhin et al., 2021). Here we show SAM further enables ViTs and MLPMixers to handle small-scale training data well. We randomly sample 1/4 and 1/2 images from each ImageNet class to compose two smaller-scale training sets, i.e., i1k (1/4) and i1k (1/2) with 320,291 and 640,583 images, respectively. We also use ImageNet-21k to pre-train the models with SAM, followed by fine-tuning on ImageNet-1k without SAM. The ImageNet validation set remains intact. SAM can still bring improvement when pre-trained on ImageNet-21k $( + 0 . 3 \%$ , $+ 1 . 4 \%$ , and $2 . 3 \%$ for ResNet-152, ViT-B/16, and Mixer-B/16, respectively). + +As expected, fewer training examples amplify the drawback of ViTs and MLP-Mixers’ lack of the convolutional inductive bias — their accuracies decline much faster than ResNets’ (see Figure 4 in the Appendix and the corresponding numbers in Table 5). However, SAM can drastically rescue ViTs and MLP-Mixers’ performance decrease on smaller training sets. Figure 4 (right) shows that the improvement brought by SAM over vanilla SGD training is proportional to the number of training images. When trained on i1k (1/4), it boosts ViT-B/16 and Mixer-B/16 by $1 4 . 4 \%$ and $2 5 . 6 \%$ , escalating their results to $6 6 . 8 \%$ and $6 2 . 8 \%$ , respectively. It also tells that ViT-B/16-SAM matches the performance of ResNet-152-SAM even with only 1/2 ImageNet training data. + +# 6 CONCLUSIONS AND LIMITATIONS + +This paper presents a detailed analysis of the convolution-free ViTs and MLP-Mixers from the lens of the loss landscape geometry, intending to reduce the models’ dependency on massive pre-training and/or strong data augmentations. We arrive at the sharpness-aware minimizer (SAM) after observing sharp local minima of the converged models. By explicitly regularizing the loss geometry through SAM, the models enjoy much flatter loss landscapes and improved generalization regarding accuracy and robustness. The resultant ViT models outperform ResNets of comparable size and throughput when learned with no pre-training or strong augmentations. Further investigation reveals that the smoothed loss landscapes attribute to much sparser activated neurons in the first few layers. Last but not least, we discover that SAM and strong augmentations share certain similarities to enhance the generalization. They both smooth the average loss curvature and encourage linearity. + +Despite achieving better generalization, training ViTs with SAM has the following limitations which could lead to potential future work. First, SAM incurs another round of forward and backward propagations to update $\epsilon$ , which will lead to around $2 \mathbf { x }$ computational cost per update. Second, we notice that the effect of SAM diminishes as the training dataset becomes larger, so it is vital to develop learning algorithms that can improve/accelerate the large-scale pre-training process. + +# ETHICS STATEMENT + +We are not aware of any immediate ethical issues in our work. We hope this paper can provide new insights into the convolution-free neural architectures and their interplay with optimizers, hence benefiting future developments of advanced neural architectures that are efficient in data and computation. Possible negative societal impacts mainly hinge on the applications of convolution-free architectures, whose societal effects may translate to this work. + +# ACKNOWLEDGEMENT + +This work is partially supported by NSF under IIS-1901527, IIS-2008173, IIS-2048280 and by Army Research Laboratory under agreement number W911NF-20-2-0158. + +# REPRODUCIBILITY STATEMENT + +We provide comprehensive experimental details and references to existing works and codebases to ensure reproducibility. The specification of all the architectures used in this paper is available in Appendix A. The instructions for plotting the landscape and the attention map are detailed in Appendix E. 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URL https://proceedings.neurips.cc/paper/2020/hash/ b05b57f6add810d3b7490866d74c0053-Abstract.html. + +# APPENDICES + +# A ARCHITECTURES + +Table 8 specifies the ViT (Dosovitskiy et al., 2021; Vaswani et al., 2017) and MLP-Mixer (Tolstikhin et al., 2021) architectures used in this paper. “S” and “B” denote the small and base model scales following (Dosovitskiy et al., 2021; Touvron et al., 2021b; Tolstikhin et al., 2021), followed by the size of each image patch. For instance, $\mathbf { \ddot { B } } / 1 6 ^ { , }$ means the model of base scale with non-overlapping image patches of resolution $1 6 \times 1 6$ . We use the input resolution $2 2 4 \times 2 2 4$ throughout the paper. Following Tolstikhin et al. (2021), we sweep the batch sizes in $\{ 3 2 , 6 4 , \dots , 8 1 9 2 \}$ on TPU-v3 and report the highest throughput for each model. + +Table 7: Comparison under the adversarial training framework on ImageNet (numbers in the parentheses denote the improvement over the standard adversarial training without SAM). With similar model size and throughput, ViTs-SAM can still outperform ResNets-SAM for clean accuracy and adversarial robustness. + +
Model#paramsThroughput (img/sec/core)ImageNetRealV2PGD-10ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216170.1 (-0.7)77.9 (-0.3)56.6(-0.8)54.1 (+0.9)27.0 (+0.9)42.7 (-0.1)
ResNet-101-SAM44M133473.6(-0.4)81.0 (+0.1)60.4 (-0.6)58.8 (+1.4)29.5(+0.6)46.9 (+0.3)
ResNet-152-SAM60M93575.1 (-0.4)82.3 (+0.2)62.2 (-0.4)61.0(+1.8)30.8 (+1.4)49.1 (+0.6)
Vision Transformer
ViT-S/16-SAM22M204373.2 (+1.2)80.7 (+1.7)60.2 (+1.4)58.0 (+5.2)28.4(+2.4)47.5 (+1.6)
ViT-B/32-SAM88M280569.9 (+3.0)76.9 (+3.4)55.7 (+2.5)54.0 (+6.4)26.0 (+3.0)46.4 (+3.0)
ViT-B/16-SAM87M86376.7 (+3.9)82.9 (+4.1)63.6 (+4.3)62.0(+7.7)30.0 (+4.9)51.4 (+5.0)
MLP-Mixer
Mixer-S/16-SAM18M400567.1 (+2.2)74.5 (+2.3)52.8 (+2.5)50.1 (+4.1)22.9 (+2.6)37.9 (+2.5)
Mixer-B/32-SAM60M420969.3 (+9.1)76.4 (+10.2)54.7 (+9.4)54.5 (+13.9)26.3 (+8.0)43.7(+8.8)
Mixer-B/16-SAM59M139073.9 (+11.1)80.8 (+11.8)60.2 (+11.9)59.8 (+17.3)29.0 (+10.5)45.9 (+12.5)
+ +Table 8: Specifications of the ViT and MLP-Mixer architectures used in this paper. We train all the architectures with image resolution $2 2 4 \times 2 2 4$ . + +
Model#paramsThroughput (img/sec/core)Patch ResolutionSequence LengthHidden Size#heads#layersToken MLP DimensionChannel MLP Dimension
ViT-S/3223M688832×3249384612
ViT-S/1622M204316×16196384612
ViT-S/1422M123414 × 14256384612
ViT-S/822M3338×8784384612
ViT-B/3288M280532×32497681212
ViT-B/1687M86316×16196768121211
Mixer-S/3219M1140132×3249512182562048
Mixer-S/1618M400516×1619651282562048
Mixer-S/820M14988×878451282562048
Mixer-B/3260M420932×3249768123843072
Mixer-B/1659M139016×16196768123843072
Mixer-B/864M4668×8784768123843072
+ +# B WHEN SAM MEETS ADVERSARIAL TRAINING + +Interestingly, SAM and adversarial training are both minimax problems except that SAM’s inner maximization is with respect to the network weights, while the latter concerns about the input for defending contrived attack (Madry et al., 2018; Wong et al., 2020). Moreover, similar to SAM, Shafahi et al. (2019) suggest that adversarial training can flatten and smooth the loss landscape. In light of these connections, we study ViTs and MLP-Mixers under the adversarial training framework (Wu et al., 2020; Madry et al., 2018). We use the fast adversarial training (Wong et al., 2020) (FGSM with random start) with the $l _ { \infty }$ norm and maximum per-pixel change 2/255 during training. All the hyperparameters remain the same as the vanilla supervised training. When evaluating the adversarial robustness, we use the PGD attack (Madry et al., 2018) with the same maximum per-pixel change 2/255. The total number of attack steps is 10, and the step size is 0.25/255. To incorporate SAM, we formulate a three-level objective: + +Table 9: Hyperparameters for downstream tasks. All models are fine-tuned with $2 2 4 \times 2 2 4$ resolution, a batch size of 512, cosine learning rate decay, no weight decay, and grad clipping at global norm 1. + +
DatasetTotal stepsWarmup stepsBase LR
CIFAR-1010K500
CIFAR-10010K500{0.001,0.003,0.01,0.03}
Flowers500100
Pets500100
+ +![](images/7366732ab73b35025f59f931bc664e34561354605a6f72da54bccbabee7345e9.jpg) +Figure 4: ImageNet accuracy (Left) and improvement (Right) brought by SAM. + +$$ +\operatorname* { m i n } _ { w } \operatorname* { m a x } _ { \epsilon \in \mathbb { S } _ { s a m } } \operatorname* { m a x } _ { \delta \in \mathbb { S } _ { a d v } } L _ { t r a i n } ( w + \epsilon , x + \delta , y ) , +$$ + +where $\mathbb { S } _ { s a m }$ and $\mathbb { S } _ { a d v }$ denote the allowed perturbation norm balls for the model parameter $w$ and input image $x$ , respectively. Note that we can simultaneously obtain the gradients for computing $\epsilon$ and $\delta$ by backpropagation only once. To lower the training cost, we use fast adversarial training (Wong et al., 2020) with the $l _ { \infty }$ norm for $\delta$ , and the maximum per-pixel change is set as 2/255. + +Table 7 (see Appendices) evaluates the models’ clean accuracy, real-world robustness, and adversarial robustness (under 10-step PGD attack (Madry et al., 2018)). It is clear that the landscape smoothing significantly improves the convolution-free architectures for both clean and adversarial accuracy. However, we observe a slight accuracy decrease on clean images for ResNets despite gain for robustness. Similar to our previous observations, ViTs surpass similar-size ResNets when adversarially trained on ImageNet with Inception-style preprocessing for both clean accuracy and adversarial robustness. + +# C WHEN SAM MEETS CONTRASTIVE LEARNING + +In addition to data augmentations and large-scale pre-training, another notable way of improving a neural model’s generalization is (supervised) contrastive learning (Chen et al., 2020; He et al., 2020; Caron et al., 2021; Khosla et al., 2020). We couple SAM with the supervised contrastive learning (Khosla et al., 2020) for 350 epochs, followed by fine-tuning the classification head by 90 epochs for both ViT-S/16 and ViT-B/16. We train ViTs under the supervised contrastive learning framework (Khosla et al., 2020). We take the classification token output from the last layer as the encoded representation and retain the structures of the projection and classification heads (Khosla et al., 2020). We employ a batch size 2048 without memory bank (He et al., 2020) and use AutoAugment (Cubuk et al., 2019) with strength 1.0 following Khosla et al. (2020). For the 350-epoch pretraining stage, the contrastive loss temperature is set as 0.1, and we use the LAMB optimizer (You et al., 2020) with learning rate $0 . 0 0 1 \times { \frac { \mathrm { b a t c h s i z e } } { 2 5 6 } }$ along with a cosine decay schedule. For the second stage, we train the classification head for 90 epochs via a RMSProp optimizer (Tieleman & Hinton, 2012) with base learning rate 0.05 and exponential decay. The weight decays are set as 0.3 and 1e-6 for the first and second stages, respectively. We use a small SAM perturbation strength $\rho = 0 . 0 2$ . + +Compared to the training procedure without SAM, we find considerable performance gain thanks to SAM’s smoothing of the contrastive loss geometry, improving the ImageNet top-1 accuracy of ViT$\mathrm { S } / 1 6$ from $7 7 . 0 \%$ to $7 8 . 1 \%$ , and ViT-B/16 from $7 7 . 4 \%$ to $8 0 . 0 \%$ . In comparison, the improvement on ResNet-152 is less significant (from $7 9 . 7 \%$ to $8 0 . 0 \%$ after using SAM). + +Table 10: Accuracy on downstream tasks of the models pre-trained on ImageNet. SAM improves ViTs and MLP-Mixers’ transferabilities. ViTs transfer better than ResNets of similar sizes. + +
%ResNet- 50-SAMResNet- 152-SAMViT-S/16ViT-S/16- SAMViT-B/16ViT-B/16- SAMMixer-S/16Mixer-S/16- SAMMixer-B/16Mixer-B/16- SAM
CIFAR-1097.498.297.698.298.198.694.196.195.497.8
CIFAR-10085.287.885.787.687.689.177.982.480.086.4
Flowers Pets90.091.186.491.588.591.883.387.982.890.0
91.693.390.492.991.993.186.188.786.192.5
Average91.192.690.092.691.593.285.488.886.191.7
+ +![](images/fbf29ec03b83359c1f315d2f7deb5e39a81a835f9c15b90fe7f7f146123b4f80.jpg) +Figure 5: Cross-entropy loss landscapes of ViT-B/16, ViT-B/16-SAM, ViT-B/16-AUG, and ViTB/16-21k. Strong augmentations and large-scale pre-training can also smooth the curvature. + +# D WHEN SAM MEETS TRANSFER LEARNING + +We also study the role of smoothed loss geometry in transfer learning. We select four datasets to test ViTs and MLP-Mixers’ transferabilities: CIFAR-10/100 (Krizhevsky, 2009), Oxford-IIIT Pets (Parkhi et al., 2012), and Oxford Flowers-102 (Nilsback & Zisserman, 2008). We use image resolution $2 2 4 \times 2 2 4$ during fine-tuning on downstream tasks, other settings exactly follow Dosovitskiy et al. (2021); Tolstikhin et al. (2021) (see Table 9). Note that we do not employ SAM during fine-tuning. We perform a grid search over the base learning rates on small sub-splits of the training sets ( $10 \%$ for Flowers and Pets, $2 \%$ for CIFAR-10/100). After that, we fine-tune on the entire training sets and report the results on the respective test sets. For comparison, we also include ResNet-50-SAM and ResNet-152-SAM in the experiments. Table 10 summarizes the results, which confirm that the enhanced models also perform better after fine-tuning and that MLP-Mixers gain the most from the sharpness-aware optimization. + +# E VISUALIZATION + +# E.1 LOSS LANDSCAPE + +We use the “filter normalization” method (Li et al., 2018) to visualize the loss function curvature in Figure 1 and 5. For a fair comparison, we use the cross-entropy loss when plotting the landscapes for all architectures, although the original training objective is the sigmoid loss for ViTs and MLPMixers. Note that their sigmoid loss geometry is even sharper. We equally sample 2,500 points on the 2D projection space and compute the losses using $10 \%$ of the ImageNet training images (Chen et al., 2020), i.e., the i1k (1/10) subset in the main text to save computation. + +# E.2 ATTENTION MAP + +The visualization of the ViT’s attention maps (Figure 3 in the main text) follows (Caron et al., 2021). We average the self-attention scores of the “classification token” from the last MSA layer to obtain a matrix $\mathbf { \bar { \boldsymbol { A } } } \in \mathbb { R } ^ { H / P \times W / P }$ , where $H$ , $W$ , $P$ are the image height, width, and the patch resolution, respectively. Then we upsample $A$ to the image shape $H \times W$ before generating the figure. + +Table 11: The SAM perturbation strength $\rho$ for training on ImageNet. ViTs and MLP-Mixers favor larger $\rho$ than ResNets does. Larger models with longer patch sequences need stronger strengths. + +
ModelTaskSAM p
ResNet
ResNet-50-SAM ResNet-101-SAM ResNet-152-SAM ResNet-50x2-SAM ResNet-101x2-SAM ResNet-152x2-SAM ResNet-50-SAMsupervised supervised supervised supervised supervised supervised0.02 0.05 0.02 0.05 0.05 0.05 0.05
ResNet-152-SAM adversarial ViT
ViT-S/16-SAM ViT-S/14-SAM ViT-S/8-SAM ViT-B/32-SAM ViT-B/16-SAMsupervised supervised supervised supervised0.1 0.1 0.15 0.15 0.2
ViT-B/16-AUG-SAM ViT-S/16-SAM ViT-B/32-SAMsupervised supervised adversarial0.05 0.1
ViT-B/16-SAMadversarial0.1 0.1
supervised contrastive
adversarial
ViT-S/16-SAM0.02
ViT-B/16-SAM
supervised contrastive0.02
MLP-Mixer
Mixer-S/32-SAM
Mixer-S/16-SAMsupervised0.1
supervised0.15
Mixer-S/8-SAMsupervised0.2
Mixer-B/32-SAMsupervised0.35
Mixer-B/16-SAMsupervised0.6
Mixer-B/8-SAM0.6
supervised
Mixer-B/16-AUG-SAMsupervised0.2
Mixer-S/16-SAMadversarial0.05
Mixer-B/32-SAMadversarial0.25
Mixer-B/16-SAMadversarial0.25
+ +# F HESSIAN EIGENVALUE + +The Hessian matrix requires second-order derivative, so we compute the Hessian (and all the subdiagonal Hessian) $\lambda _ { m a x }$ using $10 \%$ of the ImageNet training images (i.e., i1k (1/10)) via power iteration 1, where we use 100 iterations to ensure its convergence. + +# G NTK CONDITION NUMBER + +We approximate the neural tangent kernel on the i1k (1/10) subset by averaging over block diagonal entries (with block size $4 8 \times 4 8 )$ ) in the full NTK. Notice that the computation is based on the architecture at initialization without training. As the activation plays an important role when computing NTK — we find that smoother activation functions enjoy smaller condition numbers, we replace the GELU in ViT and MLP-Mixer with ReLU for a fair comparison with ResNet. + +# H TRAINING DETAILS + +We use image resolution $2 2 4 \times 2 2 4$ during fine-tuning on downstream tasks, other settings exactly follow (Dosovitskiy et al., 2021; Tolstikhin et al., 2021) (see Table 9). Note that we do not employ SAM during fine-tuning. We perform a grid search over the base learning rates on small sub-splits of the training sets $10 \%$ for Flowers and Pets, $2 \%$ for CIFAR-10/100). After that, we fine-tune on the entire training sets and report the results on the respective test sets. + +Table 12: Hyperparameters for training from scratch on ImageNet with basic Inception-style preprocessing and $2 2 4 \times 2 2 4$ image resolution. + +
ResNetViTMLP-Mixer
Data augmentationInception-style
Input resolution224×224
Batch size4,096
Epoch90300300
Warmup steps5K10K10K
Peak learning rate0.1× batch size 2563e-33e-3
Learning rate decaycosinecosinelinear
Optimizer SGD MomentumSGDAdamWAdamW
Adam (β1, β2)0.9
Weight decay1(0.9, 0.999)(0.9, 0.999)
1e-30.30.3
Dropout rate0.00.10.0
Stochastic depth110.1
Gradient clipping11.01.0
+ +Table 13: ImageNet top-1 accuracy $( \% )$ of ViT-B/16 and Mixer-B/16 when trained from scratch with different perturbation strength $\rho$ in SAM. + +
SAM p0.00.050.10.20.250.350.40.50.60.65
ViT-B/1674.677.578.879.979.311111
Mixer-B/1666.469.51174.174.775.676.977.477.1
+ +Except for the experiments in Section 4.5 (SAM with strong data augmentations) and Appendix C (contrastive learning), we train all the models from scratch on ImageNet with the basic Inceptionstyle preprocessing (Szegedy et al., 2016), i.e., a random image crop and a horizontal flip with probability $50 \%$ . Please see Table 12 for the detailed training settings. We simply follow the original training settings of ResNet and ViT (Kolesnikov et al., 2020; Dosovitskiy et al., 2021). For MLPMixer, we remove the strong augmentations in its original training pipeline and perform a grid search over the learning rate in $\{ 0 . 0 0 3 , 0 . 0 0 1 \}$ , weight decay in $\lbrace 0 . 3 , 0 . 1 , 0 . 0 3 \rbrace$ , Dropout rate in $\lbrace 0 . 1 , 0 . 0 \rbrace$ , and stochastic depth in $\lbrace 0 . 1 , 0 . 0 \rbrace$ . Note that training for 90 epochs is enough for ResNets to converge, and longer schedule brings almost no effect. For all the experiments, we use 128 TPUv3 cores (2 per chip), resulting in 32 images per core. The SAM computation for $\hat { \epsilon }$ is conducted on each core independently. + +# H.1 PERTURBATION STRENGTH IN SAM + +Different architecture species favor different strengths of perturbation $\rho$ . We perform a grid search over $\rho$ and report the best results — Table 11 reports the corresponding strengths used in our ImageNet experiments. Besides, we show the results when varying $\rho$ in Table 13. Similar to (Foret et al., 2021), we also find that a relative small $\rho \in [ 0 . 0 2 , 0 . 0 5 ]$ works the best for ResNets. However, larger $\rho$ gives rise to the best results for ViTs and MLP-Mixers. We also observe that architectures with larger capacities and longer input sequences prefer stronger perturbation strengths. Interestingly, the choice of $\rho$ coincides with our previous observations. Since MLP-Mixers suffer the sharpest landscapes, they need the largest perturbation strength. As strong augmentations and contrastive learning already improve generalization, the suitable $\rho$ becomes significantly smaller. Note that we do not re-tune any other hyperparameters when using SAM. + +# H.2 TRAINING ON IMAGENET SUBSETS + +In Section 5.1, we train the models on ImageNet subsets, and the hyperparameters have to be adjusted accordingly. We simply change the batch size to maintain similar total iterations and keep all other settings the same, i.e., 2048 for i1k (1/2), 1024 for i1k (1/4), and 512 for i1k (1/10). We do not scale the learning rate as we find the scaling harms the performance. + +# H.3 TRAINING WITH STRONG AUGMENTATIONS + +We tune the learning rate and regularization when using strong augmentations (mixup with probability 0.5, RandAugment with two layers and magnitude 15) in Section 4.5 following (Tolstikhin et al., 2021). For ViT, we use 1e-3 peak learning rate, 0.1 weight decay, 0.1 Dropout, and 0.1 stochastic depth; For MLP-Mixer, those hyperparameters are exactly the same as (Tolstikhin et al., 2021), peak learning rate as 1e-3, weight decay as 0.1, Dropout as 0.0, and stochastic depth as 0.1. Other settings are unchanged (Table 12). + +# I LONGER SCHEDULE OF VANILLA SGD + +Since SAM needs another forward and backward propagation to compute $\hat { \epsilon }$ , its training overhead is $\sim 2 \times$ of the vanilla baseline. We also experiment with $2 \times$ schedule vanilla training (600 epochs). We observe that training longer brings no effect on both clean accuracy and robustness, indicating that the current 300 training epochs for ViTs and MLP-Mixers are enough for them to converge. + +# J VARYING WEIGHT DECAY STRANGTH + +Table 14: ImageNet accuracy and curvature analysis for ViT-B/16 when we vary the weight decay strength in Adam (AdamW). + +
ModelWeight decayImageNet (%)|w|l2LtrainXmax
ViT-B/160.274.2339.80.514.22507.4
0.374.6269.30.656.66738.8
0.474.7236.70.777.081548.9
0.574.4211.80.987.212251.7
ViT-B/16-SAM0.279.9461.40.690.7213.1
0.379.9353.80.820.9620.9
0.479.4301.10.850.9826.1
0.578.7259.60.951.3345.5
+ +In this section, we vary the strength of weight decay and see the effects of this commonly used regularization approach. As shown in Table 14, weight decay helps improve the accuracy on ImageNet when training without SAM, the weight norm also decreases when we enlarge the decay strength as expected. However, enlarging the weight decay aggravates the problem of converging to a sharper region measured by both $\mathbf { \check { \mathbf { \mathit { L } } } } _ { t r a i n } ^ { \mathbf { \check { \mathbf { \psi } } } }$ and $\lambda _ { m a x }$ . Another observation is that $\lVert \boldsymbol { w } \rVert _ { 2 }$ consistently increases after applying SAM for every weight decay strength in Table 14, together with the improved ImageNet accuracy and smoother landscape curvature. \ No newline at end of file diff --git a/parse/dev/LtKcMgGOeLt/LtKcMgGOeLt_content_list.json b/parse/dev/LtKcMgGOeLt/LtKcMgGOeLt_content_list.json new file mode 100644 index 0000000000000000000000000000000000000000..cf1ce07f8b54dd3f3ab3b7033005e22467aeea67 --- /dev/null +++ b/parse/dev/LtKcMgGOeLt/LtKcMgGOeLt_content_list.json @@ -0,0 +1,2316 @@ +[ + { + "type": "text", + "text": "WHEN VISION TRANSFORMERS OUTPERFORM RESNETS WITHOUT PRE-TRAINING OR STRONG DATA AUGMENTATIONS ", + "text_level": 1, + "bbox": [ + 174, + 98, + 821, + 171 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Xiangning Chen1,2∗, Cho-Jui Hsieh2, Boqing Gong1 1Google Research, 2Department of Computer Science, UCLA {xiangningc, bgong}@google.com, chohsieh@cs.ucla.edu ", + "bbox": [ + 186, + 193, + 640, + 238 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "ABSTRACT ", + "text_level": 1, + "bbox": [ + 454, + 275, + 544, + 290 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Vision Transformers (ViTs) and MLPs signal further efforts on replacing handwired features or inductive biases with general-purpose neural architectures. Existing works empower the models by massive data, such as large-scale pre-training and/or repeated strong data augmentations, and still report optimization-related problems (e.g., sensitivity to initialization and learning rates). Hence, this paper investigates ViTs and MLP-Mixers from the lens of loss geometry, intending to improve the models’ data efficiency at training and generalization at inference. Visualization and Hessian reveal extremely sharp local minima of converged models. By promoting smoothness with a recently proposed sharpnessaware optimizer, we substantially improve the accuracy and robustness of ViTs and MLP-Mixers on various tasks spanning supervised, adversarial, contrastive, and transfer learning (e.g., $+ 5 . 3 \\%$ and $+ 1 1 . 0 \\%$ top-1 accuracy on ImageNet for ViT-B/16 and Mixer-B/16, respectively, with the simple Inception-style preprocessing). We show that the improved smoothness attributes to sparser active neurons in the first few layers. The resultant ViTs outperform ResNets of similar size and throughput when trained from scratch on ImageNet without large-scale pre-training or strong data augmentations. Model checkpoints are available at https://github.com/google-research/vision_transformer. ", + "bbox": [ + 233, + 309, + 764, + 558 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1 INTRODUCTION ", + "text_level": 1, + "bbox": [ + 176, + 590, + 336, + 607 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Transformers (Vaswani et al., 2017) have become the de-facto model of choice in natural language processing (NLP) (Devlin et al., 2018; Radford et al., 2018). In computer vision, there has recently been a surge of interest in end-to-end Transformers (Dosovitskiy et al., 2021; Touvron et al., 2021b; Liu et al., 2021b; Fan et al., 2021; Arnab et al., 2021; Bertasius et al., 2021; Akbari et al., 2021) and MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al., 2021a; Melas-Kyriazi, 2021), prompting the efforts to replace hand-wired features or inductive biases with general-purpose neural architectures powered by data-driven training. We envision these efforts may lead to a unified knowledge base that produces versatile representations for different data modalities, simplifying the inference and deployment of deep learning models in various application scenarios. ", + "bbox": [ + 174, + 623, + 825, + 750 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Despite the appealing potential of moving toward general-purpose neural architectures, the lack of convolution-like inductive biases also challenges the training of vision Transformers (ViTs) and MLPs. When trained on ImageNet (Deng et al., 2009) with the conventional Inception-style data preprocessing (Szegedy et al., 2016), Transformers “yield modest accuracies of a few percentage points below ResNets of comparable size” (Dosovitskiy et al., 2021). To boost the performance, existing works resort to large-scale pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) and repeated strong data augmentations (Touvron et al., 2021b), resulting in excessive demands of data, computing, and sophisticated tuning of many hyperparameters. For instance, Dosovitskiy et al. (Dosovitskiy et al., 2021) pre-train ViTs using 304M labeled images, and Touvron et al. (2021b) repeatedly stack four strong image augmentations. ", + "bbox": [ + 174, + 757, + 825, + 895 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "In this paper, we show ViTs can outperform ResNets (He et al., 2016) of even bigger sizes in both accuracy and various forms of robustness by using a principled optimizer, without the need for largescale pre-training or strong data augmentations. MLP-Mixers (Tolstikhin et al., 2021) also become on par with ResNets. ", + "bbox": [ + 176, + 103, + 823, + 159 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "We first study the architectures fully trained on ImageNet from the lens of loss landscapes and draw the following findings. First, visualization and Hessian matrices of the loss landscapes reveal that Transformers and MLP-Mixers converge at extremely sharp local minima, whose largest principal curvatures are almost an order of magnitude bigger than ResNets’. Such effect accumulates when the gradients backpropagate from the last layer to the first, and the initial embedding layer suffers the largest eigenvalue of the corresponding sub-diagonal Hessian. Second, the networks all have very small training errors, and MLP-Mixers are more prone to overfitting than ViTs of more parameters (because of the difference in self-attention). Third, ViTs and MLP-Mixers have worse “trainabilities” than ResNets following the neural tangent kernel analyses (Xiao et al., 2020). ", + "bbox": [ + 174, + 166, + 825, + 291 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Therefore, we need improved learning algorithms to prevent the convergence to a sharp local minimum when it comes to the convolution-free ViTs and MLP-Mixers. The first-order optimizers (e.g., SGD and Adam (Kingma & Ba, 2015)) only seek the model parameters that minimize the training error. They dismiss the higher-order information such as flatness that correlates with generalization (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Smith & Le, 2018; Chaudhari et al., 2017). ", + "bbox": [ + 174, + 299, + 825, + 382 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "The above study and reasoning lead us to the recently proposed sharpness-aware minimizer (SAM) (Foret et al., 2021) that explicitly smooths the loss geometry during model training. SAM strives to find a solution whose entire neighborhood has low losses rather than focus on any singleton point. We show that the resultant models exhibit smoother loss landscapes, and their generalization capabilities improve tremendously across different tasks including supervised, adversarial, contrastive, and transfer learning (e.g., $+ 5 . 3 \\%$ and $+ 1 1 . 0 \\%$ top-1 accuracy on ImageNet for ViT-B/16 and Mixer-B/16, respectively, with the simple Inception-style preprocessing). The enhanced ViTs achieve better accuracy and robustness than ResNets of similar and bigger sizes when trained from scratch on ImageNet, without large-scale pre-training or strong data augmentations. Moreover, we demonstrate that SAM can even enable ViT to be effectively trained with (momentum) SGD, which usually lies far behind Adam when training Transformers (Zhang et al., 2020). ", + "bbox": [ + 174, + 388, + 825, + 541 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "By analyzing some intrinsic model properties, we observe that SAM increases the sparsity of active neurons (especially for the first few layers), which contribute to the reduced Hessian eigenvalues. The weight norms increase, implying the commonly used weight decay may not be an effective regularization alone. A side observation is that, unlike ResNets and MLP-Mixers, ViTs have extremely sparse active neurons (see Figure 2 (right)), revealing the potential for network pruning (Akbari et al., 2021). Another interesting finding is that the improved ViTs appear to have visually more interpretable attention maps. Finally, we draw similarities between SAM and strong augmentations (e.g., mixup) in that they both smooth the average loss geometry and encourage the models to behave linearly between training images. ", + "bbox": [ + 174, + 549, + 825, + 674 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "2 BACKGROUND AND RELATED WORK ", + "text_level": 1, + "bbox": [ + 176, + 707, + 511, + 723 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "We briefly review ViTs, MLP-Mixers, and some related works in this section. ", + "bbox": [ + 176, + 746, + 679, + 761 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Dosovitskiy et al. (2021) show that a pure Transformer architecture (Vaswani et al., 2017) can achieve state-of-the-art accuracy on image classification by pre-training it on large datasets such as ImageNet-21k (Deng et al., 2009) and JFT-300M (Sun et al., 2017). Their vision Transformer (ViT) is a stack of residual blocks, each containing a multi-head self-attention, layer normalization (Ba et al., 2016), and a MLP layer. ViT first embeds an input image $x \\in \\mathbb { R } ^ { H \\times \\tilde { W } \\times C }$ into a sequence of features $\\boldsymbol { z } \\in \\mathbb { R } ^ { N \\times D }$ by applying a linear projection over $N$ nonoverlapping image patches $\\bar { \\boldsymbol { x } _ { p } } \\in \\mathbb { R } ^ { N \\times ( P ^ { 2 } \\cdot C ) }$ , where $D$ is the feature dimension, $P$ is the patch resolution, and $N = H W / P ^ { 2 }$ is the sequence length. The self-attention layers in ViT are global and do not possess the locality and translation equivariance of convolutions. ViT is compatible with the popular architectures in NLP (Devlin et al., 2018; Radford et al., 2018) and, similar to its NLP counterparts, requires pretraining over massive datasets (Dosovitskiy et al., 2021; Akbari et al., 2021; Arnab et al., 2021) or strong data augmentations (Touvron et al., 2021b). Some works specialize the ViT architectures for visual data (Liu et al., 2021b; Yuan et al., 2021; Fan et al., 2021; Bertasius et al., 2021). ", + "bbox": [ + 174, + 767, + 825, + 924 + ], + "page_idx": 1 + }, + { + "type": "table", + "img_path": "images/dea020477902719ceb945711a481817dec84f7359a3680f256f18f04e95efbc7.jpg", + "table_caption": [ + "Table 1: Number of paramettraining error at convergence K condition num, average flatness $\\kappa$ Hessian, accura ominate eigenvalue on ImageNet, and $\\lambda _ { m a x }$ $L _ { t r a i n }$ $L _ { t r a i n } ^ { \\mathcal { N } }$ $\\kappa$ gions; SAM rescues that and leads to better generalization. " + ], + "table_footnote": [ + "† As it is prohibitive to compute the exact NTK, we approximate the value by averaging over its subdiagonal blocks (see Appendix G for details). We average the results for 1,000 random noises when calculating L N train. " + ], + "table_body": "
ResNet-152ResNet-152- SAMViT-B/16ViT-B/16- SAMMixer-B/16Mixer-B/16- SAM
#Params60M87M59M
NTK κ † Hessian Xmax2801.64205.314468.0
179.842.0738.820.91644.422.5
Ltrain0.860.900.650.820.450.97
2.392.166.660.967.781.01
ImageNet (%)78.579.374.679.966.477.4
ImageNet-C (%)50.052.246.656.533.848.8
", + "bbox": [ + 205, + 160, + 790, + 287 + ], + "page_idx": 2 + }, + { + "type": "image", + "img_path": "images/90a1966458dd87f3d40d761a3e0d43aaac687c117cce8b1514558f21d052385f.jpg", + "image_caption": [ + "Figure 1: Cross-entropy loss landscapes of ResNet-152, ViT-B/16, and Mixer-B/16. ViT and MLPMixer converge to sharper regions than ResNet when trained on ImageNet with the basic Inceptionstyle preprocessing. SAM, a sharpness-aware optimizer, significantly smooths the landscapes. " + ], + "image_footnote": [], + "bbox": [ + 186, + 337, + 816, + 431 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 488, + 823, + 517 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "More recent works find that the self-attention in ViT is not vital for performance, resulting in several architectures exclusively based on MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al., 2021a; Melas-Kyriazi, 2021). Here we take MLP-Mixer (Tolstikhin et al., 2021) as an example. MLP-Mixer shares the same input layer as ViT; namely, it partitions an image into a sequence of nonoverlapping patches/tokens. It then alternates between token and channel MLPs, where the former allows feature fusion from different spatial locations. ", + "bbox": [ + 174, + 523, + 825, + 607 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "We focus on ViTs and MLP-Mixers in this paper. We denote by “S” and “B” the small and base model sizes, respectively, and by an integer the image patch resolution. For instance, ViT-B/16 is the base ViT model taking as input a sequence of $1 6 \\times 1 6$ patches. Appendices contain more details. ", + "bbox": [ + 176, + 613, + 823, + 656 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "3 VITS AND MLP-MIXERS CONVERGE AT SHARP LOCAL MINIMA ", + "text_level": 1, + "bbox": [ + 176, + 676, + 741, + 693 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "The current training recipe of ViTs, MLP-Mixers, and related convolution-free architectures relies heavily on massive pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) or a bag of strong data augmentations (Touvron et al., 2021b; Tolstikhin et al., 2021; Cubuk et al., 2019; 2020; Zhang et al., 2018; Yun et al., 2019). It highly demands data and computing, and leads to many hyperparameters to tune. Existing works report that ViTs yield inferior accuracy to the ConvNets of similar size and throughput when trained from scratch on ImageNet without the combination of those advanced data augmentations, despite using various regularization techniques (e.g., large weight decay, Dropout (Srivastava et al., 2014), etc.). For instance, ViT-B/16 (Dosovitskiy et al., 2021) gives rise to $7 4 . 6 \\%$ top-1 accuracy on the ImageNet validation set (224 image resolution), compared with $78 . 5 \\%$ of ResNet-152 (He et al., 2016). Mixer-B/16 (Tolstikhin et al., 2021) performs even worse $( 6 6 . 4 \\% )$ . There also exists a large gap between ViTs and ResNets in robustness tests (see Table 2 for details). ", + "bbox": [ + 174, + 708, + 825, + 875 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Moreover, Chen et al. (2021c) find that the gradients can spike and cause a sudden accuracy dip when training ViTs, and Touvron et al. (2021b) report the training is sensitive to initialization and hyperparameters. These all point to optimization problems. In this paper, we investigate the loss landscapes of ViTs and MLP-Mixers to understand them from the optimization perspective, intending to reduce their dependency on the large-scale pre-training or strong data augmentations. ", + "bbox": [ + 176, + 882, + 823, + 924 + ], + "page_idx": 2 + }, + { + "type": "image", + "img_path": "images/ae32274bd02eb0799db3729591c90459bb055b5df5c67f8be23f0e313db98297.jpg", + "image_caption": [ + "Figure 2: Left and Middle: ImageNet training error and validation accuracy vs. iteration for ViTs and MLP-Mixers. Right: Percentage of active neurons for ResNet-152, ViT-B/16, and Mixer-B/16. " + ], + "image_footnote": [], + "bbox": [ + 179, + 107, + 812, + 223 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 171, + 267, + 821, + 296 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "ViTs and MLP-Mixers converge at extremely sharp local minima. It has been extensively studied that the convergence to a flat region whose curvature is small benefits the generalization of neural networks (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Chen & Hsieh, 2020; Smith & Le, 2018; Zela et al., 2020; Chaudhari et al., 2017). Following Li et al. (2018), we plot the loss landscapes at convergence when ResNets, ViTs, and MLP-Mixers are trained from scratch on ImageNet with the basic Inception-style preprocessing (Szegedy et al., 2016) (see Appendices for details). As shown in Figures 1(a) to 1(c), ViTs and MLP-Mixers converge at much sharper regions than ResNets. Besides, we calculate the training error under Gaussian perturbations on the model parameters $L _ { t r a i n } ^ { N } = \\mathbb { E } _ { \\epsilon \\sim \\mathcal { N } } [ L _ { t r a i n } ( w + \\epsilon ) ]$ in Table 1, which reveals the average flatness. Although ViT-B/16 and Mixer-B/16 achieve lower training error $L _ { t r a i n }$ than that of ResNet-152, their loss values after random weight perturbation become much higher. We further validate the results by computing the dominate Hessian eigenvalue $\\lambda _ { m a x }$ , which is a mathematical evaluation of the worstcase landscape curvature. The $\\lambda _ { m a x }$ values of ViT and MLP-Mixer are orders of magnitude larger than that of ResNet, and MLP-Mixer suffers the largest curvature among the three species (see Section 4.4 for a detailed analysis). ", + "bbox": [ + 173, + 304, + 825, + 511 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Small training errors. This convergence at sharp regions coincides with the training dynamics shown in Figure 2 (left). Although Mixer-B/16 has fewer parameters than ViT-B/16 (59M vs. 87M), it has a smaller training error (also see $L _ { t r a i n }$ in Table 1) but much worse test accuracy, implying that using the cross-token MLP to learn the interplay across image patches is more prone to overfitting than ViTs’ self-attention mechanism whose behavior is restricted by a softmax. To validate this statement, we simply remove the softmax in ViT-B/16, such that the query and key matrices can freely interact with each other. Although having lower $L _ { t r a i n }$ (0.56 vs. 0.65), the obtained ViTB/16-Free performs much worse than the original ViT-B/16 ( $7 0 . 5 \\%$ vs. $7 4 . 6 \\%$ ). Its $L _ { t r a i n } ^ { \\mathcal { N } }$ and $\\lambda _ { m a x }$ are 7.01 and 1236.2, revealing that ViT-B/16-Free converges to a sharper region than ViTB/16 $L _ { t r a i n } ^ { \\mathcal { N } }$ is 6.66 and $\\lambda _ { m a x }$ is 738.8) both on average and in the worst-case direction. Such a difference probably explains why it is easier for MLP-Mixers to get stuck in sharp local minima. ", + "bbox": [ + 173, + 517, + 825, + 671 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "ViTs and MLP-Mixers have worse trainability. Furthermore, we discover that ViTs and MLPMixers suffer poor trainabilities, defined as the effectiveness of a network to be optimized by gradient descent (Xiao et al., 2020; Burkholz & Dubatovka, 2019; Shin & Karniadakis, 2020). Xiao et al. (2020) show that the trainability of a neural network can be characterized by the condition number of the associated neural tangent kernel (NTK), $\\Theta ( x , x ^ { \\prime } ) = J ( x ) J ( x ^ { \\prime } ) ^ { T }$ , where $J$ is the Jacobian matrix. Denoting by $\\lambda _ { 1 } \\geq \\cdots \\geq \\lambda _ { m }$ the eigenvalues of NTK $\\Theta _ { t r a i n }$ , the smallest eigenvalue $\\lambda _ { m }$ converges exponentially at a rate given by the condition number $\\kappa = \\lambda _ { 1 } / \\lambda _ { m }$ . If $\\kappa$ diverges then the network will become untrainable (Xiao et al., 2020; Chen et al., 2021a). As shown in Table 1, $\\kappa$ is pretty stable for ResNets, echoing previous results that ResNets enjoy superior trainability regardless of the depth (Yang & Schoenholz, 2017; Li et al., 2018). However, we observe that the condition number diverges when it comes to ViT and MLP-Mixer, confirming that the training of ViTs desires extra care (Chen et al., 2021c; Touvron et al., 2021b). ", + "bbox": [ + 173, + 678, + 825, + 844 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "4 A PRINCIPLED OPTIMIZER FOR CONVOLUTION-FREE ARCHITECTURES ", + "text_level": 1, + "bbox": [ + 173, + 864, + 795, + 881 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "The commonly used first-order optimizers (e.g., SGD (Nesterov, 1983), Adam (Kingma & Ba, 2015)) only seek to minimize the training loss $L _ { t r a i n } ( w )$ . They usually dismiss the higher-order information such as curvature that correlates with the generalization (Keskar et al., 2017; Chaudhari et al., 2017; Dziugaite & Roy, 2017). However, the objective $L _ { t r a i n }$ for deep neural networks are highly non-convex, making it easy to reach near-zero training error but high generalization error $L _ { t e s t }$ during evaluation, let alone their robustness when the test sets have different distributions (Hendrycks & Dietterich, 2019; Hendrycks et al., 2020). ViTs and MLPs amplify such drawbacks of first-order optimizers due to the lack of inductive bias for visual data, resulting in excessively sharp loss landscapes and poor generalization, as shown in the previous section. We hypothesize that smoothing the loss landscapes at convergence can significantly improve the generalization ability of those convolution-free architectures, leading us to the recently proposed sharpness-aware minimizer (SAM) (Foret et al., 2021) that explicitly avoids sharp minima. ", + "bbox": [ + 174, + 895, + 820, + 924 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 103, + 825, + 243 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "4.1 SAM: OVERVIEW ", + "text_level": 1, + "bbox": [ + 174, + 260, + 338, + 273 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Intuitively, SAM (Foret et al., 2021) seeks to find the parameter $w$ whose entire neighbours have low training loss $L _ { t r a i n }$ by formulating a minimax objective: ", + "bbox": [ + 173, + 286, + 823, + 314 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/157120283fe712d25eeb5ea47cd66ad9f1db293b3353949de4d0f8626faa9645.jpg", + "text": "$$\n\\operatorname* { m i n } _ { w } \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) ,\n$$", + "text_format": "latex", + "bbox": [ + 406, + 321, + 588, + 347 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "where $\\rho$ is the size of the neighbourhood ball. Without loss of generality, here we use $l _ { 2 }$ norm for its strong empirical results (Foret et al., 2021) and omit the regularization term for simplicity. Since the exact solution of the inner maximization $\\begin{array} { r } { \\epsilon _ { . } ^ { \\star } = \\arg \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) } \\end{array}$ is hard to obtain, they employ an efficient first-order approximation: ", + "bbox": [ + 174, + 354, + 825, + 411 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/c94d73e38a1908f3b82f00968d3fd2f2f7f6e042cece5fb363a413dc2a886df5.jpg", + "text": "$$\n\\boldsymbol { \\hat { \\epsilon } } ( \\boldsymbol { w } ) = \\operatorname* { a r g m a x } _ { \\| \\boldsymbol { \\epsilon } \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( \\boldsymbol { w } ) + \\epsilon ^ { T } \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) = \\rho \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) / \\| \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) \\| _ { 2 } .\n$$", + "text_format": "latex", + "bbox": [ + 217, + 416, + 781, + 446 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Under the $l _ { 2 }$ norm, $\\hat { \\epsilon } ( w )$ is simply a scaled gradient of the current weight $w$ . After computing $\\hat { \\epsilon }$ , SAM updates $w$ based on the sharpness-aware gradient $\\nabla _ { w } L _ { t r a i n } ( w ) | _ { w + \\hat { \\epsilon } ( w ) }$ . ", + "bbox": [ + 171, + 454, + 825, + 484 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "4.2 SHARPNESS-AWARE OPTIMIZATION IMPROVES VITS AND MLP-MIXERS ", + "text_level": 1, + "bbox": [ + 174, + 501, + 712, + 515 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "We train ViTs and MLP-Mixers with no large-scale pre-training or strong data augmentations. We directly apply SAM to the original ImageNet training pipeline of ViTs (Dosovitskiy et al., 2021) without changing any hyperparameters. The pipeline employs the basic Inception-style preprocessing (Szegedy et al., 2016). The original training setup of MLP-Mixers (Tolstikhin et al., 2021) includes a combination of strong data augmentations, and we replace it with the same Inceptionstyle preprocessing for a fair comparison. Note that we perform grid search for the learning rate, weight decay, Dropout before applying SAM. Please see Appendices for training details. ", + "bbox": [ + 174, + 526, + 825, + 625 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Smoother regions around the local minima. Thanks to SAM, both ViTs and MLP-Mixers converge at much smoother regions, as shown in Figures 1(d) and 1(e). Moreover, both the average and the worst-case curvature, i.e., $L _ { t r a i n } ^ { \\mathcal { N } }$ and $\\lambda _ { m a x }$ , decrease dramatically (see Table 1). ", + "bbox": [ + 174, + 631, + 825, + 674 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Higher accuracy. What comes along is tremendously improved generalization performance. On ImageNet, SAM boosts the top-1 accuracy of ViT-B/16 from $7 4 . 6 \\%$ to $7 9 . 9 \\%$ , and Mixer-B/16 from $6 6 . 4 \\%$ to $7 7 . 4 \\%$ . For comparison, the improvement on a similarly sized ResNet-152 is $0 . 8 \\%$ . Empirically, the degree of improvement negatively correlates with the constraints of inductive biases built into the architecture. ResNets with inherent translation equivalence and locality benefit less from landscape smoothing than the attention-based ViTs. MLP-Mixers gain the most from the smoothed loss geometry. In Table 3, we further train two hybrid models (Dosovitskiy et al., 2021) to validate this observation, where the Transformer takes the feature map extracted from a ResNet-50 as the input sequence. The improvement brought by SAM decreases after we introduce the convolution to ViT, for instance, $+ 2 . 7 \\%$ for R50-B/16 compared to $+ 5 . 3 \\%$ for ViT-B/16. Moreover, SAM brings larger improvements to the models of larger capacity (e.g., $+ 4 . 1 \\%$ for Mixer-S/16 vs. $+ 1 1 . 0 \\%$ for Mixer-B/16) and longer patch sequence (e.g., $+ 2 . 1 \\%$ for ViT-S/32 vs. $+ 5 . 3 \\%$ for ViT-S/8). Please see Table 2 for more results. ", + "bbox": [ + 174, + 680, + 825, + 861 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "SAM can be easily applied to common base optimizers. Besides Adam, we also apply SAM on top of the (momentum) SGD that usually performs much worse than Adam when training Transformers (Zhang et al., 2020). As expected, we find that under the same training budget (300 epochs), the ViT-B/16 trained with SGD only achieves $7 1 . 5 \\%$ accuracy on ImageNet, whereas Adam achieves ", + "bbox": [ + 174, + 867, + 823, + 924 + ], + "page_idx": 4 + }, + { + "type": "table", + "img_path": "images/57b209a024b6666aebd332dd838c11b38f00ef2c2fb4cf669cf6f6086ebb44cb.jpg", + "table_caption": [ + "Table 2: Performance of ResNets, ViTs, and MLP-Mixers trained from scratch on ImageNet with SAM (improvement over the vanilla model is shown in the parentheses). We use the Inception-style preprocessing (with resolution 224) rather than a combination of strong data augmentations. " + ], + "table_footnote": [], + "table_body": "
Model#paramsThroughput (img/sec/core)ImageNetReaLV2ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216176.7 (+0.7)83.1 (+0.7)64.6 (+1.0)23.3 (+1.1)46.5 (+1.9)
ResNet-101-SAM44M133478.6 (+0.8)84.8 (+0.9)66.7 (+1.4)25.9 (+1.5)51.3 (+2.8)
ResNet-152-SAM60M93579.3 (+0.8)84.9 (+0.7)67.3 (+1.0)25.7 (+0.4)52.2 (+2.2)
ResNet-50x2-SAM98M89179.6 (+1.5)85.3 (+1.6)67.5 (+1.7)26.0 (+2.9)50.7 (+3.9)
ResNet-101x2-SAM173M51980.9 (+2.4)86.4 (+2.4)69.1 (+2.8)27.8(+3.2)54.0 (+4.7)
ResNet-152x2-SAM236M35681.1 (+1.8)86.4 (+1.9)69.6 (+2.3)28.1 (+2.8)55.0 (+4.2)
Vision Transformer
ViT-S/32-SAM23M688870.5 (+2.1)77.5 (+2.3)56.9 (+2.6)21.4 (+2.4)46.2 (+2.9)
ViT-S/16-SAM22M204378.1 (+3.7)84.1 (+3.7)65.6(+3.9)24.7 (+4.7)53.0 (+6.5)
ViT-S/14-SAM22M123478.8 (+4.0)84.8 (+4.5)67.2(+5.2)24.4 (+4.7)54.2 (+7.0)
ViT-S/8-SAM22M33381.3 (+5.3)86.7 (+5.5)70.4 (+6.2)25.3 (+6.1)55.6 (+8.5)
ViT-B/32-SAM88M280573.6 (+4.1)80.3 (+5.1)60.0 (+4.7)24.0 (+4.1)50.7 (+6.7)
ViT-B/16-SAM87M86379.9 (+5.3)85.2 (+5.4)67.5 (+6.2)26.4 (+6.3)56.5 (+9.9)
MLP-Mixer
Mixer-S/32-SAM19M1140166.7 (+2.8)73.8 (+3.5)52.4 (+2.9)18.6 (+2.7)39.3 (+4.1)
Mixer-S/16-SAM18M400572.9 (+4.1)79.8 (+4.7)58.9 (+4.1)20.1 (+4.2)42.0 (+6.4)
Mixer-S/8-SAM20M149875.9 (+5.7)82.5 (+6.3)62.3 (+6.2)20.5 (+5.1)42.4 (+7.8)
Mixer-B/32-SAM60M420972.4 (+9.9)79.0 (+10.9)58.0 (+10.4)22.8 (+8.2)46.2 (12.4)
Mixer-B/16-SAM Mixer-B/8-SAM59M139077.4 (+11.0)83.5 (+11.4) 84.4(+10.1)63.9 (+13.1)24.7 (+10.2)48.8 (+15.0)
64M46679.0 (+10.4)65.5 (+11.6)23.5 (+9.2)48.9 (+16.9)
", + "bbox": [ + 174, + 146, + 826, + 422 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "$7 4 . 6 \\%$ . Surprisingly, $\\mathrm { S G D + S A M }$ can push the result to $7 9 . 1 \\%$ , which is a huge $+ 7 . 6 \\%$ absolute improvement. Although Ad $\\mathrm { a m } + \\mathrm { S A M }$ is still higher $( 7 9 . 9 \\% )$ , their gap largely shrinks. ", + "bbox": [ + 176, + 449, + 823, + 477 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Better robustness. We also evaluate the models’ robustness using ImageNet-R (Hendrycks et al., 2020) and ImageNet-C (Hendrycks & Dietterich, 2019) and find even bigger impacts of the smoothed loss landscapes. On ImageNet-C, which corrupts images by noise, bad weather, blur, etc., we report the average accuracy against 19 corruptions across five levels. As shown in Tables 1 and 2, the accuracies of ViT-B/16 and Mixer-B/16 increase by $9 . 9 \\%$ and $1 5 . 0 \\%$ (which are $2 1 . 2 \\%$ and $4 4 . 4 \\%$ relative improvements), after SAM smooths their converged local regions. In comparison, SAM improves the accuracy of ResNet-152 by $2 . 2 \\%$ $4 . 4 \\%$ relative improvement). We can see that SAM enhances the robustness even more than the relative clean accuracy improvements $7 . 1 \\%$ , $1 6 . 6 \\%$ , and $1 . 0 \\%$ for ViT-B/16, Mixer-B/16, and ResNet-152, respectively). ", + "bbox": [ + 173, + 483, + 825, + 609 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "4.3 VITS OUTPERFORM RESNETS WITHOUT PRE-TRAINING OR STRONG AUGMENTATIONS ", + "text_level": 1, + "bbox": [ + 173, + 627, + 807, + 640 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "The performance of an architecture is often conflated with the training strategies (Bello et al., 2021), where data augmentations play a key role (Cubuk et al., 2019; 2020; Zhang et al., 2018; Xie et al., 2020; Chen et al., 2021b). However, the design of augmentations requires substantial domain expertise and may not translate between images and videos, for instance. Thanks to the principled sharpness-aware opti", + "bbox": [ + 174, + 652, + 483, + 777 + ], + "page_idx": 5 + }, + { + "type": "table", + "img_path": "images/dcfdd3598b9567978174aaf4e70b65f2cdec949e765462d1eb6817c935764714.jpg", + "table_caption": [ + "Table 3: Accuracy and robustness of two hybrid architectures. " + ], + "table_footnote": [ + "mizer, we can remove the advanced augmentations and focus on the architectures themselves. " + ], + "table_body": "
Model#paramsImageNet (%)ImageNet-C (%)
R50-S/16 R50-S/16-SAM34M79.8 81.0 (+1.2)53.4 57.2 (+3.8)
R50-B/1679.754.4
R50-B/16-SAM99M82.4 (+2.7)61.0 (+6.6)
", + "bbox": [ + 498, + 685, + 823, + 770 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "When trained from scratch on ImageNet with SAM, ViTs outperform ResNets of similar and greater sizes (also comparable throughput at inference) regarding both clean accuracy (on ImageNet (Deng et al., 2009), ImageNet-ReaL (Beyer et al., 2020), and ImageNet V2 (Recht et al., 2019)) and robustness (on ImageNet-R (Hendrycks et al., 2020) and ImageNet-C (Hendrycks & Dietterich, 2019)). ViT-B/16 achieves $7 9 . 9 \\%$ , $2 6 . 4 \\%$ , and $5 6 . 6 \\%$ top-1 accuracy on ImageNet, ImageNet-R, and ImageNet-C, while the counterpart numbers for ResNet-152 are $7 9 . 3 \\%$ , $2 5 . 7 \\%$ , and $5 2 . 2 \\%$ , respectively (see Table 2). The gaps between ViTs and ResNets are even wider for small architectures. ViT-S/16 outperforms a similarly sized ResNet-50 by $1 . 4 \\%$ on ImageNet, and $6 . 5 \\%$ on ImageNet-C. SAM also significantly improves MLP-Mixers’ results. ", + "bbox": [ + 173, + 797, + 825, + 924 + ], + "page_idx": 5 + }, + { + "type": "table", + "img_path": "images/f5fa82ff8dfa49d161b7a592113be464653af27e559189f56f90867e02e93d8d.jpg", + "table_caption": [ + "Table 4: Dominant eigenvalue $\\lambda _ { m a x }$ of the sub-diagonal Hessians for different network components, and norm of the model parameter $w$ and the post-activation $a _ { k }$ of block $k$ . Each ViT block consists of a MSA and a MLP, and MLP-Mixer alternates between a token MLP a channel MLP. Shallower layers have larger $\\lambda _ { m a x }$ . SAM smooths every component. " + ], + "table_footnote": [], + "table_body": "
ModelXmax of diagonal blocks of Hessian|w|l2|a1|l2|a6|2|a12|l2
EmbeddingMSA/ Token MLPMLP/ Channel MLPBlock1Block6Block12Whole
ViT-B/16300.4179.8281.444.432.426.9738.8269.3104.9104.3138.1
ViT-B/16-SAM3.88.59.61.71.71.520.9353.8117.0120.397.2
Mixer-B/161042.395.8417.9239.341.25.11644.4197.696.7135.174.9
Mixer-B/16-SAM18.21.49.54.01.10.322.5389.9110.9176.0216.1
", + "bbox": [ + 174, + 160, + 825, + 246 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "4.4 INTRINSIC CHANGES AFTER SAM ", + "text_level": 1, + "bbox": [ + 176, + 267, + 449, + 281 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "We take a deeper look into the models to understand how they intrinsically change to reduce the Hessian’ eigenvalue $\\lambda _ { m a x }$ and what the changes imply in addition to the enhanced generalization. ", + "bbox": [ + 173, + 292, + 823, + 321 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Smoother loss landscapes for every network component. In Table 4, we break down the Hessian of the whole architecture into small diagonal blocks of Hessians concerning each set of parameters, attempting to analyze what specific components cause the blowing up of $\\lambda _ { m a x }$ in the models trained without SAM. We observe that shallower layers have larger Hessian eigenvalues $\\lambda _ { m a x }$ , and the first linear embedding layer incurs the sharpest geometry. This agrees with the finding in (Chen et al., 2021c) that spiking gradients happen early in the embedding layer. Additionally, the multi-head self-attention (MSA) in ViTs and the Token MLPs in MLP-Mixers, both of which mix information across spatial locations, have comparably lower $\\lambda _ { m a x }$ than the other network components. SAM consistently reduces the $\\lambda _ { m a x }$ of all network blocks. ", + "bbox": [ + 173, + 328, + 825, + 454 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "We can gain insights into the above findings by the recursive formulation of Hessian matrices for MLPs (Botev et al., 2017). Let $h _ { k }$ and $a _ { k }$ be the pre-activation and post-activation values for layer $k$ , respectively. They satisfy $h _ { k } = W _ { k } a _ { k - 1 }$ and $\\bar { a } _ { k } = f _ { k } ( h _ { k } )$ , where $W _ { k }$ is the weight matrix and $f _ { k }$ is the activation function (GELU (Hendrycks & Gimpel, 2020) in MLP-Mixers). Here we omit the bias term for simplicity. The diagonal block of Hessian matrix $H _ { k }$ with respect to $W _ { k }$ can be recursively calculated as: ", + "bbox": [ + 176, + 459, + 823, + 544 + ], + "page_idx": 6 + }, + { + "type": "equation", + "img_path": "images/e673ff065513b910f3cdc37117ba797c5b6860a86b5ffac17fc7507032ba4d3d.jpg", + "text": "$$\n\\begin{array} { r l r } & { } & { H _ { k } = ( a _ { k - 1 } a _ { k - 1 } ^ { T } ) \\otimes \\mathcal { H } _ { k } , \\quad \\mathcal { H } _ { k } = B _ { k } W _ { k + 1 } ^ { T } \\mathcal { H } _ { k + 1 } W _ { k + 1 } B _ { k } + D _ { k } , } \\\\ & { } & { B _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime } ( h _ { k } ) ) , \\qquad D _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime \\prime } ( h _ { k } ) \\frac { \\partial L } { \\partial a _ { k } } ) , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 279, + 549, + 718, + 604 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "where $\\otimes$ is the Kronecker product, $\\mathcal { H } _ { k }$ is the pre-activation Hessian for layer $k$ , and $L$ is the objective function. Therefore, the Hessian norm accumulates as the recursive formulation backpropagates to shallow layers, explaining why the first block has much larger $\\lambda _ { m a x }$ than the last block in Table 4. ", + "bbox": [ + 176, + 609, + 820, + 652 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Greater weight norms. After applying SAM, we find that in most cases, the norm of the postactivation value $a k _ { - 1 }$ and the weight $W _ { k + 1 }$ become even bigger (see Table 4), indicating that the commonly used weight decay may not effectively regularize ViTs and MLP-Mixers (see Appendix J for further verification when we vary the weight decay strength). ", + "bbox": [ + 174, + 659, + 823, + 715 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Sparser active neurons in MLP-Mixers. Given the recursive formulation Equation (3), we identify another intrinsic measure of MLP-Mixers that contribute to the Hessian: the number of activated neurons. Indeed, $B _ { k }$ is determined by the activated neurons whose values are greater than zero, since the first-order derivative of GELU becomes much smaller when the input is negative. As a result, the number of active GELU neurons is directly connected to the Hessian norm. Figure 2 (right) shows the proportion of activated neurons for each block, counted using $10 \\%$ of the ImageNet training set. We can see that SAM greatly reduces the proportion of activated neurons for the first few layers of the Mixer-B/16, pushing them to much sparser states. This result also suggests the potential redundancy of image patches. ", + "bbox": [ + 173, + 720, + 825, + 848 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "ViTs’ active neurons are highly sparse. Although Equations (3) and (4) only involve MLPs, we still observe a decrease of activated neurons in the first layer of ViTs (but not as significant as in MLP-Mixers). More interestingly, we find that the proportion of active neurons in ViT is much smaller than another two architectures — given an input image, less than $10 \\%$ neurons have values greater than zero for most layers (see Figure 2 (right)). In other words, ViTs offer a huge potential for network pruning. This sparsity may also explain why one Transformer can handle multi-modality signals (vision, text, and audio) (Akbari et al., 2021). ", + "bbox": [ + 174, + 854, + 823, + 924 + ], + "page_idx": 6 + }, + { + "type": "table", + "img_path": "images/924afd67bcbf36c57c51263a576bda2009ef29b2d9229d92ae62c595b81707f1.jpg", + "table_caption": [ + "Table 5: Data augmentations, SAM, and their combination applied to different model architectures trained on ImageNet and its subsets from scratch. " + ], + "table_footnote": [], + "table_body": "
DatasetResNet-152ViT-B/16Mixer-B/16
Vanilla SAMAUGSAM + AUGVanilla SAMAUGSAM +AUGVanillaSAMAUGSAM + AUG
ImageNet78.579.378.878.974.679.979.681.566.477.476.578.1
i1k (1/2)74.275.675.175.564.975.473.175.853.971.070.473.1
i1k (1/4)68.070.370.270.652.466.863.265.637.262.861.065.8
i1k (1/10)54.657.159.259.532.846.138.545.721.043.543.051.0
", + "bbox": [ + 176, + 132, + 825, + 227 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/aab787bfaa975ef1497c10bad7ae3a875097e6eb7ec54cbdbb139c7c437a72eb.jpg", + "image_caption": [ + "Figure 3: Raw images (Left) and attention maps of ViT-S/16 with (Right) and without (Middle) sharpness-aware optimization. " + ], + "image_footnote": [], + "bbox": [ + 228, + 241, + 769, + 425 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 469, + 821, + 497 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Visually improved attention maps in ViTs. We visualize ViT-S/16’s attention map of the classification token averaged over the last multi-head attentions in Figure 3 following Caron et al. (2021). Interestingly, the ViT model optimized with SAM appears to possess visually improved attention map compared with the one trained via the vanilla AdamW optimizer. ", + "bbox": [ + 174, + 503, + 825, + 560 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "4.5 SAM VS. STRONG AUGMENTATIONS ", + "text_level": 1, + "bbox": [ + 176, + 578, + 464, + 592 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Previous sections show that SAM can improve the generalization (and robustness) of ViTs and MLP-Mixers. Meanwhile, another paradigm to train these models on ImageNet from scratch is to stack multiple strong augmentations (Touvron et al., 2021b;a; Tolstikhin et al., 2021). Hence, it is interesting to study the differences and similarities between the models trained by SAM and by using strong data augmentations. For the augmentation experiments, we follow Tolstikhin et al. (2021)’s pipeline that includes mixup (Zhang et al., 2018) and RandAugment (Cubuk et al., 2020). ", + "bbox": [ + 174, + 603, + 825, + 688 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Generalization. Table 5 shows the results of strong data augmentation, SAM, and their combination on ImageNet. Each row corresponds to a training set of a different fraction of ImageNet-1k. SAM benefits ViT-B/16 and Mixer-B/16 more than the strong data augmentations, especially when the training set is small. For instance, when the training set contains only 1/10 of ImageNet training images, ViT-B/16-SAM outperforms ViT-B/16-AUG by $7 . 6 \\%$ . Apart from the improved validation accuracy, we also observe that both SAM and strong augmentations increase the training error (see Figure 2 (Middle) and Table 6), indicating their regularization effects. However, they have distinct training dynamics as the loss curve for ViT-B/16-AUG is much nosier than ViT-B/16-SAM. ", + "bbox": [ + 173, + 694, + 825, + 805 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Sharpness at convergence. Another intriguing question is as follows. Can augmentations also smooth the loss geometry similarly to SAM? To answer it, we also plot the landscape of ViTB/16-AUG (see Figure 5 in the Appendix) and compute its Herage flatness $\\lambda _ { m a x }$ together with the av-able 6. Surprisingly, $L _ { t r a i n } ^ { \\mathcal { N } }$ strong augmentations even enlarge the $\\lambda _ { m a x }$ ", + "bbox": [ + 174, + 813, + 490, + 924 + ], + "page_idx": 7 + }, + { + "type": "table", + "img_path": "images/ec4ac0b041aa316e4f8fd851fac02bfd7a30ed9e933a20731268615051dec4d6.jpg", + "table_caption": [ + "Table 6: Comparison between ViT-B/16-SAM and ViT-B/16-AUG. $R$ denotes the missing rate under linear interpolation. " + ], + "table_footnote": [], + "table_body": "
ModelXmaxLtrainR(↓)
ViT-B/16738.80.656.6657.9%
ViT-B/16-SAM20.90.820.9639.6%
ViT-B/16-AUG1659.30.851.2321.4%
", + "bbox": [ + 506, + 858, + 825, + 920 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "However, like SAM, augmentations make ViT-B/16-AUG smoother and achieve a significantly smaller training error under random Gaussian perturbations than ViT-B/16. These results show that both SAM and augmentations make the loss landscape flat on average. The difference is that SAM enforces the smoothness by reducing the largest curvature via a minimax formulation to optimize the worst-case scenario, while augmentations ignore the worse-case curvature and instead smooth the landscape over the directions induced by the augmentations. ", + "bbox": [ + 174, + 103, + 823, + 188 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Interestingly, besides the similarity in smoothing the loss curvature on average, we also discover that SAM-trained models possess “linearality” resembling the property manually injected by the mixup augmentation. Following Zhang et al. (2018), we compute the prediction error in-between training data in Table 6, where a prediction $y$ is counted as a miss if it does not belong to $\\{ y _ { i } , y _ { j } \\}$ evaluated at $x = 0 . 5 x _ { i } + 0 . 5 x _ { j }$ . We observe that SAM greatly reduces the missing rate $( R )$ compared with the vanilla baseline, showing a similar effect to mixup that explicitly encourages such linearity. ", + "bbox": [ + 174, + 194, + 825, + 279 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "5 ABLATION STUDIES ", + "text_level": 1, + "bbox": [ + 176, + 300, + 372, + 316 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "In this section, we provide a more comprehensive study about SAM’s effect on various vision models and under different training setups. We refer to Appendices B to $\\mathrm { D }$ for the adversarial, contrastive and transfer learning results. ", + "bbox": [ + 176, + 333, + 825, + 376 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "5.1 WHEN SCALING THE TRAINING SET SIZE ", + "text_level": 1, + "bbox": [ + 174, + 396, + 496, + 410 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Previous studies scale up training data to show massive pre-training trumps inductive biases (Dosovitskiy et al., 2021; Tolstikhin et al., 2021). Here we show SAM further enables ViTs and MLPMixers to handle small-scale training data well. We randomly sample 1/4 and 1/2 images from each ImageNet class to compose two smaller-scale training sets, i.e., i1k (1/4) and i1k (1/2) with 320,291 and 640,583 images, respectively. We also use ImageNet-21k to pre-train the models with SAM, followed by fine-tuning on ImageNet-1k without SAM. The ImageNet validation set remains intact. SAM can still bring improvement when pre-trained on ImageNet-21k $( + 0 . 3 \\%$ , $+ 1 . 4 \\%$ , and $2 . 3 \\%$ for ResNet-152, ViT-B/16, and Mixer-B/16, respectively). ", + "bbox": [ + 174, + 422, + 825, + 534 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "As expected, fewer training examples amplify the drawback of ViTs and MLP-Mixers’ lack of the convolutional inductive bias — their accuracies decline much faster than ResNets’ (see Figure 4 in the Appendix and the corresponding numbers in Table 5). However, SAM can drastically rescue ViTs and MLP-Mixers’ performance decrease on smaller training sets. Figure 4 (right) shows that the improvement brought by SAM over vanilla SGD training is proportional to the number of training images. When trained on i1k (1/4), it boosts ViT-B/16 and Mixer-B/16 by $1 4 . 4 \\%$ and $2 5 . 6 \\%$ , escalating their results to $6 6 . 8 \\%$ and $6 2 . 8 \\%$ , respectively. It also tells that ViT-B/16-SAM matches the performance of ResNet-152-SAM even with only 1/2 ImageNet training data. ", + "bbox": [ + 174, + 541, + 825, + 652 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "6 CONCLUSIONS AND LIMITATIONS ", + "text_level": 1, + "bbox": [ + 176, + 675, + 483, + 690 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "This paper presents a detailed analysis of the convolution-free ViTs and MLP-Mixers from the lens of the loss landscape geometry, intending to reduce the models’ dependency on massive pre-training and/or strong data augmentations. We arrive at the sharpness-aware minimizer (SAM) after observing sharp local minima of the converged models. By explicitly regularizing the loss geometry through SAM, the models enjoy much flatter loss landscapes and improved generalization regarding accuracy and robustness. The resultant ViT models outperform ResNets of comparable size and throughput when learned with no pre-training or strong augmentations. Further investigation reveals that the smoothed loss landscapes attribute to much sparser activated neurons in the first few layers. Last but not least, we discover that SAM and strong augmentations share certain similarities to enhance the generalization. They both smooth the average loss curvature and encourage linearity. ", + "bbox": [ + 174, + 708, + 825, + 847 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Despite achieving better generalization, training ViTs with SAM has the following limitations which could lead to potential future work. First, SAM incurs another round of forward and backward propagations to update $\\epsilon$ , which will lead to around $2 \\mathbf { x }$ computational cost per update. Second, we notice that the effect of SAM diminishes as the training dataset becomes larger, so it is vital to develop learning algorithms that can improve/accelerate the large-scale pre-training process. ", + "bbox": [ + 174, + 853, + 823, + 924 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "ETHICS STATEMENT ", + "text_level": 1, + "bbox": [ + 176, + 102, + 343, + 118 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "We are not aware of any immediate ethical issues in our work. We hope this paper can provide new insights into the convolution-free neural architectures and their interplay with optimizers, hence benefiting future developments of advanced neural architectures that are efficient in data and computation. Possible negative societal impacts mainly hinge on the applications of convolution-free architectures, whose societal effects may translate to this work. ", + "bbox": [ + 174, + 133, + 825, + 204 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "ACKNOWLEDGEMENT ", + "text_level": 1, + "bbox": [ + 176, + 227, + 357, + 241 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "This work is partially supported by NSF under IIS-1901527, IIS-2008173, IIS-2048280 and by Army Research Laboratory under agreement number W911NF-20-2-0158. ", + "bbox": [ + 176, + 257, + 823, + 285 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "REPRODUCIBILITY STATEMENT ", + "text_level": 1, + "bbox": [ + 176, + 308, + 436, + 323 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "We provide comprehensive experimental details and references to existing works and codebases to ensure reproducibility. The specification of all the architectures used in this paper is available in Appendix A. The instructions for plotting the landscape and the attention map are detailed in Appendix E. 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", + "bbox": [ + 174, + 833, + 825, + 888 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "APPENDICES ", + "text_level": 1, + "bbox": [ + 176, + 103, + 282, + 117 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "A ARCHITECTURES ", + "text_level": 1, + "bbox": [ + 176, + 135, + 352, + 151 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Table 8 specifies the ViT (Dosovitskiy et al., 2021; Vaswani et al., 2017) and MLP-Mixer (Tolstikhin et al., 2021) architectures used in this paper. “S” and “B” denote the small and base model scales following (Dosovitskiy et al., 2021; Touvron et al., 2021b; Tolstikhin et al., 2021), followed by the size of each image patch. For instance, $\\mathbf { \\ddot { B } } / 1 6 ^ { , }$ means the model of base scale with non-overlapping image patches of resolution $1 6 \\times 1 6$ . We use the input resolution $2 2 4 \\times 2 2 4$ throughout the paper. Following Tolstikhin et al. (2021), we sweep the batch sizes in $\\{ 3 2 , 6 4 , \\dots , 8 1 9 2 \\}$ on TPU-v3 and report the highest throughput for each model. ", + "bbox": [ + 174, + 165, + 825, + 263 + ], + "page_idx": 14 + }, + { + "type": "table", + "img_path": "images/41bc04fe6732839b770a5225d77cab985bea5fd789572eff87c162d5eedb6fc4.jpg", + "table_caption": [ + "Table 7: Comparison under the adversarial training framework on ImageNet (numbers in the parentheses denote the improvement over the standard adversarial training without SAM). With similar model size and throughput, ViTs-SAM can still outperform ResNets-SAM for clean accuracy and adversarial robustness. " + ], + "table_footnote": [], + "table_body": "
Model#paramsThroughput (img/sec/core)ImageNetRealV2PGD-10ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216170.1 (-0.7)77.9 (-0.3)56.6(-0.8)54.1 (+0.9)27.0 (+0.9)42.7 (-0.1)
ResNet-101-SAM44M133473.6(-0.4)81.0 (+0.1)60.4 (-0.6)58.8 (+1.4)29.5(+0.6)46.9 (+0.3)
ResNet-152-SAM60M93575.1 (-0.4)82.3 (+0.2)62.2 (-0.4)61.0(+1.8)30.8 (+1.4)49.1 (+0.6)
Vision Transformer
ViT-S/16-SAM22M204373.2 (+1.2)80.7 (+1.7)60.2 (+1.4)58.0 (+5.2)28.4(+2.4)47.5 (+1.6)
ViT-B/32-SAM88M280569.9 (+3.0)76.9 (+3.4)55.7 (+2.5)54.0 (+6.4)26.0 (+3.0)46.4 (+3.0)
ViT-B/16-SAM87M86376.7 (+3.9)82.9 (+4.1)63.6 (+4.3)62.0(+7.7)30.0 (+4.9)51.4 (+5.0)
MLP-Mixer
Mixer-S/16-SAM18M400567.1 (+2.2)74.5 (+2.3)52.8 (+2.5)50.1 (+4.1)22.9 (+2.6)37.9 (+2.5)
Mixer-B/32-SAM60M420969.3 (+9.1)76.4 (+10.2)54.7 (+9.4)54.5 (+13.9)26.3 (+8.0)43.7(+8.8)
Mixer-B/16-SAM59M139073.9 (+11.1)80.8 (+11.8)60.2 (+11.9)59.8 (+17.3)29.0 (+10.5)45.9 (+12.5)
", + "bbox": [ + 174, + 334, + 825, + 501 + ], + "page_idx": 14 + }, + { + "type": "table", + "img_path": "images/d4d4cfc3c2981bb2bb4dc0929cff0a77490fedfa692153bc731fc4d7a227dac4.jpg", + "table_caption": [ + "Table 8: Specifications of the ViT and MLP-Mixer architectures used in this paper. We train all the architectures with image resolution $2 2 4 \\times 2 2 4$ . " + ], + "table_footnote": [], + "table_body": "
Model#paramsThroughput (img/sec/core)Patch ResolutionSequence LengthHidden Size#heads#layersToken MLP DimensionChannel MLP Dimension
ViT-S/3223M688832×3249384612
ViT-S/1622M204316×16196384612
ViT-S/1422M123414 × 14256384612
ViT-S/822M3338×8784384612
ViT-B/3288M280532×32497681212
ViT-B/1687M86316×16196768121211
Mixer-S/3219M1140132×3249512182562048
Mixer-S/1618M400516×1619651282562048
Mixer-S/820M14988×878451282562048
Mixer-B/3260M420932×3249768123843072
Mixer-B/1659M139016×16196768123843072
Mixer-B/864M4668×8784768123843072
", + "bbox": [ + 178, + 545, + 823, + 694 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "B WHEN SAM MEETS ADVERSARIAL TRAINING ", + "text_level": 1, + "bbox": [ + 174, + 719, + 598, + 736 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Interestingly, SAM and adversarial training are both minimax problems except that SAM’s inner maximization is with respect to the network weights, while the latter concerns about the input for defending contrived attack (Madry et al., 2018; Wong et al., 2020). Moreover, similar to SAM, Shafahi et al. (2019) suggest that adversarial training can flatten and smooth the loss landscape. In light of these connections, we study ViTs and MLP-Mixers under the adversarial training framework (Wu et al., 2020; Madry et al., 2018). We use the fast adversarial training (Wong et al., 2020) (FGSM with random start) with the $l _ { \\infty }$ norm and maximum per-pixel change 2/255 during training. All the hyperparameters remain the same as the vanilla supervised training. When evaluating the adversarial robustness, we use the PGD attack (Madry et al., 2018) with the same maximum per-pixel change 2/255. The total number of attack steps is 10, and the step size is 0.25/255. To incorporate SAM, we formulate a three-level objective: ", + "bbox": [ + 174, + 750, + 825, + 779 + ], + "page_idx": 14 + }, + { + "type": "table", + "img_path": "images/6349a61d2f141e26061f1153027158eeb50d68d78e14529c28e20c1b1bf20ed4.jpg", + "table_caption": [ + "Table 9: Hyperparameters for downstream tasks. All models are fine-tuned with $2 2 4 \\times 2 2 4$ resolution, a batch size of 512, cosine learning rate decay, no weight decay, and grad clipping at global norm 1. " + ], + "table_footnote": [], + "table_body": "
DatasetTotal stepsWarmup stepsBase LR
CIFAR-1010K500
CIFAR-10010K500{0.001,0.003,0.01,0.03}
Flowers500100
Pets500100
", + "bbox": [ + 272, + 844, + 728, + 921 + ], + "page_idx": 14 + }, + { + "type": "image", + "img_path": "images/7366732ab73b35025f59f931bc664e34561354605a6f72da54bccbabee7345e9.jpg", + "image_caption": [ + "Figure 4: ImageNet accuracy (Left) and improvement (Right) brought by SAM. " + ], + "image_footnote": [], + "bbox": [ + 212, + 112, + 785, + 253 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 294, + 825, + 420 + ], + "page_idx": 15 + }, + { + "type": "equation", + "img_path": "images/5a86e2e98a1835f1817dd110e6c993d73f870653d806cab39f74079f1a5cefcf.jpg", + "text": "$$\n\\operatorname* { m i n } _ { w } \\operatorname* { m a x } _ { \\epsilon \\in \\mathbb { S } _ { s a m } } \\operatorname* { m a x } _ { \\delta \\in \\mathbb { S } _ { a d v } } L _ { t r a i n } ( w + \\epsilon , x + \\delta , y ) ,\n$$", + "text_format": "latex", + "bbox": [ + 352, + 426, + 642, + 450 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "where $\\mathbb { S } _ { s a m }$ and $\\mathbb { S } _ { a d v }$ denote the allowed perturbation norm balls for the model parameter $w$ and input image $x$ , respectively. Note that we can simultaneously obtain the gradients for computing $\\epsilon$ and $\\delta$ by backpropagation only once. To lower the training cost, we use fast adversarial training (Wong et al., 2020) with the $l _ { \\infty }$ norm for $\\delta$ , and the maximum per-pixel change is set as 2/255. ", + "bbox": [ + 174, + 454, + 825, + 511 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "Table 7 (see Appendices) evaluates the models’ clean accuracy, real-world robustness, and adversarial robustness (under 10-step PGD attack (Madry et al., 2018)). It is clear that the landscape smoothing significantly improves the convolution-free architectures for both clean and adversarial accuracy. However, we observe a slight accuracy decrease on clean images for ResNets despite gain for robustness. Similar to our previous observations, ViTs surpass similar-size ResNets when adversarially trained on ImageNet with Inception-style preprocessing for both clean accuracy and adversarial robustness. ", + "bbox": [ + 173, + 517, + 825, + 616 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "C WHEN SAM MEETS CONTRASTIVE LEARNING ", + "text_level": 1, + "bbox": [ + 174, + 635, + 599, + 651 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "In addition to data augmentations and large-scale pre-training, another notable way of improving a neural model’s generalization is (supervised) contrastive learning (Chen et al., 2020; He et al., 2020; Caron et al., 2021; Khosla et al., 2020). We couple SAM with the supervised contrastive learning (Khosla et al., 2020) for 350 epochs, followed by fine-tuning the classification head by 90 epochs for both ViT-S/16 and ViT-B/16. We train ViTs under the supervised contrastive learning framework (Khosla et al., 2020). We take the classification token output from the last layer as the encoded representation and retain the structures of the projection and classification heads (Khosla et al., 2020). We employ a batch size 2048 without memory bank (He et al., 2020) and use AutoAugment (Cubuk et al., 2019) with strength 1.0 following Khosla et al. (2020). For the 350-epoch pretraining stage, the contrastive loss temperature is set as 0.1, and we use the LAMB optimizer (You et al., 2020) with learning rate $0 . 0 0 1 \\times { \\frac { \\mathrm { b a t c h s i z e } } { 2 5 6 } }$ along with a cosine decay schedule. For the second stage, we train the classification head for 90 epochs via a RMSProp optimizer (Tieleman & Hinton, 2012) with base learning rate 0.05 and exponential decay. The weight decays are set as 0.3 and 1e-6 for the first and second stages, respectively. We use a small SAM perturbation strength $\\rho = 0 . 0 2$ . ", + "bbox": [ + 173, + 666, + 825, + 861 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "Compared to the training procedure without SAM, we find considerable performance gain thanks to SAM’s smoothing of the contrastive loss geometry, improving the ImageNet top-1 accuracy of ViT$\\mathrm { S } / 1 6$ from $7 7 . 0 \\%$ to $7 8 . 1 \\%$ , and ViT-B/16 from $7 7 . 4 \\%$ to $8 0 . 0 \\%$ . In comparison, the improvement on ResNet-152 is less significant (from $7 9 . 7 \\%$ to $8 0 . 0 \\%$ after using SAM). ", + "bbox": [ + 174, + 867, + 823, + 924 + ], + "page_idx": 15 + }, + { + "type": "table", + "img_path": "images/afe42430357209dad27239452e701a26c8f2e1a9286e63b550877d469e0d0156.jpg", + "table_caption": [ + "Table 10: Accuracy on downstream tasks of the models pre-trained on ImageNet. SAM improves ViTs and MLP-Mixers’ transferabilities. ViTs transfer better than ResNets of similar sizes. " + ], + "table_footnote": [], + "table_body": "
%ResNet- 50-SAMResNet- 152-SAMViT-S/16ViT-S/16- SAMViT-B/16ViT-B/16- SAMMixer-S/16Mixer-S/16- SAMMixer-B/16Mixer-B/16- SAM
CIFAR-1097.498.297.698.298.198.694.196.195.497.8
CIFAR-10085.287.885.787.687.689.177.982.480.086.4
Flowers Pets90.091.186.491.588.591.883.387.982.890.0
91.693.390.492.991.993.186.188.786.192.5
Average91.192.690.092.691.593.285.488.886.191.7
", + "bbox": [ + 178, + 133, + 818, + 210 + ], + "page_idx": 16 + }, + { + "type": "image", + "img_path": "images/fbf29ec03b83359c1f315d2f7deb5e39a81a835f9c15b90fe7f7f146123b4f80.jpg", + "image_caption": [ + "Figure 5: Cross-entropy loss landscapes of ViT-B/16, ViT-B/16-SAM, ViT-B/16-AUG, and ViTB/16-21k. Strong augmentations and large-scale pre-training can also smooth the curvature. " + ], + "image_footnote": [], + "bbox": [ + 187, + 243, + 818, + 349 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "D WHEN SAM MEETS TRANSFER LEARNING ", + "text_level": 1, + "bbox": [ + 174, + 416, + 570, + 433 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "We also study the role of smoothed loss geometry in transfer learning. We select four datasets to test ViTs and MLP-Mixers’ transferabilities: CIFAR-10/100 (Krizhevsky, 2009), Oxford-IIIT Pets (Parkhi et al., 2012), and Oxford Flowers-102 (Nilsback & Zisserman, 2008). We use image resolution $2 2 4 \\times 2 2 4$ during fine-tuning on downstream tasks, other settings exactly follow Dosovitskiy et al. (2021); Tolstikhin et al. (2021) (see Table 9). Note that we do not employ SAM during fine-tuning. We perform a grid search over the base learning rates on small sub-splits of the training sets ( $10 \\%$ for Flowers and Pets, $2 \\%$ for CIFAR-10/100). After that, we fine-tune on the entire training sets and report the results on the respective test sets. For comparison, we also include ResNet-50-SAM and ResNet-152-SAM in the experiments. Table 10 summarizes the results, which confirm that the enhanced models also perform better after fine-tuning and that MLP-Mixers gain the most from the sharpness-aware optimization. ", + "bbox": [ + 174, + 457, + 825, + 609 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "E VISUALIZATION ", + "text_level": 1, + "bbox": [ + 176, + 646, + 341, + 661 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "E.1 LOSS LANDSCAPE ", + "text_level": 1, + "bbox": [ + 176, + 686, + 341, + 700 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "We use the “filter normalization” method (Li et al., 2018) to visualize the loss function curvature in Figure 1 and 5. For a fair comparison, we use the cross-entropy loss when plotting the landscapes for all architectures, although the original training objective is the sigmoid loss for ViTs and MLPMixers. Note that their sigmoid loss geometry is even sharper. We equally sample 2,500 points on the 2D projection space and compute the losses using $10 \\%$ of the ImageNet training images (Chen et al., 2020), i.e., the i1k (1/10) subset in the main text to save computation. ", + "bbox": [ + 174, + 718, + 825, + 801 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "E.2 ATTENTION MAP ", + "text_level": 1, + "bbox": [ + 176, + 834, + 333, + 848 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "The visualization of the ViT’s attention maps (Figure 3 in the main text) follows (Caron et al., 2021). We average the self-attention scores of the “classification token” from the last MSA layer to obtain a matrix $\\mathbf { \\bar { \\boldsymbol { A } } } \\in \\mathbb { R } ^ { H / P \\times W / P }$ , where $H$ , $W$ , $P$ are the image height, width, and the patch resolution, respectively. Then we upsample $A$ to the image shape $H \\times W$ before generating the figure. ", + "bbox": [ + 176, + 866, + 823, + 924 + ], + "page_idx": 16 + }, + { + "type": "table", + "img_path": "images/1beebf9f7f5e48b922f58a5d7c61546b51986b29b6a4ff4c41a77d17c6e59012.jpg", + "table_caption": [ + "Table 11: The SAM perturbation strength $\\rho$ for training on ImageNet. ViTs and MLP-Mixers favor larger $\\rho$ than ResNets does. Larger models with longer patch sequences need stronger strengths. " + ], + "table_footnote": [], + "table_body": "
ModelTaskSAM p
ResNet
ResNet-50-SAM ResNet-101-SAM ResNet-152-SAM ResNet-50x2-SAM ResNet-101x2-SAM ResNet-152x2-SAM ResNet-50-SAMsupervised supervised supervised supervised supervised supervised0.02 0.05 0.02 0.05 0.05 0.05 0.05
ResNet-152-SAM adversarial ViT
ViT-S/16-SAM ViT-S/14-SAM ViT-S/8-SAM ViT-B/32-SAM ViT-B/16-SAMsupervised supervised supervised supervised0.1 0.1 0.15 0.15 0.2
ViT-B/16-AUG-SAM ViT-S/16-SAM ViT-B/32-SAMsupervised supervised adversarial0.05 0.1
ViT-B/16-SAMadversarial0.1 0.1
supervised contrastive
adversarial
ViT-S/16-SAM0.02
ViT-B/16-SAM
supervised contrastive0.02
MLP-Mixer
Mixer-S/32-SAM
Mixer-S/16-SAMsupervised0.1
supervised0.15
Mixer-S/8-SAMsupervised0.2
Mixer-B/32-SAMsupervised0.35
Mixer-B/16-SAMsupervised0.6
Mixer-B/8-SAM0.6
supervised
Mixer-B/16-AUG-SAMsupervised0.2
Mixer-S/16-SAMadversarial0.05
Mixer-B/32-SAMadversarial0.25
Mixer-B/16-SAMadversarial0.25
", + "bbox": [ + 338, + 133, + 663, + 551 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "F HESSIAN EIGENVALUE ", + "text_level": 1, + "bbox": [ + 174, + 577, + 398, + 593 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "The Hessian matrix requires second-order derivative, so we compute the Hessian (and all the subdiagonal Hessian) $\\lambda _ { m a x }$ using $10 \\%$ of the ImageNet training images (i.e., i1k (1/10)) via power iteration 1, where we use 100 iterations to ensure its convergence. ", + "bbox": [ + 174, + 609, + 825, + 651 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "G NTK CONDITION NUMBER ", + "text_level": 1, + "bbox": [ + 176, + 671, + 436, + 689 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "We approximate the neural tangent kernel on the i1k (1/10) subset by averaging over block diagonal entries (with block size $4 8 \\times 4 8 )$ ) in the full NTK. Notice that the computation is based on the architecture at initialization without training. As the activation plays an important role when computing NTK — we find that smoother activation functions enjoy smaller condition numbers, we replace the GELU in ViT and MLP-Mixer with ReLU for a fair comparison with ResNet. ", + "bbox": [ + 174, + 704, + 825, + 773 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "H TRAINING DETAILS ", + "text_level": 1, + "bbox": [ + 176, + 796, + 374, + 813 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "We use image resolution $2 2 4 \\times 2 2 4$ during fine-tuning on downstream tasks, other settings exactly follow (Dosovitskiy et al., 2021; Tolstikhin et al., 2021) (see Table 9). Note that we do not employ SAM during fine-tuning. We perform a grid search over the base learning rates on small sub-splits of the training sets $10 \\%$ for Flowers and Pets, $2 \\%$ for CIFAR-10/100). After that, we fine-tune on the entire training sets and report the results on the respective test sets. ", + "bbox": [ + 174, + 828, + 825, + 898 + ], + "page_idx": 17 + }, + { + "type": "table", + "img_path": "images/2a52a48fdbd5f01328a730ab36ffb56ebf8987bc59561d4bc083f0dc1647bdda.jpg", + "table_caption": [ + "Table 12: Hyperparameters for training from scratch on ImageNet with basic Inception-style preprocessing and $2 2 4 \\times 2 2 4$ image resolution. " + ], + "table_footnote": [], + "table_body": "
ResNetViTMLP-Mixer
Data augmentationInception-style
Input resolution224×224
Batch size4,096
Epoch90300300
Warmup steps5K10K10K
Peak learning rate0.1× batch size 2563e-33e-3
Learning rate decaycosinecosinelinear
Optimizer SGD MomentumSGDAdamWAdamW
Adam (β1, β2)0.9
Weight decay1(0.9, 0.999)(0.9, 0.999)
1e-30.30.3
Dropout rate0.00.10.0
Stochastic depth110.1
Gradient clipping11.01.0
", + "bbox": [ + 289, + 132, + 712, + 337 + ], + "page_idx": 18 + }, + { + "type": "table", + "img_path": "images/67bc8eb6be117bfbefb7078e8c75b216acac653f6bf5b64a1832b702de8deb2e.jpg", + "table_caption": [ + "Table 13: ImageNet top-1 accuracy $( \\% )$ of ViT-B/16 and Mixer-B/16 when trained from scratch with different perturbation strength $\\rho$ in SAM. " + ], + "table_footnote": [], + "table_body": "
SAM p0.00.050.10.20.250.350.40.50.60.65
ViT-B/1674.677.578.879.979.311111
Mixer-B/1666.469.51174.174.775.676.977.477.1
", + "bbox": [ + 240, + 387, + 759, + 439 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Except for the experiments in Section 4.5 (SAM with strong data augmentations) and Appendix C (contrastive learning), we train all the models from scratch on ImageNet with the basic Inceptionstyle preprocessing (Szegedy et al., 2016), i.e., a random image crop and a horizontal flip with probability $50 \\%$ . Please see Table 12 for the detailed training settings. We simply follow the original training settings of ResNet and ViT (Kolesnikov et al., 2020; Dosovitskiy et al., 2021). For MLPMixer, we remove the strong augmentations in its original training pipeline and perform a grid search over the learning rate in $\\{ 0 . 0 0 3 , 0 . 0 0 1 \\}$ , weight decay in $\\lbrace 0 . 3 , 0 . 1 , 0 . 0 3 \\rbrace$ , Dropout rate in $\\lbrace 0 . 1 , 0 . 0 \\rbrace$ , and stochastic depth in $\\lbrace 0 . 1 , 0 . 0 \\rbrace$ . Note that training for 90 epochs is enough for ResNets to converge, and longer schedule brings almost no effect. For all the experiments, we use 128 TPUv3 cores (2 per chip), resulting in 32 images per core. The SAM computation for $\\hat { \\epsilon }$ is conducted on each core independently. ", + "bbox": [ + 173, + 470, + 825, + 625 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "H.1 PERTURBATION STRENGTH IN SAM ", + "text_level": 1, + "bbox": [ + 176, + 647, + 465, + 661 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Different architecture species favor different strengths of perturbation $\\rho$ . We perform a grid search over $\\rho$ and report the best results — Table 11 reports the corresponding strengths used in our ImageNet experiments. Besides, we show the results when varying $\\rho$ in Table 13. Similar to (Foret et al., 2021), we also find that a relative small $\\rho \\in [ 0 . 0 2 , 0 . 0 5 ]$ works the best for ResNets. However, larger $\\rho$ gives rise to the best results for ViTs and MLP-Mixers. We also observe that architectures with larger capacities and longer input sequences prefer stronger perturbation strengths. Interestingly, the choice of $\\rho$ coincides with our previous observations. Since MLP-Mixers suffer the sharpest landscapes, they need the largest perturbation strength. As strong augmentations and contrastive learning already improve generalization, the suitable $\\rho$ becomes significantly smaller. Note that we do not re-tune any other hyperparameters when using SAM. ", + "bbox": [ + 173, + 676, + 825, + 815 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "H.2 TRAINING ON IMAGENET SUBSETS ", + "text_level": 1, + "bbox": [ + 176, + 838, + 460, + 853 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "In Section 5.1, we train the models on ImageNet subsets, and the hyperparameters have to be adjusted accordingly. We simply change the batch size to maintain similar total iterations and keep all other settings the same, i.e., 2048 for i1k (1/2), 1024 for i1k (1/4), and 512 for i1k (1/10). We do not scale the learning rate as we find the scaling harms the performance. ", + "bbox": [ + 174, + 867, + 823, + 924 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "H.3 TRAINING WITH STRONG AUGMENTATIONS ", + "text_level": 1, + "bbox": [ + 176, + 103, + 514, + 117 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "We tune the learning rate and regularization when using strong augmentations (mixup with probability 0.5, RandAugment with two layers and magnitude 15) in Section 4.5 following (Tolstikhin et al., 2021). For ViT, we use 1e-3 peak learning rate, 0.1 weight decay, 0.1 Dropout, and 0.1 stochastic depth; For MLP-Mixer, those hyperparameters are exactly the same as (Tolstikhin et al., 2021), peak learning rate as 1e-3, weight decay as 0.1, Dropout as 0.0, and stochastic depth as 0.1. Other settings are unchanged (Table 12). ", + "bbox": [ + 173, + 128, + 825, + 213 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "I LONGER SCHEDULE OF VANILLA SGD", + "text_level": 1, + "bbox": [ + 174, + 233, + 526, + 250 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Since SAM needs another forward and backward propagation to compute $\\hat { \\epsilon }$ , its training overhead is $\\sim 2 \\times$ of the vanilla baseline. We also experiment with $2 \\times$ schedule vanilla training (600 epochs). We observe that training longer brings no effect on both clean accuracy and robustness, indicating that the current 300 training epochs for ViTs and MLP-Mixers are enough for them to converge. ", + "bbox": [ + 174, + 265, + 825, + 321 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "J VARYING WEIGHT DECAY STRANGTH", + "text_level": 1, + "bbox": [ + 173, + 340, + 522, + 358 + ], + "page_idx": 19 + }, + { + "type": "table", + "img_path": "images/7d332a17cf0009b386236df5c7880a8bbbbb8b203a3d8044739d77c9d4a4e0be.jpg", + "table_caption": [ + "Table 14: ImageNet accuracy and curvature analysis for ViT-B/16 when we vary the weight decay strength in Adam (AdamW). " + ], + "table_footnote": [], + "table_body": "
ModelWeight decayImageNet (%)|w|l2LtrainXmax
ViT-B/160.274.2339.80.514.22507.4
0.374.6269.30.656.66738.8
0.474.7236.70.777.081548.9
0.574.4211.80.987.212251.7
ViT-B/16-SAM0.279.9461.40.690.7213.1
0.379.9353.80.820.9620.9
0.479.4301.10.850.9826.1
0.578.7259.60.951.3345.5
", + "bbox": [ + 240, + 409, + 761, + 535 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "In this section, we vary the strength of weight decay and see the effects of this commonly used regularization approach. As shown in Table 14, weight decay helps improve the accuracy on ImageNet when training without SAM, the weight norm also decreases when we enlarge the decay strength as expected. However, enlarging the weight decay aggravates the problem of converging to a sharper region measured by both $\\mathbf { \\check { \\mathbf { \\mathit { L } } } } _ { t r a i n } ^ { \\mathbf { \\check { \\mathbf { \\psi } } } }$ and $\\lambda _ { m a x }$ . Another observation is that $\\lVert \\boldsymbol { w } \\rVert _ { 2 }$ consistently increases after applying SAM for every weight decay strength in Table 14, together with the improved ImageNet accuracy and smoother landscape curvature. 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We show that the improved smoothness attributes to sparser active neu-", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 141, + 398, + 469, + 410 + ], + "spans": [ + { + "bbox": [ + 141, + 398, + 469, + 410 + ], + "score": 1.0, + "content": "rons in the first few layers. The resultant ViTs outperform ResNets of similar", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 141, + 410, + 469, + 421 + ], + "spans": [ + { + "bbox": [ + 141, + 410, + 469, + 421 + ], + "score": 1.0, + "content": "size and throughput when trained from scratch on ImageNet without large-scale", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 141, + 420, + 470, + 433 + ], + "spans": [ + { + "bbox": [ + 141, + 420, + 470, + 433 + ], + "score": 1.0, + "content": "pre-training or strong data augmentations. Model checkpoints are available at", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 141, + 431, + 465, + 443 + ], + "spans": [ + { + "bbox": [ + 141, + 431, + 465, + 443 + ], + "score": 1.0, + "content": "https://github.com/google-research/vision_transformer.", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 15.5, + "bbox_fs": [ + 141, + 245, + 470, + 443 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 468, + 206, + 481 + ], + "lines": [ + { + "bbox": [ + 105, + 467, + 208, + 484 + ], + "spans": [ + { + "bbox": [ + 105, + 467, + 208, + 484 + ], + "score": 1.0, + "content": "1 INTRODUCTION", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 107, + 494, + 505, + 594 + ], + "lines": [ + { + "bbox": [ + 106, + 493, + 505, + 508 + ], + "spans": [ + { + "bbox": [ + 106, + 493, + 505, + 508 + ], + "score": 1.0, + "content": "Transformers (Vaswani et al., 2017) have become the de-facto model of choice in natural language", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 505, + 505, + 519 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 505, + 519 + ], + "score": 1.0, + "content": "processing (NLP) (Devlin et al., 2018; Radford et al., 2018). In computer vision, there has recently", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 517, + 505, + 529 + ], + "spans": [ + { + "bbox": [ + 106, + 517, + 505, + 529 + ], + "score": 1.0, + "content": "been a surge of interest in end-to-end Transformers (Dosovitskiy et al., 2021; Touvron et al., 2021b;", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "score": 1.0, + "content": "Liu et al., 2021b; Fan et al., 2021; Arnab et al., 2021; Bertasius et al., 2021; Akbari et al., 2021)", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "score": 1.0, + "content": "and MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al., 2021a; Melas-Kyriazi, 2021),", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 549, + 506, + 563 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 506, + 563 + ], + "score": 1.0, + "content": "prompting the efforts to replace hand-wired features or inductive biases with general-purpose neu-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "score": 1.0, + "content": "ral architectures powered by data-driven training. We envision these efforts may lead to a unified", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 570, + 505, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 570, + 505, + 584 + ], + "score": 1.0, + "content": "knowledge base that produces versatile representations for different data modalities, simplifying the", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 582, + 441, + 596 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 441, + 596 + ], + "score": 1.0, + "content": "inference and deployment of deep learning models in various application scenarios.", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 30, + "bbox_fs": [ + 105, + 493, + 506, + 596 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 600, + 505, + 709 + ], + "lines": [ + { + "bbox": [ + 105, + 599, + 506, + 612 + ], + "spans": [ + { + "bbox": [ + 105, + 599, + 506, + 612 + ], + "score": 1.0, + "content": "Despite the appealing potential of moving toward general-purpose neural architectures, the lack of", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 610, + 505, + 623 + ], + "spans": [ + { + "bbox": [ + 105, + 610, + 505, + 623 + ], + "score": 1.0, + "content": "convolution-like inductive biases also challenges the training of vision Transformers (ViTs) and", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 621, + 505, + 634 + ], + "spans": [ + { + "bbox": [ + 105, + 621, + 505, + 634 + ], + "score": 1.0, + "content": "MLPs. When trained on ImageNet (Deng et al., 2009) with the conventional Inception-style data", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 104, + 631, + 505, + 647 + ], + "spans": [ + { + "bbox": [ + 104, + 631, + 505, + 647 + ], + "score": 1.0, + "content": "preprocessing (Szegedy et al., 2016), Transformers “yield modest accuracies of a few percentage", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 643, + 506, + 657 + ], + "spans": [ + { + "bbox": [ + 104, + 643, + 506, + 657 + ], + "score": 1.0, + "content": "points below ResNets of comparable size” (Dosovitskiy et al., 2021). To boost the performance,", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 654, + 505, + 667 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 667 + ], + "score": 1.0, + "content": "existing works resort to large-scale pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 104, + 664, + 506, + 679 + ], + "spans": [ + { + "bbox": [ + 104, + 664, + 506, + 679 + ], + "score": 1.0, + "content": "et al., 2021) and repeated strong data augmentations (Touvron et al., 2021b), resulting in exces-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 676, + 505, + 689 + ], + "spans": [ + { + "bbox": [ + 105, + 676, + 505, + 689 + ], + "score": 1.0, + "content": "sive demands of data, computing, and sophisticated tuning of many hyperparameters. For instance,", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "Dosovitskiy et al. (Dosovitskiy et al., 2021) pre-train ViTs using 304M labeled images, and Touvron", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 698, + 366, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 366, + 711 + ], + "score": 1.0, + "content": "et al. (2021b) repeatedly stack four strong image augmentations.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 39.5, + "bbox_fs": [ + 104, + 599, + 506, + 711 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 108, + 82, + 504, + 126 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "In this paper, we show ViTs can outperform ResNets (He et al., 2016) of even bigger sizes in both", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "score": 1.0, + "content": "accuracy and various forms of robustness by using a principled optimizer, without the need for large-", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 105, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 106, + 105, + 505, + 117 + ], + "score": 1.0, + "content": "scale pre-training or strong data augmentations. MLP-Mixers (Tolstikhin et al., 2021) also become", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 115, + 192, + 127 + ], + "spans": [ + { + "bbox": [ + 106, + 115, + 192, + 127 + ], + "score": 1.0, + "content": "on par with ResNets.", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5 + }, + { + "type": "text", + "bbox": [ + 107, + 132, + 505, + 231 + ], + "lines": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "score": 1.0, + "content": "We first study the architectures fully trained on ImageNet from the lens of loss landscapes and draw", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 142, + 506, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 142, + 506, + 156 + ], + "score": 1.0, + "content": "the following findings. First, visualization and Hessian matrices of the loss landscapes reveal that", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 155, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 155, + 505, + 167 + ], + "score": 1.0, + "content": "Transformers and MLP-Mixers converge at extremely sharp local minima, whose largest principal", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "curvatures are almost an order of magnitude bigger than ResNets’. Such effect accumulates when", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 506, + 189 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 506, + 189 + ], + "score": 1.0, + "content": "the gradients backpropagate from the last layer to the first, and the initial embedding layer suffers", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "the largest eigenvalue of the corresponding sub-diagonal Hessian. Second, the networks all have", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 198, + 505, + 211 + ], + "spans": [ + { + "bbox": [ + 106, + 198, + 505, + 211 + ], + "score": 1.0, + "content": "very small training errors, and MLP-Mixers are more prone to overfitting than ViTs of more pa-", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 208, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 208, + 506, + 222 + ], + "score": 1.0, + "content": "rameters (because of the difference in self-attention). Third, ViTs and MLP-Mixers have worse", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 220, + 478, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 220, + 478, + 232 + ], + "score": 1.0, + "content": "“trainabilities” than ResNets following the neural tangent kernel analyses (Xiao et al., 2020).", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 8 + }, + { + "type": "text", + "bbox": [ + 107, + 237, + 505, + 303 + ], + "lines": [ + { + "bbox": [ + 106, + 236, + 505, + 249 + ], + "spans": [ + { + "bbox": [ + 106, + 236, + 505, + 249 + ], + "score": 1.0, + "content": "Therefore, we need improved learning algorithms to prevent the convergence to a sharp local min-", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 247, + 505, + 260 + ], + "spans": [ + { + "bbox": [ + 105, + 247, + 505, + 260 + ], + "score": 1.0, + "content": "imum when it comes to the convolution-free ViTs and MLP-Mixers. The first-order optimizers", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 259, + 505, + 271 + ], + "spans": [ + { + "bbox": [ + 105, + 259, + 505, + 271 + ], + "score": 1.0, + "content": "(e.g., SGD and Adam (Kingma & Ba, 2015)) only seek the model parameters that minimize the", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 270, + 505, + 282 + ], + "spans": [ + { + "bbox": [ + 105, + 270, + 505, + 282 + ], + "score": 1.0, + "content": "training error. They dismiss the higher-order information such as flatness that correlates with gen-", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 280, + 506, + 293 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 506, + 293 + ], + "score": 1.0, + "content": "eralization (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Smith & Le, 2018;", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 291, + 203, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 203, + 303 + ], + "score": 1.0, + "content": "Chaudhari et al., 2017).", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 15.5 + }, + { + "type": "text", + "bbox": [ + 107, + 308, + 505, + 429 + ], + "lines": [ + { + "bbox": [ + 105, + 308, + 505, + 321 + ], + "spans": [ + { + "bbox": [ + 105, + 308, + 505, + 321 + ], + "score": 1.0, + "content": "The above study and reasoning lead us to the recently proposed sharpness-aware minimizer", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 319, + 505, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 319, + 505, + 333 + ], + "score": 1.0, + "content": "(SAM) (Foret et al., 2021) that explicitly smooths the loss geometry during model training. SAM", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 330, + 505, + 343 + ], + "spans": [ + { + "bbox": [ + 105, + 330, + 505, + 343 + ], + "score": 1.0, + "content": "strives to find a solution whose entire neighborhood has low losses rather than focus on any single-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 342, + 505, + 354 + ], + "spans": [ + { + "bbox": [ + 105, + 342, + 505, + 354 + ], + "score": 1.0, + "content": "ton point. We show that the resultant models exhibit smoother loss landscapes, and their general-", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 353, + 505, + 365 + ], + "spans": [ + { + "bbox": [ + 106, + 353, + 505, + 365 + ], + "score": 1.0, + "content": "ization capabilities improve tremendously across different tasks including supervised, adversarial,", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 363, + 506, + 377 + ], + "spans": [ + { + "bbox": [ + 105, + 363, + 259, + 377 + ], + "score": 1.0, + "content": "contrastive, and transfer learning (e.g.,", + "type": "text" + }, + { + "bbox": [ + 260, + 363, + 288, + 374 + ], + "score": 0.89, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 363, + 304, + 377 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 305, + 363, + 338, + 374 + ], + "score": 0.89, + "content": "+ 1 1 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 338, + 363, + 506, + 377 + ], + "score": 1.0, + "content": "top-1 accuracy on ImageNet for ViT-B/16", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 375, + 505, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 375, + 505, + 387 + ], + "score": 1.0, + "content": "and Mixer-B/16, respectively, with the simple Inception-style preprocessing). The enhanced ViTs", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 385, + 505, + 398 + ], + "spans": [ + { + "bbox": [ + 105, + 385, + 505, + 398 + ], + "score": 1.0, + "content": "achieve better accuracy and robustness than ResNets of similar and bigger sizes when trained from", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 396, + 506, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 396, + 506, + 410 + ], + "score": 1.0, + "content": "scratch on ImageNet, without large-scale pre-training or strong data augmentations. Moreover, we", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 408, + 505, + 419 + ], + "spans": [ + { + "bbox": [ + 106, + 408, + 505, + 419 + ], + "score": 1.0, + "content": "demonstrate that SAM can even enable ViT to be effectively trained with (momentum) SGD, which", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 418, + 421, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 421, + 431 + ], + "score": 1.0, + "content": "usually lies far behind Adam when training Transformers (Zhang et al., 2020).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 24 + }, + { + "type": "text", + "bbox": [ + 107, + 435, + 505, + 534 + ], + "lines": [ + { + "bbox": [ + 105, + 435, + 505, + 448 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 505, + 448 + ], + "score": 1.0, + "content": "By analyzing some intrinsic model properties, we observe that SAM increases the sparsity of active", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "score": 1.0, + "content": "neurons (especially for the first few layers), which contribute to the reduced Hessian eigenvalues.", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 455, + 505, + 472 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 505, + 472 + ], + "score": 1.0, + "content": "The weight norms increase, implying the commonly used weight decay may not be an effective reg-", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 466, + 505, + 481 + ], + "spans": [ + { + "bbox": [ + 105, + 466, + 505, + 481 + ], + "score": 1.0, + "content": "ularization alone. A side observation is that, unlike ResNets and MLP-Mixers, ViTs have extremely", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "spans": [ + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "score": 1.0, + "content": "sparse active neurons (see Figure 2 (right)), revealing the potential for network pruning (Akbari", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 489, + 505, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 489, + 505, + 503 + ], + "score": 1.0, + "content": "et al., 2021). Another interesting finding is that the improved ViTs appear to have visually more", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "score": 1.0, + "content": "interpretable attention maps. Finally, we draw similarities between SAM and strong augmentations", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 511, + 505, + 526 + ], + "spans": [ + { + "bbox": [ + 105, + 511, + 505, + 526 + ], + "score": 1.0, + "content": "(e.g., mixup) in that they both smooth the average loss geometry and encourage the models to behave", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 523, + 242, + 537 + ], + "spans": [ + { + "bbox": [ + 105, + 523, + 242, + 537 + ], + "score": 1.0, + "content": "linearly between training images.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 34 + }, + { + "type": "title", + "bbox": [ + 108, + 560, + 313, + 573 + ], + "lines": [ + { + "bbox": [ + 104, + 559, + 315, + 576 + ], + "spans": [ + { + "bbox": [ + 104, + 559, + 315, + 576 + ], + "score": 1.0, + "content": "2 BACKGROUND AND RELATED WORK", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 39 + }, + { + "type": "text", + "bbox": [ + 108, + 591, + 416, + 603 + ], + "lines": [ + { + "bbox": [ + 106, + 591, + 418, + 605 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 418, + 605 + ], + "score": 1.0, + "content": "We briefly review ViTs, MLP-Mixers, and some related works in this section.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 40 + }, + { + "type": "text", + "bbox": [ + 107, + 608, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 608, + 505, + 621 + ], + "spans": [ + { + "bbox": [ + 105, + 608, + 505, + 621 + ], + "score": 1.0, + "content": "Dosovitskiy et al. (2021) show that a pure Transformer architecture (Vaswani et al., 2017) can", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 620, + 504, + 632 + ], + "spans": [ + { + "bbox": [ + 106, + 620, + 504, + 632 + ], + "score": 1.0, + "content": "achieve state-of-the-art accuracy on image classification by pre-training it on large datasets such", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 631, + 505, + 643 + ], + "spans": [ + { + "bbox": [ + 105, + 631, + 505, + 643 + ], + "score": 1.0, + "content": "as ImageNet-21k (Deng et al., 2009) and JFT-300M (Sun et al., 2017). Their vision Transformer", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 642, + 505, + 655 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 505, + 655 + ], + "score": 1.0, + "content": "(ViT) is a stack of residual blocks, each containing a multi-head self-attention, layer normaliza-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 103, + 648, + 507, + 667 + ], + "spans": [ + { + "bbox": [ + 103, + 648, + 401, + 667 + ], + "score": 1.0, + "content": "tion (Ba et al., 2016), and a MLP layer. ViT first embeds an input image", + "type": "text" + }, + { + "bbox": [ + 402, + 652, + 464, + 663 + ], + "score": 0.92, + "content": "x \\in \\mathbb { R } ^ { H \\times \\tilde { W } \\times C }", + "type": "inline_equation" + }, + { + "bbox": [ + 464, + 648, + 507, + 667 + ], + "score": 1.0, + "content": "into a se-", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 104, + 661, + 507, + 678 + ], + "spans": [ + { + "bbox": [ + 104, + 661, + 181, + 678 + ], + "score": 1.0, + "content": "quence of features", + "type": "text" + }, + { + "bbox": [ + 181, + 663, + 227, + 674 + ], + "score": 0.93, + "content": "\\boldsymbol { z } \\in \\mathbb { R } ^ { N \\times D }", + "type": "inline_equation" + }, + { + "bbox": [ + 227, + 661, + 370, + 678 + ], + "score": 1.0, + "content": "by applying a linear projection over", + "type": "text" + }, + { + "bbox": [ + 371, + 664, + 381, + 674 + ], + "score": 0.82, + "content": "N", + "type": "inline_equation" + }, + { + "bbox": [ + 381, + 661, + 507, + 678 + ], + "score": 1.0, + "content": "nonoverlapping image patches", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 672, + 504, + 691 + ], + "spans": [ + { + "bbox": [ + 106, + 675, + 177, + 689 + ], + "score": 0.92, + "content": "\\bar { \\boldsymbol { x } _ { p } } \\in \\mathbb { R } ^ { N \\times ( P ^ { 2 } \\cdot C ) }", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 672, + 208, + 691 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 208, + 677, + 218, + 687 + ], + "score": 0.81, + "content": "D", + "type": "inline_equation" + }, + { + "bbox": [ + 218, + 672, + 321, + 691 + ], + "score": 1.0, + "content": "is the feature dimension,", + "type": "text" + }, + { + "bbox": [ + 322, + 677, + 330, + 687 + ], + "score": 0.82, + "content": "P", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 672, + 443, + 691 + ], + "score": 1.0, + "content": "is the patch resolution, and", + "type": "text" + }, + { + "bbox": [ + 443, + 676, + 504, + 689 + ], + "score": 0.92, + "content": "N = H W / P ^ { 2 }", + "type": "inline_equation" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 688, + 504, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 504, + 700 + ], + "score": 1.0, + "content": "is the sequence length. The self-attention layers in ViT are global and do not possess the locality", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "and translation equivariance of convolutions. ViT is compatible with the popular architectures in", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 709, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 709, + 506, + 723 + ], + "score": 1.0, + "content": "NLP (Devlin et al., 2018; Radford et al., 2018) and, similar to its NLP counterparts, requires pre-", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 720, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 732 + ], + "score": 1.0, + "content": "training over massive datasets (Dosovitskiy et al., 2021; Akbari et al., 2021; Arnab et al., 2021) or", + "type": "text" + } + ], + "index": 51 + } + ], + "index": 46 + } + ], + "page_idx": 1, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 301, + 750, + 310, + 763 + ], + "spans": [ + { + "bbox": [ + 301, + 750, + 310, + 763 + ], + "score": 1.0, + "content": "2", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 108, + 82, + 504, + 126 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "In this paper, we show ViTs can outperform ResNets (He et al., 2016) of even bigger sizes in both", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "score": 1.0, + "content": "accuracy and various forms of robustness by using a principled optimizer, without the need for large-", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 105, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 106, + 105, + 505, + 117 + ], + "score": 1.0, + "content": "scale pre-training or strong data augmentations. MLP-Mixers (Tolstikhin et al., 2021) also become", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 115, + 192, + 127 + ], + "spans": [ + { + "bbox": [ + 106, + 115, + 192, + 127 + ], + "score": 1.0, + "content": "on par with ResNets.", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5, + "bbox_fs": [ + 105, + 83, + 505, + 127 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 132, + 505, + 231 + ], + "lines": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "score": 1.0, + "content": "We first study the architectures fully trained on ImageNet from the lens of loss landscapes and draw", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 142, + 506, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 142, + 506, + 156 + ], + "score": 1.0, + "content": "the following findings. First, visualization and Hessian matrices of the loss landscapes reveal that", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 155, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 155, + 505, + 167 + ], + "score": 1.0, + "content": "Transformers and MLP-Mixers converge at extremely sharp local minima, whose largest principal", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "curvatures are almost an order of magnitude bigger than ResNets’. Such effect accumulates when", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 506, + 189 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 506, + 189 + ], + "score": 1.0, + "content": "the gradients backpropagate from the last layer to the first, and the initial embedding layer suffers", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "the largest eigenvalue of the corresponding sub-diagonal Hessian. Second, the networks all have", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 198, + 505, + 211 + ], + "spans": [ + { + "bbox": [ + 106, + 198, + 505, + 211 + ], + "score": 1.0, + "content": "very small training errors, and MLP-Mixers are more prone to overfitting than ViTs of more pa-", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 208, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 208, + 506, + 222 + ], + "score": 1.0, + "content": "rameters (because of the difference in self-attention). Third, ViTs and MLP-Mixers have worse", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 220, + 478, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 220, + 478, + 232 + ], + "score": 1.0, + "content": "“trainabilities” than ResNets following the neural tangent kernel analyses (Xiao et al., 2020).", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 8, + "bbox_fs": [ + 105, + 132, + 506, + 232 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 237, + 505, + 303 + ], + "lines": [ + { + "bbox": [ + 106, + 236, + 505, + 249 + ], + "spans": [ + { + "bbox": [ + 106, + 236, + 505, + 249 + ], + "score": 1.0, + "content": "Therefore, we need improved learning algorithms to prevent the convergence to a sharp local min-", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 247, + 505, + 260 + ], + "spans": [ + { + "bbox": [ + 105, + 247, + 505, + 260 + ], + "score": 1.0, + "content": "imum when it comes to the convolution-free ViTs and MLP-Mixers. The first-order optimizers", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 259, + 505, + 271 + ], + "spans": [ + { + "bbox": [ + 105, + 259, + 505, + 271 + ], + "score": 1.0, + "content": "(e.g., SGD and Adam (Kingma & Ba, 2015)) only seek the model parameters that minimize the", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 270, + 505, + 282 + ], + "spans": [ + { + "bbox": [ + 105, + 270, + 505, + 282 + ], + "score": 1.0, + "content": "training error. They dismiss the higher-order information such as flatness that correlates with gen-", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 280, + 506, + 293 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 506, + 293 + ], + "score": 1.0, + "content": "eralization (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Smith & Le, 2018;", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 291, + 203, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 203, + 303 + ], + "score": 1.0, + "content": "Chaudhari et al., 2017).", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 15.5, + "bbox_fs": [ + 105, + 236, + 506, + 303 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 308, + 505, + 429 + ], + "lines": [ + { + "bbox": [ + 105, + 308, + 505, + 321 + ], + "spans": [ + { + "bbox": [ + 105, + 308, + 505, + 321 + ], + "score": 1.0, + "content": "The above study and reasoning lead us to the recently proposed sharpness-aware minimizer", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 319, + 505, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 319, + 505, + 333 + ], + "score": 1.0, + "content": "(SAM) (Foret et al., 2021) that explicitly smooths the loss geometry during model training. SAM", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 330, + 505, + 343 + ], + "spans": [ + { + "bbox": [ + 105, + 330, + 505, + 343 + ], + "score": 1.0, + "content": "strives to find a solution whose entire neighborhood has low losses rather than focus on any single-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 342, + 505, + 354 + ], + "spans": [ + { + "bbox": [ + 105, + 342, + 505, + 354 + ], + "score": 1.0, + "content": "ton point. We show that the resultant models exhibit smoother loss landscapes, and their general-", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 353, + 505, + 365 + ], + "spans": [ + { + "bbox": [ + 106, + 353, + 505, + 365 + ], + "score": 1.0, + "content": "ization capabilities improve tremendously across different tasks including supervised, adversarial,", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 363, + 506, + 377 + ], + "spans": [ + { + "bbox": [ + 105, + 363, + 259, + 377 + ], + "score": 1.0, + "content": "contrastive, and transfer learning (e.g.,", + "type": "text" + }, + { + "bbox": [ + 260, + 363, + 288, + 374 + ], + "score": 0.89, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 363, + 304, + 377 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 305, + 363, + 338, + 374 + ], + "score": 0.89, + "content": "+ 1 1 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 338, + 363, + 506, + 377 + ], + "score": 1.0, + "content": "top-1 accuracy on ImageNet for ViT-B/16", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 375, + 505, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 375, + 505, + 387 + ], + "score": 1.0, + "content": "and Mixer-B/16, respectively, with the simple Inception-style preprocessing). The enhanced ViTs", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 385, + 505, + 398 + ], + "spans": [ + { + "bbox": [ + 105, + 385, + 505, + 398 + ], + "score": 1.0, + "content": "achieve better accuracy and robustness than ResNets of similar and bigger sizes when trained from", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 396, + 506, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 396, + 506, + 410 + ], + "score": 1.0, + "content": "scratch on ImageNet, without large-scale pre-training or strong data augmentations. Moreover, we", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 408, + 505, + 419 + ], + "spans": [ + { + "bbox": [ + 106, + 408, + 505, + 419 + ], + "score": 1.0, + "content": "demonstrate that SAM can even enable ViT to be effectively trained with (momentum) SGD, which", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 418, + 421, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 421, + 431 + ], + "score": 1.0, + "content": "usually lies far behind Adam when training Transformers (Zhang et al., 2020).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 24, + "bbox_fs": [ + 105, + 308, + 506, + 431 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 435, + 505, + 534 + ], + "lines": [ + { + "bbox": [ + 105, + 435, + 505, + 448 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 505, + 448 + ], + "score": 1.0, + "content": "By analyzing some intrinsic model properties, we observe that SAM increases the sparsity of active", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "score": 1.0, + "content": "neurons (especially for the first few layers), which contribute to the reduced Hessian eigenvalues.", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 455, + 505, + 472 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 505, + 472 + ], + "score": 1.0, + "content": "The weight norms increase, implying the commonly used weight decay may not be an effective reg-", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 466, + 505, + 481 + ], + "spans": [ + { + "bbox": [ + 105, + 466, + 505, + 481 + ], + "score": 1.0, + "content": "ularization alone. A side observation is that, unlike ResNets and MLP-Mixers, ViTs have extremely", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "spans": [ + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "score": 1.0, + "content": "sparse active neurons (see Figure 2 (right)), revealing the potential for network pruning (Akbari", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 489, + 505, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 489, + 505, + 503 + ], + "score": 1.0, + "content": "et al., 2021). Another interesting finding is that the improved ViTs appear to have visually more", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "score": 1.0, + "content": "interpretable attention maps. Finally, we draw similarities between SAM and strong augmentations", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 511, + 505, + 526 + ], + "spans": [ + { + "bbox": [ + 105, + 511, + 505, + 526 + ], + "score": 1.0, + "content": "(e.g., mixup) in that they both smooth the average loss geometry and encourage the models to behave", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 523, + 242, + 537 + ], + "spans": [ + { + "bbox": [ + 105, + 523, + 242, + 537 + ], + "score": 1.0, + "content": "linearly between training images.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 34, + "bbox_fs": [ + 105, + 435, + 505, + 537 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 560, + 313, + 573 + ], + "lines": [ + { + "bbox": [ + 104, + 559, + 315, + 576 + ], + "spans": [ + { + "bbox": [ + 104, + 559, + 315, + 576 + ], + "score": 1.0, + "content": "2 BACKGROUND AND RELATED WORK", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 39 + }, + { + "type": "text", + "bbox": [ + 108, + 591, + 416, + 603 + ], + "lines": [ + { + "bbox": [ + 106, + 591, + 418, + 605 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 418, + 605 + ], + "score": 1.0, + "content": "We briefly review ViTs, MLP-Mixers, and some related works in this section.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 40, + "bbox_fs": [ + 106, + 591, + 418, + 605 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 608, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 608, + 505, + 621 + ], + "spans": [ + { + "bbox": [ + 105, + 608, + 505, + 621 + ], + "score": 1.0, + "content": "Dosovitskiy et al. (2021) show that a pure Transformer architecture (Vaswani et al., 2017) can", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 620, + 504, + 632 + ], + "spans": [ + { + "bbox": [ + 106, + 620, + 504, + 632 + ], + "score": 1.0, + "content": "achieve state-of-the-art accuracy on image classification by pre-training it on large datasets such", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 631, + 505, + 643 + ], + "spans": [ + { + "bbox": [ + 105, + 631, + 505, + 643 + ], + "score": 1.0, + "content": "as ImageNet-21k (Deng et al., 2009) and JFT-300M (Sun et al., 2017). Their vision Transformer", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 642, + 505, + 655 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 505, + 655 + ], + "score": 1.0, + "content": "(ViT) is a stack of residual blocks, each containing a multi-head self-attention, layer normaliza-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 103, + 648, + 507, + 667 + ], + "spans": [ + { + "bbox": [ + 103, + 648, + 401, + 667 + ], + "score": 1.0, + "content": "tion (Ba et al., 2016), and a MLP layer. ViT first embeds an input image", + "type": "text" + }, + { + "bbox": [ + 402, + 652, + 464, + 663 + ], + "score": 0.92, + "content": "x \\in \\mathbb { R } ^ { H \\times \\tilde { W } \\times C }", + "type": "inline_equation" + }, + { + "bbox": [ + 464, + 648, + 507, + 667 + ], + "score": 1.0, + "content": "into a se-", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 104, + 661, + 507, + 678 + ], + "spans": [ + { + "bbox": [ + 104, + 661, + 181, + 678 + ], + "score": 1.0, + "content": "quence of features", + "type": "text" + }, + { + "bbox": [ + 181, + 663, + 227, + 674 + ], + "score": 0.93, + "content": "\\boldsymbol { z } \\in \\mathbb { R } ^ { N \\times D }", + "type": "inline_equation" + }, + { + "bbox": [ + 227, + 661, + 370, + 678 + ], + "score": 1.0, + "content": "by applying a linear projection over", + "type": "text" + }, + { + "bbox": [ + 371, + 664, + 381, + 674 + ], + "score": 0.82, + "content": "N", + "type": "inline_equation" + }, + { + "bbox": [ + 381, + 661, + 507, + 678 + ], + "score": 1.0, + "content": "nonoverlapping image patches", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 672, + 504, + 691 + ], + "spans": [ + { + "bbox": [ + 106, + 675, + 177, + 689 + ], + "score": 0.92, + "content": "\\bar { \\boldsymbol { x } _ { p } } \\in \\mathbb { R } ^ { N \\times ( P ^ { 2 } \\cdot C ) }", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 672, + 208, + 691 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 208, + 677, + 218, + 687 + ], + "score": 0.81, + "content": "D", + "type": "inline_equation" + }, + { + "bbox": [ + 218, + 672, + 321, + 691 + ], + "score": 1.0, + "content": "is the feature dimension,", + "type": "text" + }, + { + "bbox": [ + 322, + 677, + 330, + 687 + ], + "score": 0.82, + "content": "P", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 672, + 443, + 691 + ], + "score": 1.0, + "content": "is the patch resolution, and", + "type": "text" + }, + { + "bbox": [ + 443, + 676, + 504, + 689 + ], + "score": 0.92, + "content": "N = H W / P ^ { 2 }", + "type": "inline_equation" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 688, + 504, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 504, + 700 + ], + "score": 1.0, + "content": "is the sequence length. The self-attention layers in ViT are global and do not possess the locality", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "and translation equivariance of convolutions. ViT is compatible with the popular architectures in", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 709, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 709, + 506, + 723 + ], + "score": 1.0, + "content": "NLP (Devlin et al., 2018; Radford et al., 2018) and, similar to its NLP counterparts, requires pre-", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 720, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 732 + ], + "score": 1.0, + "content": "training over massive datasets (Dosovitskiy et al., 2021; Akbari et al., 2021; Arnab et al., 2021) or", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "score": 1.0, + "content": "strong data augmentations (Touvron et al., 2021b). 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ViT and MLP-", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 358, + 504, + 372 + ], + "spans": [ + { + "bbox": [ + 105, + 358, + 504, + 372 + ], + "score": 1.0, + "content": "Mixer converge to sharper regions than ResNet when trained on ImageNet with the basic Inception-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 370, + 482, + 382 + ], + "spans": [ + { + "bbox": [ + 106, + 370, + 482, + 382 + ], + "score": 1.0, + "content": "style preprocessing. SAM, a sharpness-aware optimizer, significantly smooths the landscapes.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 14 + } + ], + "index": 12.5 + }, + { + "type": "text", + "bbox": [ + 106, + 387, + 504, + 410 + ], + "lines": [ + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "score": 1.0, + "content": "strong data augmentations (Touvron et al., 2021b). Some works specialize the ViT architectures for", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 398, + 458, + 410 + ], + "spans": [ + { + "bbox": [ + 106, + 398, + 458, + 410 + ], + "score": 1.0, + "content": "visual data (Liu et al., 2021b; Yuan et al., 2021; Fan et al., 2021; Bertasius et al., 2021).", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 16.5 + }, + { + "type": "text", + "bbox": [ + 107, + 415, + 505, + 481 + ], + "lines": [ + { + "bbox": [ + 106, + 415, + 505, + 426 + ], + "spans": [ + { + "bbox": [ + 106, + 415, + 505, + 426 + ], + "score": 1.0, + "content": "More recent works find that the self-attention in ViT is not vital for performance, resulting in several", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 426, + 505, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 505, + 438 + ], + "score": 1.0, + "content": "architectures exclusively based on MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al.,", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 436, + 505, + 450 + ], + "spans": [ + { + "bbox": [ + 105, + 436, + 505, + 450 + ], + "score": 1.0, + "content": "2021a; Melas-Kyriazi, 2021). Here we take MLP-Mixer (Tolstikhin et al., 2021) as an example.", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 447, + 505, + 461 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 505, + 461 + ], + "score": 1.0, + "content": "MLP-Mixer shares the same input layer as ViT; namely, it partitions an image into a sequence", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 460, + 505, + 471 + ], + "spans": [ + { + "bbox": [ + 106, + 460, + 505, + 471 + ], + "score": 1.0, + "content": "of nonoverlapping patches/tokens. It then alternates between token and channel MLPs, where the", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 470, + 350, + 482 + ], + "spans": [ + { + "bbox": [ + 106, + 470, + 350, + 482 + ], + "score": 1.0, + "content": "former allows feature fusion from different spatial locations.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 20.5 + }, + { + "type": "text", + "bbox": [ + 108, + 486, + 504, + 520 + ], + "lines": [ + { + "bbox": [ + 106, + 486, + 506, + 500 + ], + "spans": [ + { + "bbox": [ + 106, + 486, + 506, + 500 + ], + "score": 1.0, + "content": "We focus on ViTs and MLP-Mixers in this paper. We denote by “S” and “B” the small and base", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 498, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 106, + 498, + 505, + 510 + ], + "score": 1.0, + "content": "model sizes, respectively, and by an integer the image patch resolution. For instance, ViT-B/16 is", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 508, + 506, + 522 + ], + "spans": [ + { + "bbox": [ + 105, + 508, + 302, + 522 + ], + "score": 1.0, + "content": "the base ViT model taking as input a sequence of", + "type": "text" + }, + { + "bbox": [ + 303, + 509, + 334, + 519 + ], + "score": 0.9, + "content": "1 6 \\times 1 6", + "type": "inline_equation" + }, + { + "bbox": [ + 335, + 508, + 506, + 522 + ], + "score": 1.0, + "content": "patches. Appendices contain more details.", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 25 + }, + { + "type": "title", + "bbox": [ + 108, + 536, + 454, + 549 + ], + "lines": [ + { + "bbox": [ + 104, + 534, + 456, + 551 + ], + "spans": [ + { + "bbox": [ + 104, + 534, + 456, + 551 + ], + "score": 1.0, + "content": "3 VITS AND MLP-MIXERS CONVERGE AT SHARP LOCAL MINIMA", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 27 + }, + { + "type": "text", + "bbox": [ + 107, + 561, + 505, + 693 + ], + "lines": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "score": 1.0, + "content": "The current training recipe of ViTs, MLP-Mixers, and related convolution-free architectures relies", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 572, + 507, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 507, + 585 + ], + "score": 1.0, + "content": "heavily on massive pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) or a", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "bag of strong data augmentations (Touvron et al., 2021b; Tolstikhin et al., 2021; Cubuk et al., 2019;", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 593, + 505, + 608 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 505, + 608 + ], + "score": 1.0, + "content": "2020; Zhang et al., 2018; Yun et al., 2019). It highly demands data and computing, and leads to many", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 605, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 505, + 618 + ], + "score": 1.0, + "content": "hyperparameters to tune. 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ViT and MLP-", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 358, + 504, + 372 + ], + "spans": [ + { + "bbox": [ + 105, + 358, + 504, + 372 + ], + "score": 1.0, + "content": "Mixer converge to sharper regions than ResNet when trained on ImageNet with the basic Inception-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 370, + 482, + 382 + ], + "spans": [ + { + "bbox": [ + 106, + 370, + 482, + 382 + ], + "score": 1.0, + "content": "style preprocessing. SAM, a sharpness-aware optimizer, significantly smooths the landscapes.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 14 + } + ], + "index": 12.5 + }, + { + "type": "text", + "bbox": [ + 106, + 387, + 504, + 410 + ], + "lines": [], + "index": 16.5, + "bbox_fs": [ + 105, + 387, + 505, + 410 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 107, + 415, + 505, + 481 + ], + "lines": [ + { + "bbox": [ + 106, + 415, + 505, + 426 + ], + "spans": [ + { + "bbox": [ + 106, + 415, + 505, + 426 + ], + "score": 1.0, + "content": "More recent works find that the self-attention in ViT is not vital for performance, resulting in several", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 426, + 505, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 505, + 438 + ], + "score": 1.0, + "content": "architectures exclusively based on MLPs (Tolstikhin et al., 2021; Touvron et al., 2021a; Liu et al.,", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 436, + 505, + 450 + ], + "spans": [ + { + "bbox": [ + 105, + 436, + 505, + 450 + ], + "score": 1.0, + "content": "2021a; Melas-Kyriazi, 2021). Here we take MLP-Mixer (Tolstikhin et al., 2021) as an example.", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 447, + 505, + 461 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 505, + 461 + ], + "score": 1.0, + "content": "MLP-Mixer shares the same input layer as ViT; namely, it partitions an image into a sequence", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 460, + 505, + 471 + ], + "spans": [ + { + "bbox": [ + 106, + 460, + 505, + 471 + ], + "score": 1.0, + "content": "of nonoverlapping patches/tokens. It then alternates between token and channel MLPs, where the", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 470, + 350, + 482 + ], + "spans": [ + { + "bbox": [ + 106, + 470, + 350, + 482 + ], + "score": 1.0, + "content": "former allows feature fusion from different spatial locations.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 20.5, + "bbox_fs": [ + 105, + 415, + 505, + 482 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 486, + 504, + 520 + ], + "lines": [ + { + "bbox": [ + 106, + 486, + 506, + 500 + ], + "spans": [ + { + "bbox": [ + 106, + 486, + 506, + 500 + ], + "score": 1.0, + "content": "We focus on ViTs and MLP-Mixers in this paper. We denote by “S” and “B” the small and base", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 498, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 106, + 498, + 505, + 510 + ], + "score": 1.0, + "content": "model sizes, respectively, and by an integer the image patch resolution. For instance, ViT-B/16 is", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 508, + 506, + 522 + ], + "spans": [ + { + "bbox": [ + 105, + 508, + 302, + 522 + ], + "score": 1.0, + "content": "the base ViT model taking as input a sequence of", + "type": "text" + }, + { + "bbox": [ + 303, + 509, + 334, + 519 + ], + "score": 0.9, + "content": "1 6 \\times 1 6", + "type": "inline_equation" + }, + { + "bbox": [ + 335, + 508, + 506, + 522 + ], + "score": 1.0, + "content": "patches. Appendices contain more details.", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 486, + 506, + 522 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 536, + 454, + 549 + ], + "lines": [ + { + "bbox": [ + 104, + 534, + 456, + 551 + ], + "spans": [ + { + "bbox": [ + 104, + 534, + 456, + 551 + ], + "score": 1.0, + "content": "3 VITS AND MLP-MIXERS CONVERGE AT SHARP LOCAL MINIMA", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 27 + }, + { + "type": "text", + "bbox": [ + 107, + 561, + 505, + 693 + ], + "lines": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "score": 1.0, + "content": "The current training recipe of ViTs, MLP-Mixers, and related convolution-free architectures relies", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 572, + 507, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 507, + 585 + ], + "score": 1.0, + "content": "heavily on massive pre-training (Dosovitskiy et al., 2021; Arnab et al., 2021; Akbari et al., 2021) or a", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "bag of strong data augmentations (Touvron et al., 2021b; Tolstikhin et al., 2021; Cubuk et al., 2019;", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 593, + 505, + 608 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 505, + 608 + ], + "score": 1.0, + "content": "2020; Zhang et al., 2018; Yun et al., 2019). It highly demands data and computing, and leads to many", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 605, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 505, + 618 + ], + "score": 1.0, + "content": "hyperparameters to tune. Existing works report that ViTs yield inferior accuracy to the ConvNets", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 616, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 506, + 628 + ], + "score": 1.0, + "content": "of similar size and throughput when trained from scratch on ImageNet without the combination", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 626, + 505, + 641 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 505, + 641 + ], + "score": 1.0, + "content": "of those advanced data augmentations, despite using various regularization techniques (e.g., large", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "score": 1.0, + "content": "weight decay, Dropout (Srivastava et al., 2014), etc.). For instance, ViT-B/16 (Dosovitskiy et al.,", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 648, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 186, + 662 + ], + "score": 1.0, + "content": "2021) gives rise to", + "type": "text" + }, + { + "bbox": [ + 186, + 649, + 213, + 659 + ], + "score": 0.89, + "content": "7 4 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 214, + 648, + 505, + 662 + ], + "score": 1.0, + "content": "top-1 accuracy on the ImageNet validation set (224 image resolution),", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 659, + 505, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 167, + 673 + ], + "score": 1.0, + "content": "compared with", + "type": "text" + }, + { + "bbox": [ + 167, + 660, + 194, + 670 + ], + "score": 0.86, + "content": "78 . 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 195, + 659, + 505, + 673 + ], + "score": 1.0, + "content": "of ResNet-152 (He et al., 2016). Mixer-B/16 (Tolstikhin et al., 2021) performs", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 670, + 506, + 684 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 153, + 684 + ], + "score": 1.0, + "content": "even worse", + "type": "text" + }, + { + "bbox": [ + 154, + 671, + 186, + 682 + ], + "score": 0.87, + "content": "( 6 6 . 4 \\% )", + "type": "inline_equation" + }, + { + "bbox": [ + 186, + 670, + 506, + 684 + ], + "score": 1.0, + "content": ". There also exists a large gap between ViTs and ResNets in robustness tests (see", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 681, + 187, + 694 + ], + "spans": [ + { + "bbox": [ + 105, + 681, + 187, + 694 + ], + "score": 1.0, + "content": "Table 2 for details).", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 33.5, + "bbox_fs": [ + 105, + 561, + 507, + 694 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 699, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 698, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 106, + 698, + 505, + 712 + ], + "score": 1.0, + "content": "Moreover, Chen et al. (2021c) find that the gradients can spike and cause a sudden accuracy dip", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "when training ViTs, and Touvron et al. (2021b) report the training is sensitive to initialization and", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 721, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 505, + 733 + ], + "score": 1.0, + "content": "hyperparameters. These all point to optimization problems. In this paper, we investigate the loss", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 212, + 504, + 225 + ], + "spans": [ + { + "bbox": [ + 106, + 212, + 504, + 225 + ], + "score": 1.0, + "content": "landscapes of ViTs and MLP-Mixers to understand them from the optimization perspective, intend-", + "type": "text", + "cross_page": true + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 222, + 475, + 237 + ], + "spans": [ + { + "bbox": [ + 105, + 222, + 475, + 237 + ], + "score": 1.0, + "content": "ing to reduce their dependency on the large-scale pre-training or strong data augmentations.", + "type": "text", + "cross_page": true + } + ], + "index": 6 + } + ], + "index": 41, + "bbox_fs": [ + 106, + 698, + 505, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 110, + 85, + 497, + 177 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 110, + 85, + 497, + 177 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 110, + 85, + 497, + 177 + ], + "spans": [ + { + "bbox": [ + 110, + 85, + 497, + 177 + ], + "score": 0.968, + "type": "image", + "image_path": "ae32274bd02eb0799db3729591c90459bb055b5df5c67f8be23f0e313db98297.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 110, + 85, + 497, + 115.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 110, + 115.66666666666667, + 497, + 146.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 110, + 146.33333333333334, + 497, + 177.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 105, + 180, + 504, + 201 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 179, + 505, + 191 + ], + "spans": [ + { + "bbox": [ + 105, + 179, + 505, + 191 + ], + "score": 1.0, + "content": "Figure 2: Left and Middle: ImageNet training error and validation accuracy vs. iteration for ViTs", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 190, + 505, + 202 + ], + "spans": [ + { + "bbox": [ + 105, + 190, + 505, + 202 + ], + "score": 1.0, + "content": "and MLP-Mixers. Right: Percentage of active neurons for ResNet-152, ViT-B/16, and Mixer-B/16.", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 3.5 + } + ], + "index": 2.25 + }, + { + "type": "text", + "bbox": [ + 105, + 212, + 503, + 235 + ], + "lines": [ + { + "bbox": [ + 106, + 212, + 504, + 225 + ], + "spans": [ + { + "bbox": [ + 106, + 212, + 504, + 225 + ], + "score": 1.0, + "content": "landscapes of ViTs and MLP-Mixers to understand them from the optimization perspective, intend-", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 222, + 475, + 237 + ], + "spans": [ + { + "bbox": [ + 105, + 222, + 475, + 237 + ], + "score": 1.0, + "content": "ing to reduce their dependency on the large-scale pre-training or strong data augmentations.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 5.5 + }, + { + "type": "text", + "bbox": [ + 106, + 241, + 505, + 405 + ], + "lines": [ + { + "bbox": [ + 106, + 239, + 505, + 253 + ], + "spans": [ + { + "bbox": [ + 106, + 239, + 505, + 253 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers converge at extremely sharp local minima. It has been extensively studied", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 251, + 505, + 263 + ], + "spans": [ + { + "bbox": [ + 106, + 251, + 505, + 263 + ], + "score": 1.0, + "content": "that the convergence to a flat region whose curvature is small benefits the generalization of neural", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 262, + 505, + 275 + ], + "spans": [ + { + "bbox": [ + 105, + 262, + 505, + 275 + ], + "score": 1.0, + "content": "networks (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Chen & Hsieh, 2020;", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 272, + 505, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 505, + 286 + ], + "score": 1.0, + "content": "Smith & Le, 2018; Zela et al., 2020; Chaudhari et al., 2017). Following Li et al. (2018), we plot the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 284, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 284, + 505, + 297 + ], + "score": 1.0, + "content": "loss landscapes at convergence when ResNets, ViTs, and MLP-Mixers are trained from scratch on", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 295, + 506, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 295, + 506, + 308 + ], + "score": 1.0, + "content": "ImageNet with the basic Inception-style preprocessing (Szegedy et al., 2016) (see Appendices for", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 306, + 505, + 319 + ], + "spans": [ + { + "bbox": [ + 105, + 306, + 505, + 319 + ], + "score": 1.0, + "content": "details). As shown in Figures 1(a) to 1(c), ViTs and MLP-Mixers converge at much sharper regions", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 316, + 506, + 330 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 506, + 330 + ], + "score": 1.0, + "content": "than ResNets. Besides, we calculate the training error under Gaussian perturbations on the model", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 102, + 322, + 505, + 345 + ], + "spans": [ + { + "bbox": [ + 102, + 322, + 153, + 345 + ], + "score": 1.0, + "content": "parameters", + "type": "text" + }, + { + "bbox": [ + 153, + 327, + 279, + 340 + ], + "score": 0.91, + "content": "L _ { t r a i n } ^ { N } = \\mathbb { E } _ { \\epsilon \\sim \\mathcal { N } } [ L _ { t r a i n } ( w + \\epsilon ) ]", + "type": "inline_equation" + }, + { + "bbox": [ + 279, + 322, + 505, + 345 + ], + "score": 1.0, + "content": "in Table 1, which reveals the average flatness. Although", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 338, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 338, + 331, + 352 + ], + "score": 1.0, + "content": "ViT-B/16 and Mixer-B/16 achieve lower training error", + "type": "text" + }, + { + "bbox": [ + 331, + 339, + 359, + 350 + ], + "score": 0.92, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 359, + 338, + 506, + 352 + ], + "score": 1.0, + "content": "than that of ResNet-152, their loss", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 349, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 349, + 505, + 362 + ], + "score": 1.0, + "content": "values after random weight perturbation become much higher. We further validate the results by", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 360, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 284, + 374 + ], + "score": 1.0, + "content": "computing the dominate Hessian eigenvalue", + "type": "text" + }, + { + "bbox": [ + 284, + 361, + 307, + 372 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 360, + 506, + 374 + ], + "score": 1.0, + "content": ", which is a mathematical evaluation of the worst-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 371, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 105, + 371, + 231, + 385 + ], + "score": 1.0, + "content": "case landscape curvature. The", + "type": "text" + }, + { + "bbox": [ + 231, + 372, + 254, + 383 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 371, + 505, + 385 + ], + "score": 1.0, + "content": "values of ViT and MLP-Mixer are orders of magnitude larger", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 104, + 382, + 506, + 397 + ], + "spans": [ + { + "bbox": [ + 104, + 382, + 506, + 397 + ], + "score": 1.0, + "content": "than that of ResNet, and MLP-Mixer suffers the largest curvature among the three species (see", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 393, + 249, + 406 + ], + "spans": [ + { + "bbox": [ + 106, + 393, + 249, + 406 + ], + "score": 1.0, + "content": "Section 4.4 for a detailed analysis).", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 14 + }, + { + "type": "text", + "bbox": [ + 106, + 410, + 505, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 409, + 505, + 424 + ], + "spans": [ + { + "bbox": [ + 105, + 409, + 505, + 424 + ], + "score": 1.0, + "content": "Small training errors. This convergence at sharp regions coincides with the training dynamics", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 104, + 420, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 104, + 420, + 505, + 435 + ], + "score": 1.0, + "content": "shown in Figure 2 (left). Although Mixer-B/16 has fewer parameters than ViT-B/16 (59M vs. 87M),", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 433, + 506, + 445 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 258, + 445 + ], + "score": 1.0, + "content": "it has a smaller training error (also see", + "type": "text" + }, + { + "bbox": [ + 258, + 433, + 285, + 444 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 433, + 506, + 445 + ], + "score": 1.0, + "content": "in Table 1) but much worse test accuracy, implying that", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "score": 1.0, + "content": "using the cross-token MLP to learn the interplay across image patches is more prone to overfitting", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 104, + 453, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 104, + 453, + 506, + 468 + ], + "score": 1.0, + "content": "than ViTs’ self-attention mechanism whose behavior is restricted by a softmax. To validate this", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 465, + 506, + 478 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 506, + 478 + ], + "score": 1.0, + "content": "statement, we simply remove the softmax in ViT-B/16, such that the query and key matrices can", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 104, + 475, + 506, + 489 + ], + "spans": [ + { + "bbox": [ + 104, + 475, + 334, + 489 + ], + "score": 1.0, + "content": "freely interact with each other. Although having lower", + "type": "text" + }, + { + "bbox": [ + 334, + 477, + 361, + 487 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 362, + 475, + 506, + 489 + ], + "score": 1.0, + "content": "(0.56 vs. 0.65), the obtained ViT-", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 101, + 482, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 101, + 482, + 359, + 505 + ], + "score": 1.0, + "content": "B/16-Free performs much worse than the original ViT-B/16 (", + "type": "text" + }, + { + "bbox": [ + 359, + 487, + 386, + 498 + ], + "score": 0.85, + "content": "7 0 . 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 482, + 406, + 505 + ], + "score": 1.0, + "content": "vs.", + "type": "text" + }, + { + "bbox": [ + 406, + 487, + 435, + 498 + ], + "score": 0.85, + "content": "7 4 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 435, + 482, + 458, + 505 + ], + "score": 1.0, + "content": "). Its", + "type": "text" + }, + { + "bbox": [ + 458, + 486, + 486, + 499 + ], + "score": 0.92, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 486, + 482, + 505, + 505 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 497, + 507, + 512 + ], + "spans": [ + { + "bbox": [ + 106, + 498, + 130, + 509 + ], + "score": 0.89, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 130, + 497, + 507, + 512 + ], + "score": 1.0, + "content": "are 7.01 and 1236.2, revealing that ViT-B/16-Free converges to a sharper region than ViT-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 102, + 504, + 506, + 526 + ], + "spans": [ + { + "bbox": [ + 102, + 504, + 132, + 526 + ], + "score": 1.0, + "content": "B/16", + "type": "text" + }, + { + "bbox": [ + 132, + 509, + 160, + 522 + ], + "score": 0.87, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 160, + 504, + 209, + 526 + ], + "score": 1.0, + "content": "is 6.66 and", + "type": "text" + }, + { + "bbox": [ + 210, + 510, + 233, + 520 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 234, + 504, + 506, + 526 + ], + "score": 1.0, + "content": "is 738.8) both on average and in the worst-case direction. Such a", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 520, + 493, + 533 + ], + "spans": [ + { + "bbox": [ + 106, + 520, + 493, + 533 + ], + "score": 1.0, + "content": "difference probably explains why it is easier for MLP-Mixers to get stuck in sharp local minima.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 27 + }, + { + "type": "text", + "bbox": [ + 106, + 537, + 505, + 669 + ], + "lines": [ + { + "bbox": [ + 105, + 536, + 505, + 549 + ], + "spans": [ + { + "bbox": [ + 105, + 536, + 505, + 549 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers have worse trainability. Furthermore, we discover that ViTs and MLP-", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 547, + 505, + 561 + ], + "spans": [ + { + "bbox": [ + 105, + 547, + 505, + 561 + ], + "score": 1.0, + "content": "Mixers suffer poor trainabilities, defined as the effectiveness of a network to be optimized by gradi-", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 559, + 505, + 571 + ], + "spans": [ + { + "bbox": [ + 106, + 559, + 505, + 571 + ], + "score": 1.0, + "content": "ent descent (Xiao et al., 2020; Burkholz & Dubatovka, 2019; Shin & Karniadakis, 2020). Xiao et al.", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 570, + 504, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 570, + 504, + 582 + ], + "score": 1.0, + "content": "(2020) show that the trainability of a neural network can be characterized by the condition number", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 580, + 505, + 594 + ], + "spans": [ + { + "bbox": [ + 105, + 580, + 299, + 594 + ], + "score": 1.0, + "content": "of the associated neural tangent kernel (NTK),", + "type": "text" + }, + { + "bbox": [ + 300, + 580, + 400, + 592 + ], + "score": 0.93, + "content": "\\Theta ( x , x ^ { \\prime } ) = J ( x ) J ( x ^ { \\prime } ) ^ { T }", + "type": "inline_equation" + }, + { + "bbox": [ + 400, + 580, + 432, + 594 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 433, + 581, + 441, + 591 + ], + "score": 0.82, + "content": "J", + "type": "inline_equation" + }, + { + "bbox": [ + 441, + 580, + 505, + 594 + ], + "score": 1.0, + "content": "is the Jacobian", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 592, + 504, + 605 + ], + "spans": [ + { + "bbox": [ + 105, + 592, + 192, + 605 + ], + "score": 1.0, + "content": "matrix. Denoting by", + "type": "text" + }, + { + "bbox": [ + 192, + 592, + 259, + 603 + ], + "score": 0.91, + "content": "\\lambda _ { 1 } \\geq \\cdots \\geq \\lambda _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 592, + 360, + 605 + ], + "score": 1.0, + "content": "the eigenvalues of NTK", + "type": "text" + }, + { + "bbox": [ + 360, + 593, + 388, + 603 + ], + "score": 0.88, + "content": "\\Theta _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 388, + 592, + 489, + 605 + ], + "score": 1.0, + "content": ", the smallest eigenvalue", + "type": "text" + }, + { + "bbox": [ + 489, + 592, + 504, + 603 + ], + "score": 0.88, + "content": "\\lambda _ { m }", + "type": "inline_equation" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 603, + 505, + 615 + ], + "spans": [ + { + "bbox": [ + 104, + 603, + 371, + 615 + ], + "score": 1.0, + "content": "converges exponentially at a rate given by the condition number", + "type": "text" + }, + { + "bbox": [ + 372, + 603, + 423, + 615 + ], + "score": 0.93, + "content": "\\kappa = \\lambda _ { 1 } / \\lambda _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 423, + 603, + 439, + 615 + ], + "score": 1.0, + "content": ". If", + "type": "text" + }, + { + "bbox": [ + 440, + 604, + 447, + 613 + ], + "score": 0.74, + "content": "\\kappa", + "type": "inline_equation" + }, + { + "bbox": [ + 448, + 603, + 505, + 615 + ], + "score": 1.0, + "content": "diverges then", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "spans": [ + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "score": 1.0, + "content": "the network will become untrainable (Xiao et al., 2020; Chen et al., 2021a). As shown in Table 1,", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 624, + 505, + 637 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 113, + 635 + ], + "score": 0.73, + "content": "\\kappa", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 624, + 505, + 637 + ], + "score": 1.0, + "content": "is pretty stable for ResNets, echoing previous results that ResNets enjoy superior trainability re-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 635, + 505, + 648 + ], + "spans": [ + { + "bbox": [ + 105, + 635, + 505, + 648 + ], + "score": 1.0, + "content": "gardless of the depth (Yang & Schoenholz, 2017; Li et al., 2018). However, we observe that the", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 648, + 505, + 658 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 505, + 658 + ], + "score": 1.0, + "content": "condition number diverges when it comes to ViT and MLP-Mixer, confirming that the training of", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 657, + 375, + 670 + ], + "spans": [ + { + "bbox": [ + 106, + 657, + 375, + 670 + ], + "score": 1.0, + "content": "ViTs desires extra care (Chen et al., 2021c; Touvron et al., 2021b).", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 38.5 + }, + { + "type": "title", + "bbox": [ + 106, + 685, + 487, + 698 + ], + "lines": [ + { + "bbox": [ + 105, + 684, + 489, + 699 + ], + "spans": [ + { + "bbox": [ + 105, + 684, + 489, + 699 + ], + "score": 1.0, + "content": "4 A PRINCIPLED OPTIMIZER FOR CONVOLUTION-FREE ARCHITECTURES", + "type": "text" + } + ], + "index": 45 + } + ], + "index": 45 + }, + { + "type": "text", + "bbox": [ + 107, + 709, + 502, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 504, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 504, + 722 + ], + "score": 1.0, + "content": "The commonly used first-order optimizers (e.g., SGD (Nesterov, 1983), Adam (Kingma & Ba,", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 720, + 504, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 299, + 734 + ], + "score": 1.0, + "content": "2015)) only seek to minimize the training loss", + "type": "text" + }, + { + "bbox": [ + 299, + 721, + 342, + 732 + ], + "score": 0.93, + "content": "L _ { t r a i n } ( w )", + "type": "inline_equation" + }, + { + "bbox": [ + 342, + 720, + 504, + 734 + ], + "score": 1.0, + "content": ". They usually dismiss the higher-order", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 46.5 + } + ], + "page_idx": 3, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 752, + 308, + 759 + ], + "lines": [] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 110, + 85, + 497, + 177 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 110, + 85, + 497, + 177 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 110, + 85, + 497, + 177 + ], + "spans": [ + { + "bbox": [ + 110, + 85, + 497, + 177 + ], + "score": 0.968, + "type": "image", + "image_path": "ae32274bd02eb0799db3729591c90459bb055b5df5c67f8be23f0e313db98297.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 110, + 85, + 497, + 115.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 110, + 115.66666666666667, + 497, + 146.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 110, + 146.33333333333334, + 497, + 177.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 105, + 180, + 504, + 201 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 179, + 505, + 191 + ], + "spans": [ + { + "bbox": [ + 105, + 179, + 505, + 191 + ], + "score": 1.0, + "content": "Figure 2: Left and Middle: ImageNet training error and validation accuracy vs. iteration for ViTs", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 190, + 505, + 202 + ], + "spans": [ + { + "bbox": [ + 105, + 190, + 505, + 202 + ], + "score": 1.0, + "content": "and MLP-Mixers. Right: Percentage of active neurons for ResNet-152, ViT-B/16, and Mixer-B/16.", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 3.5 + } + ], + "index": 2.25 + }, + { + "type": "text", + "bbox": [ + 105, + 212, + 503, + 235 + ], + "lines": [], + "index": 5.5, + "bbox_fs": [ + 105, + 212, + 504, + 237 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 106, + 241, + 505, + 405 + ], + "lines": [ + { + "bbox": [ + 106, + 239, + 505, + 253 + ], + "spans": [ + { + "bbox": [ + 106, + 239, + 505, + 253 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers converge at extremely sharp local minima. It has been extensively studied", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 251, + 505, + 263 + ], + "spans": [ + { + "bbox": [ + 106, + 251, + 505, + 263 + ], + "score": 1.0, + "content": "that the convergence to a flat region whose curvature is small benefits the generalization of neural", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 262, + 505, + 275 + ], + "spans": [ + { + "bbox": [ + 105, + 262, + 505, + 275 + ], + "score": 1.0, + "content": "networks (Keskar et al., 2017; Kleinberg et al., 2018; Jastrz˛ebski et al., 2019; Chen & Hsieh, 2020;", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 272, + 505, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 505, + 286 + ], + "score": 1.0, + "content": "Smith & Le, 2018; Zela et al., 2020; Chaudhari et al., 2017). Following Li et al. (2018), we plot the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 284, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 284, + 505, + 297 + ], + "score": 1.0, + "content": "loss landscapes at convergence when ResNets, ViTs, and MLP-Mixers are trained from scratch on", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 295, + 506, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 295, + 506, + 308 + ], + "score": 1.0, + "content": "ImageNet with the basic Inception-style preprocessing (Szegedy et al., 2016) (see Appendices for", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 306, + 505, + 319 + ], + "spans": [ + { + "bbox": [ + 105, + 306, + 505, + 319 + ], + "score": 1.0, + "content": "details). As shown in Figures 1(a) to 1(c), ViTs and MLP-Mixers converge at much sharper regions", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 316, + 506, + 330 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 506, + 330 + ], + "score": 1.0, + "content": "than ResNets. Besides, we calculate the training error under Gaussian perturbations on the model", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 102, + 322, + 505, + 345 + ], + "spans": [ + { + "bbox": [ + 102, + 322, + 153, + 345 + ], + "score": 1.0, + "content": "parameters", + "type": "text" + }, + { + "bbox": [ + 153, + 327, + 279, + 340 + ], + "score": 0.91, + "content": "L _ { t r a i n } ^ { N } = \\mathbb { E } _ { \\epsilon \\sim \\mathcal { N } } [ L _ { t r a i n } ( w + \\epsilon ) ]", + "type": "inline_equation" + }, + { + "bbox": [ + 279, + 322, + 505, + 345 + ], + "score": 1.0, + "content": "in Table 1, which reveals the average flatness. Although", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 338, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 338, + 331, + 352 + ], + "score": 1.0, + "content": "ViT-B/16 and Mixer-B/16 achieve lower training error", + "type": "text" + }, + { + "bbox": [ + 331, + 339, + 359, + 350 + ], + "score": 0.92, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 359, + 338, + 506, + 352 + ], + "score": 1.0, + "content": "than that of ResNet-152, their loss", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 349, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 349, + 505, + 362 + ], + "score": 1.0, + "content": "values after random weight perturbation become much higher. We further validate the results by", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 360, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 284, + 374 + ], + "score": 1.0, + "content": "computing the dominate Hessian eigenvalue", + "type": "text" + }, + { + "bbox": [ + 284, + 361, + 307, + 372 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 360, + 506, + 374 + ], + "score": 1.0, + "content": ", which is a mathematical evaluation of the worst-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 371, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 105, + 371, + 231, + 385 + ], + "score": 1.0, + "content": "case landscape curvature. The", + "type": "text" + }, + { + "bbox": [ + 231, + 372, + 254, + 383 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 371, + 505, + 385 + ], + "score": 1.0, + "content": "values of ViT and MLP-Mixer are orders of magnitude larger", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 104, + 382, + 506, + 397 + ], + "spans": [ + { + "bbox": [ + 104, + 382, + 506, + 397 + ], + "score": 1.0, + "content": "than that of ResNet, and MLP-Mixer suffers the largest curvature among the three species (see", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 393, + 249, + 406 + ], + "spans": [ + { + "bbox": [ + 106, + 393, + 249, + 406 + ], + "score": 1.0, + "content": "Section 4.4 for a detailed analysis).", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 14, + "bbox_fs": [ + 102, + 239, + 506, + 406 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 410, + 505, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 409, + 505, + 424 + ], + "spans": [ + { + "bbox": [ + 105, + 409, + 505, + 424 + ], + "score": 1.0, + "content": "Small training errors. This convergence at sharp regions coincides with the training dynamics", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 104, + 420, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 104, + 420, + 505, + 435 + ], + "score": 1.0, + "content": "shown in Figure 2 (left). Although Mixer-B/16 has fewer parameters than ViT-B/16 (59M vs. 87M),", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 433, + 506, + 445 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 258, + 445 + ], + "score": 1.0, + "content": "it has a smaller training error (also see", + "type": "text" + }, + { + "bbox": [ + 258, + 433, + 285, + 444 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 433, + 506, + 445 + ], + "score": 1.0, + "content": "in Table 1) but much worse test accuracy, implying that", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "score": 1.0, + "content": "using the cross-token MLP to learn the interplay across image patches is more prone to overfitting", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 104, + 453, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 104, + 453, + 506, + 468 + ], + "score": 1.0, + "content": "than ViTs’ self-attention mechanism whose behavior is restricted by a softmax. To validate this", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 465, + 506, + 478 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 506, + 478 + ], + "score": 1.0, + "content": "statement, we simply remove the softmax in ViT-B/16, such that the query and key matrices can", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 104, + 475, + 506, + 489 + ], + "spans": [ + { + "bbox": [ + 104, + 475, + 334, + 489 + ], + "score": 1.0, + "content": "freely interact with each other. Although having lower", + "type": "text" + }, + { + "bbox": [ + 334, + 477, + 361, + 487 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 362, + 475, + 506, + 489 + ], + "score": 1.0, + "content": "(0.56 vs. 0.65), the obtained ViT-", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 101, + 482, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 101, + 482, + 359, + 505 + ], + "score": 1.0, + "content": "B/16-Free performs much worse than the original ViT-B/16 (", + "type": "text" + }, + { + "bbox": [ + 359, + 487, + 386, + 498 + ], + "score": 0.85, + "content": "7 0 . 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 482, + 406, + 505 + ], + "score": 1.0, + "content": "vs.", + "type": "text" + }, + { + "bbox": [ + 406, + 487, + 435, + 498 + ], + "score": 0.85, + "content": "7 4 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 435, + 482, + 458, + 505 + ], + "score": 1.0, + "content": "). Its", + "type": "text" + }, + { + "bbox": [ + 458, + 486, + 486, + 499 + ], + "score": 0.92, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 486, + 482, + 505, + 505 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 497, + 507, + 512 + ], + "spans": [ + { + "bbox": [ + 106, + 498, + 130, + 509 + ], + "score": 0.89, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 130, + 497, + 507, + 512 + ], + "score": 1.0, + "content": "are 7.01 and 1236.2, revealing that ViT-B/16-Free converges to a sharper region than ViT-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 102, + 504, + 506, + 526 + ], + "spans": [ + { + "bbox": [ + 102, + 504, + 132, + 526 + ], + "score": 1.0, + "content": "B/16", + "type": "text" + }, + { + "bbox": [ + 132, + 509, + 160, + 522 + ], + "score": 0.87, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 160, + 504, + 209, + 526 + ], + "score": 1.0, + "content": "is 6.66 and", + "type": "text" + }, + { + "bbox": [ + 210, + 510, + 233, + 520 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 234, + 504, + 506, + 526 + ], + "score": 1.0, + "content": "is 738.8) both on average and in the worst-case direction. Such a", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 520, + 493, + 533 + ], + "spans": [ + { + "bbox": [ + 106, + 520, + 493, + 533 + ], + "score": 1.0, + "content": "difference probably explains why it is easier for MLP-Mixers to get stuck in sharp local minima.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 27, + "bbox_fs": [ + 101, + 409, + 507, + 533 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 537, + 505, + 669 + ], + "lines": [ + { + "bbox": [ + 105, + 536, + 505, + 549 + ], + "spans": [ + { + "bbox": [ + 105, + 536, + 505, + 549 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers have worse trainability. Furthermore, we discover that ViTs and MLP-", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 547, + 505, + 561 + ], + "spans": [ + { + "bbox": [ + 105, + 547, + 505, + 561 + ], + "score": 1.0, + "content": "Mixers suffer poor trainabilities, defined as the effectiveness of a network to be optimized by gradi-", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 559, + 505, + 571 + ], + "spans": [ + { + "bbox": [ + 106, + 559, + 505, + 571 + ], + "score": 1.0, + "content": "ent descent (Xiao et al., 2020; Burkholz & Dubatovka, 2019; Shin & Karniadakis, 2020). Xiao et al.", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 570, + 504, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 570, + 504, + 582 + ], + "score": 1.0, + "content": "(2020) show that the trainability of a neural network can be characterized by the condition number", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 580, + 505, + 594 + ], + "spans": [ + { + "bbox": [ + 105, + 580, + 299, + 594 + ], + "score": 1.0, + "content": "of the associated neural tangent kernel (NTK),", + "type": "text" + }, + { + "bbox": [ + 300, + 580, + 400, + 592 + ], + "score": 0.93, + "content": "\\Theta ( x , x ^ { \\prime } ) = J ( x ) J ( x ^ { \\prime } ) ^ { T }", + "type": "inline_equation" + }, + { + "bbox": [ + 400, + 580, + 432, + 594 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 433, + 581, + 441, + 591 + ], + "score": 0.82, + "content": "J", + "type": "inline_equation" + }, + { + "bbox": [ + 441, + 580, + 505, + 594 + ], + "score": 1.0, + "content": "is the Jacobian", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 592, + 504, + 605 + ], + "spans": [ + { + "bbox": [ + 105, + 592, + 192, + 605 + ], + "score": 1.0, + "content": "matrix. Denoting by", + "type": "text" + }, + { + "bbox": [ + 192, + 592, + 259, + 603 + ], + "score": 0.91, + "content": "\\lambda _ { 1 } \\geq \\cdots \\geq \\lambda _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 592, + 360, + 605 + ], + "score": 1.0, + "content": "the eigenvalues of NTK", + "type": "text" + }, + { + "bbox": [ + 360, + 593, + 388, + 603 + ], + "score": 0.88, + "content": "\\Theta _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 388, + 592, + 489, + 605 + ], + "score": 1.0, + "content": ", the smallest eigenvalue", + "type": "text" + }, + { + "bbox": [ + 489, + 592, + 504, + 603 + ], + "score": 0.88, + "content": "\\lambda _ { m }", + "type": "inline_equation" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 603, + 505, + 615 + ], + "spans": [ + { + "bbox": [ + 104, + 603, + 371, + 615 + ], + "score": 1.0, + "content": "converges exponentially at a rate given by the condition number", + "type": "text" + }, + { + "bbox": [ + 372, + 603, + 423, + 615 + ], + "score": 0.93, + "content": "\\kappa = \\lambda _ { 1 } / \\lambda _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 423, + 603, + 439, + 615 + ], + "score": 1.0, + "content": ". If", + "type": "text" + }, + { + "bbox": [ + 440, + 604, + 447, + 613 + ], + "score": 0.74, + "content": "\\kappa", + "type": "inline_equation" + }, + { + "bbox": [ + 448, + 603, + 505, + 615 + ], + "score": 1.0, + "content": "diverges then", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "spans": [ + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "score": 1.0, + "content": "the network will become untrainable (Xiao et al., 2020; Chen et al., 2021a). As shown in Table 1,", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 624, + 505, + 637 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 113, + 635 + ], + "score": 0.73, + "content": "\\kappa", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 624, + 505, + 637 + ], + "score": 1.0, + "content": "is pretty stable for ResNets, echoing previous results that ResNets enjoy superior trainability re-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 635, + 505, + 648 + ], + "spans": [ + { + "bbox": [ + 105, + 635, + 505, + 648 + ], + "score": 1.0, + "content": "gardless of the depth (Yang & Schoenholz, 2017; Li et al., 2018). However, we observe that the", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 648, + 505, + 658 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 505, + 658 + ], + "score": 1.0, + "content": "condition number diverges when it comes to ViT and MLP-Mixer, confirming that the training of", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 657, + 375, + 670 + ], + "spans": [ + { + "bbox": [ + 106, + 657, + 375, + 670 + ], + "score": 1.0, + "content": "ViTs desires extra care (Chen et al., 2021c; Touvron et al., 2021b).", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 38.5, + "bbox_fs": [ + 104, + 536, + 505, + 670 + ] + }, + { + "type": "title", + "bbox": [ + 106, + 685, + 487, + 698 + ], + "lines": [ + { + "bbox": [ + 105, + 684, + 489, + 699 + ], + "spans": [ + { + "bbox": [ + 105, + 684, + 489, + 699 + ], + "score": 1.0, + "content": "4 A PRINCIPLED OPTIMIZER FOR CONVOLUTION-FREE ARCHITECTURES", + "type": "text" + } + ], + "index": 45 + } + ], + "index": 45 + }, + { + "type": "text", + "bbox": [ + 107, + 709, + 502, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 504, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 504, + 722 + ], + "score": 1.0, + "content": "The commonly used first-order optimizers (e.g., SGD (Nesterov, 1983), Adam (Kingma & Ba,", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 720, + 504, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 299, + 734 + ], + "score": 1.0, + "content": "2015)) only seek to minimize the training loss", + "type": "text" + }, + { + "bbox": [ + 299, + 721, + 342, + 732 + ], + "score": 0.93, + "content": "L _ { t r a i n } ( w )", + "type": "inline_equation" + }, + { + "bbox": [ + 342, + 720, + 504, + 734 + ], + "score": 1.0, + "content": ". They usually dismiss the higher-order", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "information such as curvature that correlates with the generalization (Keskar et al., 2017; Chaud-", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 373, + 107 + ], + "score": 1.0, + "content": "hari et al., 2017; Dziugaite & Roy, 2017). However, the objective", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 373, + 94, + 401, + 105 + ], + "score": 0.92, + "content": "L _ { t r a i n }", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 401, + 93, + 505, + 107 + ], + "score": 1.0, + "content": "for deep neural networks", + "type": "text", + "cross_page": true + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 505, + 117 + ], + "score": 1.0, + "content": "are highly non-convex, making it easy to reach near-zero training error but high generalization er-", + "type": "text", + "cross_page": true + } + ], + "index": 2 + }, + { + "bbox": [ + 104, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 104, + 115, + 122, + 128 + ], + "score": 1.0, + "content": "ror", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 122, + 116, + 144, + 127 + ], + "score": 0.9, + "content": "L _ { t e s t }", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 145, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "during evaluation, let alone their robustness when the test sets have different distribu-", + "type": "text", + "cross_page": true + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 127, + 505, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 127, + 505, + 138 + ], + "score": 1.0, + "content": "tions (Hendrycks & Dietterich, 2019; Hendrycks et al., 2020). ViTs and MLPs amplify such draw-", + "type": "text", + "cross_page": true + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 136, + 505, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 136, + 505, + 150 + ], + "score": 1.0, + "content": "backs of first-order optimizers due to the lack of inductive bias for visual data, resulting in exces-", + "type": "text", + "cross_page": true + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "score": 1.0, + "content": "sively sharp loss landscapes and poor generalization, as shown in the previous section. We hypothe-", + "type": "text", + "cross_page": true + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 159, + 505, + 172 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 505, + 172 + ], + "score": 1.0, + "content": "size that smoothing the loss landscapes at convergence can significantly improve the generalization", + "type": "text", + "cross_page": true + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 169, + 505, + 184 + ], + "spans": [ + { + "bbox": [ + 105, + 169, + 505, + 184 + ], + "score": 1.0, + "content": "ability of those convolution-free architectures, leading us to the recently proposed sharpness-aware", + "type": "text", + "cross_page": true + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 181, + 403, + 194 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 403, + 194 + ], + "score": 1.0, + "content": "minimizer (SAM) (Foret et al., 2021) that explicitly avoids sharp minima.", + "type": "text", + "cross_page": true + } + ], + "index": 9 + } + ], + "index": 46.5, + "bbox_fs": [ + 105, + 709, + 504, + 734 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 193 + ], + "lines": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "information such as curvature that correlates with the generalization (Keskar et al., 2017; Chaud-", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 373, + 107 + ], + "score": 1.0, + "content": "hari et al., 2017; Dziugaite & Roy, 2017). However, the objective", + "type": "text" + }, + { + "bbox": [ + 373, + 94, + 401, + 105 + ], + "score": 0.92, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 401, + 93, + 505, + 107 + ], + "score": 1.0, + "content": "for deep neural networks", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 505, + 117 + ], + "score": 1.0, + "content": "are highly non-convex, making it easy to reach near-zero training error but high generalization er-", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 104, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 104, + 115, + 122, + 128 + ], + "score": 1.0, + "content": "ror", + "type": "text" + }, + { + "bbox": [ + 122, + 116, + 144, + 127 + ], + "score": 0.9, + "content": "L _ { t e s t }", + "type": "inline_equation" + }, + { + "bbox": [ + 145, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "during evaluation, let alone their robustness when the test sets have different distribu-", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 127, + 505, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 127, + 505, + 138 + ], + "score": 1.0, + "content": "tions (Hendrycks & Dietterich, 2019; Hendrycks et al., 2020). ViTs and MLPs amplify such draw-", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 136, + 505, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 136, + 505, + 150 + ], + "score": 1.0, + "content": "backs of first-order optimizers due to the lack of inductive bias for visual data, resulting in exces-", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "score": 1.0, + "content": "sively sharp loss landscapes and poor generalization, as shown in the previous section. We hypothe-", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 159, + 505, + 172 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 505, + 172 + ], + "score": 1.0, + "content": "size that smoothing the loss landscapes at convergence can significantly improve the generalization", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 169, + 505, + 184 + ], + "spans": [ + { + "bbox": [ + 105, + 169, + 505, + 184 + ], + "score": 1.0, + "content": "ability of those convolution-free architectures, leading us to the recently proposed sharpness-aware", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 181, + 403, + 194 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 403, + 194 + ], + "score": 1.0, + "content": "minimizer (SAM) (Foret et al., 2021) that explicitly avoids sharp minima.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 4.5 + }, + { + "type": "title", + "bbox": [ + 107, + 206, + 207, + 217 + ], + "lines": [ + { + "bbox": [ + 105, + 205, + 208, + 219 + ], + "spans": [ + { + "bbox": [ + 105, + 205, + 208, + 219 + ], + "score": 1.0, + "content": "4.1 SAM: OVERVIEW", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 106, + 227, + 504, + 249 + ], + "lines": [ + { + "bbox": [ + 105, + 226, + 504, + 240 + ], + "spans": [ + { + "bbox": [ + 105, + 226, + 358, + 240 + ], + "score": 1.0, + "content": "Intuitively, SAM (Foret et al., 2021) seeks to find the parameter", + "type": "text" + }, + { + "bbox": [ + 359, + 230, + 367, + 237 + ], + "score": 0.77, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 226, + 504, + 240 + ], + "score": 1.0, + "content": "whose entire neighbours have low", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 237, + 335, + 250 + ], + "spans": [ + { + "bbox": [ + 106, + 237, + 158, + 250 + ], + "score": 1.0, + "content": "training loss", + "type": "text" + }, + { + "bbox": [ + 158, + 239, + 185, + 249 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 186, + 237, + 335, + 250 + ], + "score": 1.0, + "content": "by formulating a minimax objective:", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 11.5 + }, + { + "type": "interline_equation", + "bbox": [ + 249, + 255, + 360, + 275 + ], + "lines": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "spans": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "score": 0.93, + "content": "\\operatorname* { m i n } _ { w } \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) ,", + "type": "interline_equation", + "image_path": "157120283fe712d25eeb5ea47cd66ad9f1db293b3353949de4d0f8626faa9645.jpg" + } + ] + } + ], + "index": 13, + "virtual_lines": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "spans": [], + "index": 13 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 281, + 505, + 326 + ], + "lines": [ + { + "bbox": [ + 105, + 280, + 505, + 294 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 133, + 294 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 134, + 284, + 140, + 293 + ], + "score": 0.82, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 280, + 456, + 294 + ], + "score": 1.0, + "content": "is the size of the neighbourhood ball. Without loss of generality, here we use", + "type": "text" + }, + { + "bbox": [ + 457, + 282, + 465, + 292 + ], + "score": 0.86, + "content": "l _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 465, + 280, + 505, + 294 + ], + "score": 1.0, + "content": "norm for", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 292, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 105, + 292, + 505, + 304 + ], + "score": 1.0, + "content": "its strong empirical results (Foret et al., 2021) and omit the regularization term for simplicity. Since", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 103, + 300, + 507, + 320 + ], + "spans": [ + { + "bbox": [ + 103, + 300, + 287, + 320 + ], + "score": 1.0, + "content": "the exact solution of the inner maximization", + "type": "text" + }, + { + "bbox": [ + 288, + 303, + 432, + 317 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\epsilon _ { . } ^ { \\star } = \\arg \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 433, + 300, + 507, + 320 + ], + "score": 1.0, + "content": "is hard to obtain,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 314, + 311, + 326 + ], + "spans": [ + { + "bbox": [ + 106, + 314, + 311, + 326 + ], + "score": 1.0, + "content": "they employ an efficient first-order approximation:", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 15.5 + }, + { + "type": "interline_equation", + "bbox": [ + 133, + 330, + 478, + 354 + ], + "lines": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "spans": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "score": 0.93, + "content": "\\boldsymbol { \\hat { \\epsilon } } ( \\boldsymbol { w } ) = \\operatorname* { a r g m a x } _ { \\| \\boldsymbol { \\epsilon } \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( \\boldsymbol { w } ) + \\epsilon ^ { T } \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) = \\rho \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) / \\| \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) \\| _ { 2 } .", + "type": "interline_equation", + "image_path": "c94d73e38a1908f3b82f00968d3fd2f2f7f6e042cece5fb363a413dc2a886df5.jpg" + } + ] + } + ], + "index": 18, + "virtual_lines": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "spans": [], + "index": 18 + } + ] + }, + { + "type": "text", + "bbox": [ + 105, + 360, + 505, + 384 + ], + "lines": [ + { + "bbox": [ + 105, + 359, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 149, + 374 + ], + "score": 1.0, + "content": "Under the", + "type": "text" + }, + { + "bbox": [ + 150, + 361, + 159, + 372 + ], + "score": 0.86, + "content": "l _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 159, + 359, + 187, + 374 + ], + "score": 1.0, + "content": "norm,", + "type": "text" + }, + { + "bbox": [ + 188, + 361, + 208, + 372 + ], + "score": 0.91, + "content": "\\hat { \\epsilon } ( w )", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 359, + 410, + 374 + ], + "score": 1.0, + "content": "is simply a scaled gradient of the current weight", + "type": "text" + }, + { + "bbox": [ + 411, + 363, + 419, + 370 + ], + "score": 0.76, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 359, + 496, + 374 + ], + "score": 1.0, + "content": ". After computing", + "type": "text" + }, + { + "bbox": [ + 496, + 363, + 501, + 371 + ], + "score": 0.63, + "content": "\\hat { \\epsilon }", + "type": "inline_equation" + }, + { + "bbox": [ + 501, + 359, + 506, + 374 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 369, + 422, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 369, + 163, + 387 + ], + "score": 1.0, + "content": "SAM updates", + "type": "text" + }, + { + "bbox": [ + 164, + 374, + 172, + 381 + ], + "score": 0.78, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 369, + 329, + 387 + ], + "score": 1.0, + "content": "based on the sharpness-aware gradient", + "type": "text" + }, + { + "bbox": [ + 329, + 371, + 417, + 385 + ], + "score": 0.93, + "content": "\\nabla _ { w } L _ { t r a i n } ( w ) | _ { w + \\hat { \\epsilon } ( w ) }", + "type": "inline_equation" + }, + { + "bbox": [ + 417, + 369, + 422, + 387 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 19.5 + }, + { + "type": "title", + "bbox": [ + 107, + 397, + 436, + 408 + ], + "lines": [ + { + "bbox": [ + 105, + 397, + 437, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 397, + 437, + 410 + ], + "score": 1.0, + "content": "4.2 SHARPNESS-AWARE OPTIMIZATION IMPROVES VITS AND MLP-MIXERS", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 417, + 505, + 495 + ], + "lines": [ + { + "bbox": [ + 105, + 416, + 506, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 416, + 506, + 431 + ], + "score": 1.0, + "content": "We train ViTs and MLP-Mixers with no large-scale pre-training or strong data augmentations. We", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 428, + 506, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 428, + 506, + 442 + ], + "score": 1.0, + "content": "directly apply SAM to the original ImageNet training pipeline of ViTs (Dosovitskiy et al., 2021)", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 439, + 506, + 453 + ], + "spans": [ + { + "bbox": [ + 105, + 439, + 506, + 453 + ], + "score": 1.0, + "content": "without changing any hyperparameters. The pipeline employs the basic Inception-style preprocess-", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 451, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 451, + 505, + 463 + ], + "score": 1.0, + "content": "ing (Szegedy et al., 2016). The original training setup of MLP-Mixers (Tolstikhin et al., 2021)", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "includes a combination of strong data augmentations, and we replace it with the same Inception-", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 472, + 505, + 484 + ], + "spans": [ + { + "bbox": [ + 106, + 472, + 505, + 484 + ], + "score": 1.0, + "content": "style preprocessing for a fair comparison. Note that we perform grid search for the learning rate,", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 483, + 462, + 497 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 462, + 497 + ], + "score": 1.0, + "content": "weight decay, Dropout before applying SAM. Please see Appendices for training details.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 107, + 500, + 505, + 534 + ], + "lines": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "score": 1.0, + "content": "Smoother regions around the local minima. Thanks to SAM, both ViTs and MLP-Mixers con-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 511, + 505, + 524 + ], + "spans": [ + { + "bbox": [ + 105, + 511, + 505, + 524 + ], + "score": 1.0, + "content": "verge at much smoother regions, as shown in Figures 1(d) and 1(e). Moreover, both the average and", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 102, + 517, + 447, + 540 + ], + "spans": [ + { + "bbox": [ + 102, + 517, + 225, + 540 + ], + "score": 1.0, + "content": "the worst-case curvature, i.e.,", + "type": "text" + }, + { + "bbox": [ + 226, + 522, + 253, + 535 + ], + "score": 0.93, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 517, + 271, + 540 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 271, + 523, + 294, + 534 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 295, + 517, + 447, + 540 + ], + "score": 1.0, + "content": ", decrease dramatically (see Table 1).", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 539, + 505, + 682 + ], + "lines": [ + { + "bbox": [ + 105, + 538, + 505, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 552 + ], + "score": 1.0, + "content": "Higher accuracy. What comes along is tremendously improved generalization performance. On", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 550, + 505, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 550, + 363, + 562 + ], + "score": 1.0, + "content": "ImageNet, SAM boosts the top-1 accuracy of ViT-B/16 from", + "type": "text" + }, + { + "bbox": [ + 363, + 550, + 391, + 561 + ], + "score": 0.88, + "content": "7 4 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 392, + 550, + 405, + 562 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 405, + 550, + 432, + 561 + ], + "score": 0.88, + "content": "7 9 . 9 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 432, + 550, + 505, + 562 + ], + "score": 1.0, + "content": ", and Mixer-B/16", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 560, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 128, + 574 + ], + "score": 1.0, + "content": "from", + "type": "text" + }, + { + "bbox": [ + 128, + 561, + 156, + 572 + ], + "score": 0.88, + "content": "6 6 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 156, + 560, + 167, + 574 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 167, + 561, + 194, + 572 + ], + "score": 0.87, + "content": "7 7 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 195, + 560, + 479, + 574 + ], + "score": 1.0, + "content": ". For comparison, the improvement on a similarly sized ResNet-152 is", + "type": "text" + }, + { + "bbox": [ + 479, + 561, + 501, + 572 + ], + "score": 0.87, + "content": "0 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 501, + 560, + 506, + 574 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "score": 1.0, + "content": "Empirically, the degree of improvement negatively correlates with the constraints of inductive biases", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 583, + 506, + 596 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 506, + 596 + ], + "score": 1.0, + "content": "built into the architecture. ResNets with inherent translation equivalence and locality benefit less", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 594, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 106, + 594, + 505, + 606 + ], + "score": 1.0, + "content": "from landscape smoothing than the attention-based ViTs. MLP-Mixers gain the most from the", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "smoothed loss geometry. In Table 3, we further train two hybrid models (Dosovitskiy et al., 2021) to", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 616, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 616, + 505, + 628 + ], + "score": 1.0, + "content": "validate this observation, where the Transformer takes the feature map extracted from a ResNet-50 as", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "score": 1.0, + "content": "the input sequence. The improvement brought by SAM decreases after we introduce the convolution", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 636, + 505, + 652 + ], + "spans": [ + { + "bbox": [ + 105, + 636, + 187, + 652 + ], + "score": 1.0, + "content": "to ViT, for instance,", + "type": "text" + }, + { + "bbox": [ + 188, + 638, + 216, + 649 + ], + "score": 0.89, + "content": "+ 2 . 7 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 636, + 324, + 652 + ], + "score": 1.0, + "content": "for R50-B/16 compared to", + "type": "text" + }, + { + "bbox": [ + 324, + 638, + 352, + 649 + ], + "score": 0.89, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 636, + 505, + 652 + ], + "score": 1.0, + "content": "for ViT-B/16. Moreover, SAM brings", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 348, + 662 + ], + "score": 1.0, + "content": "larger improvements to the models of larger capacity (e.g.,", + "type": "text" + }, + { + "bbox": [ + 348, + 649, + 376, + 659 + ], + "score": 0.92, + "content": "+ 4 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 377, + 649, + 456, + 662 + ], + "score": 1.0, + "content": "for Mixer-S/16 vs.", + "type": "text" + }, + { + "bbox": [ + 456, + 649, + 489, + 659 + ], + "score": 0.9, + "content": "+ 1 1 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 649, + 505, + 662 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 659, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 293, + 672 + ], + "score": 1.0, + "content": "Mixer-B/16) and longer patch sequence (e.g.,", + "type": "text" + }, + { + "bbox": [ + 293, + 660, + 321, + 671 + ], + "score": 0.88, + "content": "+ 2 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 659, + 390, + 672 + ], + "score": 1.0, + "content": "for ViT-S/32 vs.", + "type": "text" + }, + { + "bbox": [ + 391, + 660, + 419, + 671 + ], + "score": 0.88, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 659, + 505, + 672 + ], + "score": 1.0, + "content": "for ViT-S/8). Please", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 670, + 221, + 682 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 221, + 682 + ], + "score": 1.0, + "content": "see Table 2 for more results.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 38 + }, + { + "type": "text", + "bbox": [ + 107, + 687, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "score": 1.0, + "content": "SAM can be easily applied to common base optimizers. Besides Adam, we also apply SAM on top", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "of the (momentum) SGD that usually performs much worse than Adam when training Transform-", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "ers (Zhang et al., 2020). As expected, we find that under the same training budget (300 epochs), the", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 720, + 506, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 279, + 733 + ], + "score": 1.0, + "content": "ViT-B/16 trained with SGD only achieves", + "type": "text" + }, + { + "bbox": [ + 280, + 721, + 307, + 731 + ], + "score": 0.85, + "content": "7 1 . 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 720, + 506, + 733 + ], + "score": 1.0, + "content": "accuracy on ImageNet, whereas Adam achieves", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 46.5 + } + ], + "page_idx": 4, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 760 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "score": 1.0, + "content": "5", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 193 + ], + "lines": [], + "index": 4.5, + "bbox_fs": [ + 104, + 82, + 505, + 194 + ], + "lines_deleted": true + }, + { + "type": "title", + "bbox": [ + 107, + 206, + 207, + 217 + ], + "lines": [ + { + "bbox": [ + 105, + 205, + 208, + 219 + ], + "spans": [ + { + "bbox": [ + 105, + 205, + 208, + 219 + ], + "score": 1.0, + "content": "4.1 SAM: OVERVIEW", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 106, + 227, + 504, + 249 + ], + "lines": [ + { + "bbox": [ + 105, + 226, + 504, + 240 + ], + "spans": [ + { + "bbox": [ + 105, + 226, + 358, + 240 + ], + "score": 1.0, + "content": "Intuitively, SAM (Foret et al., 2021) seeks to find the parameter", + "type": "text" + }, + { + "bbox": [ + 359, + 230, + 367, + 237 + ], + "score": 0.77, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 226, + 504, + 240 + ], + "score": 1.0, + "content": "whose entire neighbours have low", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 237, + 335, + 250 + ], + "spans": [ + { + "bbox": [ + 106, + 237, + 158, + 250 + ], + "score": 1.0, + "content": "training loss", + "type": "text" + }, + { + "bbox": [ + 158, + 239, + 185, + 249 + ], + "score": 0.91, + "content": "L _ { t r a i n }", + "type": "inline_equation" + }, + { + "bbox": [ + 186, + 237, + 335, + 250 + ], + "score": 1.0, + "content": "by formulating a minimax objective:", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 11.5, + "bbox_fs": [ + 105, + 226, + 504, + 250 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 249, + 255, + 360, + 275 + ], + "lines": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "spans": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "score": 0.93, + "content": "\\operatorname* { m i n } _ { w } \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) ,", + "type": "interline_equation", + "image_path": "157120283fe712d25eeb5ea47cd66ad9f1db293b3353949de4d0f8626faa9645.jpg" + } + ] + } + ], + "index": 13, + "virtual_lines": [ + { + "bbox": [ + 249, + 255, + 360, + 275 + ], + "spans": [], + "index": 13 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 281, + 505, + 326 + ], + "lines": [ + { + "bbox": [ + 105, + 280, + 505, + 294 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 133, + 294 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 134, + 284, + 140, + 293 + ], + "score": 0.82, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 280, + 456, + 294 + ], + "score": 1.0, + "content": "is the size of the neighbourhood ball. Without loss of generality, here we use", + "type": "text" + }, + { + "bbox": [ + 457, + 282, + 465, + 292 + ], + "score": 0.86, + "content": "l _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 465, + 280, + 505, + 294 + ], + "score": 1.0, + "content": "norm for", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 292, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 105, + 292, + 505, + 304 + ], + "score": 1.0, + "content": "its strong empirical results (Foret et al., 2021) and omit the regularization term for simplicity. Since", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 103, + 300, + 507, + 320 + ], + "spans": [ + { + "bbox": [ + 103, + 300, + 287, + 320 + ], + "score": 1.0, + "content": "the exact solution of the inner maximization", + "type": "text" + }, + { + "bbox": [ + 288, + 303, + 432, + 317 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\epsilon _ { . } ^ { \\star } = \\arg \\operatorname* { m a x } _ { \\| \\epsilon \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( w + \\epsilon ) } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 433, + 300, + 507, + 320 + ], + "score": 1.0, + "content": "is hard to obtain,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 314, + 311, + 326 + ], + "spans": [ + { + "bbox": [ + 106, + 314, + 311, + 326 + ], + "score": 1.0, + "content": "they employ an efficient first-order approximation:", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 15.5, + "bbox_fs": [ + 103, + 280, + 507, + 326 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 133, + 330, + 478, + 354 + ], + "lines": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "spans": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "score": 0.93, + "content": "\\boldsymbol { \\hat { \\epsilon } } ( \\boldsymbol { w } ) = \\operatorname* { a r g m a x } _ { \\| \\boldsymbol { \\epsilon } \\| _ { 2 } \\leq \\rho } L _ { t r a i n } ( \\boldsymbol { w } ) + \\epsilon ^ { T } \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) = \\rho \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) / \\| \\nabla _ { \\boldsymbol { w } } L _ { t r a i n } ( \\boldsymbol { w } ) \\| _ { 2 } .", + "type": "interline_equation", + "image_path": "c94d73e38a1908f3b82f00968d3fd2f2f7f6e042cece5fb363a413dc2a886df5.jpg" + } + ] + } + ], + "index": 18, + "virtual_lines": [ + { + "bbox": [ + 133, + 330, + 478, + 354 + ], + "spans": [], + "index": 18 + } + ] + }, + { + "type": "text", + "bbox": [ + 105, + 360, + 505, + 384 + ], + "lines": [ + { + "bbox": [ + 105, + 359, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 149, + 374 + ], + "score": 1.0, + "content": "Under the", + "type": "text" + }, + { + "bbox": [ + 150, + 361, + 159, + 372 + ], + "score": 0.86, + "content": "l _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 159, + 359, + 187, + 374 + ], + "score": 1.0, + "content": "norm,", + "type": "text" + }, + { + "bbox": [ + 188, + 361, + 208, + 372 + ], + "score": 0.91, + "content": "\\hat { \\epsilon } ( w )", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 359, + 410, + 374 + ], + "score": 1.0, + "content": "is simply a scaled gradient of the current weight", + "type": "text" + }, + { + "bbox": [ + 411, + 363, + 419, + 370 + ], + "score": 0.76, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 359, + 496, + 374 + ], + "score": 1.0, + "content": ". After computing", + "type": "text" + }, + { + "bbox": [ + 496, + 363, + 501, + 371 + ], + "score": 0.63, + "content": "\\hat { \\epsilon }", + "type": "inline_equation" + }, + { + "bbox": [ + 501, + 359, + 506, + 374 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 369, + 422, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 369, + 163, + 387 + ], + "score": 1.0, + "content": "SAM updates", + "type": "text" + }, + { + "bbox": [ + 164, + 374, + 172, + 381 + ], + "score": 0.78, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 369, + 329, + 387 + ], + "score": 1.0, + "content": "based on the sharpness-aware gradient", + "type": "text" + }, + { + "bbox": [ + 329, + 371, + 417, + 385 + ], + "score": 0.93, + "content": "\\nabla _ { w } L _ { t r a i n } ( w ) | _ { w + \\hat { \\epsilon } ( w ) }", + "type": "inline_equation" + }, + { + "bbox": [ + 417, + 369, + 422, + 387 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 19.5, + "bbox_fs": [ + 105, + 359, + 506, + 387 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 397, + 436, + 408 + ], + "lines": [ + { + "bbox": [ + 105, + 397, + 437, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 397, + 437, + 410 + ], + "score": 1.0, + "content": "4.2 SHARPNESS-AWARE OPTIMIZATION IMPROVES VITS AND MLP-MIXERS", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 417, + 505, + 495 + ], + "lines": [ + { + "bbox": [ + 105, + 416, + 506, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 416, + 506, + 431 + ], + "score": 1.0, + "content": "We train ViTs and MLP-Mixers with no large-scale pre-training or strong data augmentations. We", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 428, + 506, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 428, + 506, + 442 + ], + "score": 1.0, + "content": "directly apply SAM to the original ImageNet training pipeline of ViTs (Dosovitskiy et al., 2021)", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 439, + 506, + 453 + ], + "spans": [ + { + "bbox": [ + 105, + 439, + 506, + 453 + ], + "score": 1.0, + "content": "without changing any hyperparameters. The pipeline employs the basic Inception-style preprocess-", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 451, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 451, + 505, + 463 + ], + "score": 1.0, + "content": "ing (Szegedy et al., 2016). The original training setup of MLP-Mixers (Tolstikhin et al., 2021)", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "includes a combination of strong data augmentations, and we replace it with the same Inception-", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 472, + 505, + 484 + ], + "spans": [ + { + "bbox": [ + 106, + 472, + 505, + 484 + ], + "score": 1.0, + "content": "style preprocessing for a fair comparison. Note that we perform grid search for the learning rate,", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 483, + 462, + 497 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 462, + 497 + ], + "score": 1.0, + "content": "weight decay, Dropout before applying SAM. Please see Appendices for training details.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 416, + 506, + 497 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 500, + 505, + 534 + ], + "lines": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 505, + 514 + ], + "score": 1.0, + "content": "Smoother regions around the local minima. Thanks to SAM, both ViTs and MLP-Mixers con-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 511, + 505, + 524 + ], + "spans": [ + { + "bbox": [ + 105, + 511, + 505, + 524 + ], + "score": 1.0, + "content": "verge at much smoother regions, as shown in Figures 1(d) and 1(e). Moreover, both the average and", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 102, + 517, + 447, + 540 + ], + "spans": [ + { + "bbox": [ + 102, + 517, + 225, + 540 + ], + "score": 1.0, + "content": "the worst-case curvature, i.e.,", + "type": "text" + }, + { + "bbox": [ + 226, + 522, + 253, + 535 + ], + "score": 0.93, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 517, + 271, + 540 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 271, + 523, + 294, + 534 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 295, + 517, + 447, + 540 + ], + "score": 1.0, + "content": ", decrease dramatically (see Table 1).", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 30, + "bbox_fs": [ + 102, + 500, + 505, + 540 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 539, + 505, + 682 + ], + "lines": [ + { + "bbox": [ + 105, + 538, + 505, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 552 + ], + "score": 1.0, + "content": "Higher accuracy. What comes along is tremendously improved generalization performance. On", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 550, + 505, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 550, + 363, + 562 + ], + "score": 1.0, + "content": "ImageNet, SAM boosts the top-1 accuracy of ViT-B/16 from", + "type": "text" + }, + { + "bbox": [ + 363, + 550, + 391, + 561 + ], + "score": 0.88, + "content": "7 4 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 392, + 550, + 405, + 562 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 405, + 550, + 432, + 561 + ], + "score": 0.88, + "content": "7 9 . 9 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 432, + 550, + 505, + 562 + ], + "score": 1.0, + "content": ", and Mixer-B/16", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 560, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 128, + 574 + ], + "score": 1.0, + "content": "from", + "type": "text" + }, + { + "bbox": [ + 128, + 561, + 156, + 572 + ], + "score": 0.88, + "content": "6 6 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 156, + 560, + 167, + 574 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 167, + 561, + 194, + 572 + ], + "score": 0.87, + "content": "7 7 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 195, + 560, + 479, + 574 + ], + "score": 1.0, + "content": ". For comparison, the improvement on a similarly sized ResNet-152 is", + "type": "text" + }, + { + "bbox": [ + 479, + 561, + 501, + 572 + ], + "score": 0.87, + "content": "0 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 501, + 560, + 506, + 574 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "score": 1.0, + "content": "Empirically, the degree of improvement negatively correlates with the constraints of inductive biases", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 583, + 506, + 596 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 506, + 596 + ], + "score": 1.0, + "content": "built into the architecture. ResNets with inherent translation equivalence and locality benefit less", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 594, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 106, + 594, + 505, + 606 + ], + "score": 1.0, + "content": "from landscape smoothing than the attention-based ViTs. MLP-Mixers gain the most from the", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "smoothed loss geometry. In Table 3, we further train two hybrid models (Dosovitskiy et al., 2021) to", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 616, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 616, + 505, + 628 + ], + "score": 1.0, + "content": "validate this observation, where the Transformer takes the feature map extracted from a ResNet-50 as", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "score": 1.0, + "content": "the input sequence. The improvement brought by SAM decreases after we introduce the convolution", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 636, + 505, + 652 + ], + "spans": [ + { + "bbox": [ + 105, + 636, + 187, + 652 + ], + "score": 1.0, + "content": "to ViT, for instance,", + "type": "text" + }, + { + "bbox": [ + 188, + 638, + 216, + 649 + ], + "score": 0.89, + "content": "+ 2 . 7 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 636, + 324, + 652 + ], + "score": 1.0, + "content": "for R50-B/16 compared to", + "type": "text" + }, + { + "bbox": [ + 324, + 638, + 352, + 649 + ], + "score": 0.89, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 636, + 505, + 652 + ], + "score": 1.0, + "content": "for ViT-B/16. Moreover, SAM brings", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 348, + 662 + ], + "score": 1.0, + "content": "larger improvements to the models of larger capacity (e.g.,", + "type": "text" + }, + { + "bbox": [ + 348, + 649, + 376, + 659 + ], + "score": 0.92, + "content": "+ 4 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 377, + 649, + 456, + 662 + ], + "score": 1.0, + "content": "for Mixer-S/16 vs.", + "type": "text" + }, + { + "bbox": [ + 456, + 649, + 489, + 659 + ], + "score": 0.9, + "content": "+ 1 1 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 649, + 505, + 662 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 659, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 293, + 672 + ], + "score": 1.0, + "content": "Mixer-B/16) and longer patch sequence (e.g.,", + "type": "text" + }, + { + "bbox": [ + 293, + 660, + 321, + 671 + ], + "score": 0.88, + "content": "+ 2 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 659, + 390, + 672 + ], + "score": 1.0, + "content": "for ViT-S/32 vs.", + "type": "text" + }, + { + "bbox": [ + 391, + 660, + 419, + 671 + ], + "score": 0.88, + "content": "+ 5 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 659, + 505, + 672 + ], + "score": 1.0, + "content": "for ViT-S/8). Please", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 670, + 221, + 682 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 221, + 682 + ], + "score": 1.0, + "content": "see Table 2 for more results.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 38, + "bbox_fs": [ + 105, + 538, + 506, + 682 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 687, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "score": 1.0, + "content": "SAM can be easily applied to common base optimizers. Besides Adam, we also apply SAM on top", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "of the (momentum) SGD that usually performs much worse than Adam when training Transform-", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "ers (Zhang et al., 2020). As expected, we find that under the same training budget (300 epochs), the", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 720, + 506, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 279, + 733 + ], + "score": 1.0, + "content": "ViT-B/16 trained with SGD only achieves", + "type": "text" + }, + { + "bbox": [ + 280, + 721, + 307, + 731 + ], + "score": 0.85, + "content": "7 1 . 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 720, + 506, + 733 + ], + "score": 1.0, + "content": "accuracy on ImageNet, whereas Adam achieves", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 46.5, + "bbox_fs": [ + 105, + 687, + 506, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 107, + 116, + 506, + 335 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 80, + 506, + 114 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 80, + 505, + 92 + ], + "spans": [ + { + "bbox": [ + 106, + 80, + 505, + 92 + ], + "score": 1.0, + "content": "Table 2: Performance of ResNets, ViTs, and MLP-Mixers trained from scratch on ImageNet with", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 90, + 505, + 104 + ], + "spans": [ + { + "bbox": [ + 106, + 90, + 505, + 104 + ], + "score": 1.0, + "content": "SAM (improvement over the vanilla model is shown in the parentheses). We use the Inception-style", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 102, + 476, + 115 + ], + "spans": [ + { + "bbox": [ + 105, + 102, + 476, + 115 + ], + "score": 1.0, + "content": "preprocessing (with resolution 224) rather than a combination of strong data augmentations.", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 1 + }, + { + "type": "table_body", + "bbox": [ + 107, + 116, + 506, + 335 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 107, + 116, + 506, + 335 + ], + "spans": [ + { + "bbox": [ + 107, + 116, + 506, + 335 + ], + "score": 0.984, + "html": "
Model#paramsThroughput (img/sec/core)ImageNetReaLV2ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216176.7 (+0.7)83.1 (+0.7)64.6 (+1.0)23.3 (+1.1)46.5 (+1.9)
ResNet-101-SAM44M133478.6 (+0.8)84.8 (+0.9)66.7 (+1.4)25.9 (+1.5)51.3 (+2.8)
ResNet-152-SAM60M93579.3 (+0.8)84.9 (+0.7)67.3 (+1.0)25.7 (+0.4)52.2 (+2.2)
ResNet-50x2-SAM98M89179.6 (+1.5)85.3 (+1.6)67.5 (+1.7)26.0 (+2.9)50.7 (+3.9)
ResNet-101x2-SAM173M51980.9 (+2.4)86.4 (+2.4)69.1 (+2.8)27.8(+3.2)54.0 (+4.7)
ResNet-152x2-SAM236M35681.1 (+1.8)86.4 (+1.9)69.6 (+2.3)28.1 (+2.8)55.0 (+4.2)
Vision Transformer
ViT-S/32-SAM23M688870.5 (+2.1)77.5 (+2.3)56.9 (+2.6)21.4 (+2.4)46.2 (+2.9)
ViT-S/16-SAM22M204378.1 (+3.7)84.1 (+3.7)65.6(+3.9)24.7 (+4.7)53.0 (+6.5)
ViT-S/14-SAM22M123478.8 (+4.0)84.8 (+4.5)67.2(+5.2)24.4 (+4.7)54.2 (+7.0)
ViT-S/8-SAM22M33381.3 (+5.3)86.7 (+5.5)70.4 (+6.2)25.3 (+6.1)55.6 (+8.5)
ViT-B/32-SAM88M280573.6 (+4.1)80.3 (+5.1)60.0 (+4.7)24.0 (+4.1)50.7 (+6.7)
ViT-B/16-SAM87M86379.9 (+5.3)85.2 (+5.4)67.5 (+6.2)26.4 (+6.3)56.5 (+9.9)
MLP-Mixer
Mixer-S/32-SAM19M1140166.7 (+2.8)73.8 (+3.5)52.4 (+2.9)18.6 (+2.7)39.3 (+4.1)
Mixer-S/16-SAM18M400572.9 (+4.1)79.8 (+4.7)58.9 (+4.1)20.1 (+4.2)42.0 (+6.4)
Mixer-S/8-SAM20M149875.9 (+5.7)82.5 (+6.3)62.3 (+6.2)20.5 (+5.1)42.4 (+7.8)
Mixer-B/32-SAM60M420972.4 (+9.9)79.0 (+10.9)58.0 (+10.4)22.8 (+8.2)46.2 (12.4)
Mixer-B/16-SAM Mixer-B/8-SAM59M139077.4 (+11.0)83.5 (+11.4) 84.4(+10.1)63.9 (+13.1)24.7 (+10.2)48.8 (+15.0)
64M46679.0 (+10.4)65.5 (+11.6)23.5 (+9.2)48.9 (+16.9)
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Surprisingly,", + "type": "text" + }, + { + "bbox": [ + 194, + 356, + 249, + 366 + ], + "score": 0.6, + "content": "\\mathrm { S G D + S A M }", + "type": "inline_equation" + }, + { + "bbox": [ + 250, + 355, + 340, + 368 + ], + "score": 1.0, + "content": "can push the result to", + "type": "text" + }, + { + "bbox": [ + 341, + 356, + 368, + 366 + ], + "score": 0.88, + "content": "7 9 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 355, + 439, + 368 + ], + "score": 1.0, + "content": ", which is a huge", + "type": "text" + }, + { + "bbox": [ + 439, + 356, + 468, + 366 + ], + "score": 0.89, + "content": "+ 7 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 468, + 355, + 505, + 368 + ], + "score": 1.0, + "content": "absolute", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 366, + 458, + 379 + ], + "spans": [ + { + "bbox": [ + 106, + 366, + 217, + 379 + ], + "score": 1.0, + "content": "improvement. Although Ad", + "type": "text" + }, + { + "bbox": [ + 218, + 367, + 263, + 377 + ], + "score": 0.37, + "content": "\\mathrm { a m } + \\mathrm { S A M }", + "type": "inline_equation" + }, + { + "bbox": [ + 263, + 366, + 319, + 379 + ], + "score": 1.0, + "content": "is still higher", + "type": "text" + }, + { + "bbox": [ + 320, + 367, + 352, + 378 + ], + "score": 0.85, + "content": "( 7 9 . 9 \\% )", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 366, + 458, + 379 + ], + "score": 1.0, + "content": ", their gap largely shrinks.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 6.5 + }, + { + "type": "text", + "bbox": [ + 106, + 383, + 505, + 483 + ], + "lines": [ + { + "bbox": [ + 105, + 382, + 505, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 382, + 505, + 396 + ], + "score": 1.0, + "content": "Better robustness. We also evaluate the models’ robustness using ImageNet-R (Hendrycks et al.,", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 394, + 505, + 406 + ], + "spans": [ + { + "bbox": [ + 106, + 394, + 505, + 406 + ], + "score": 1.0, + "content": "2020) and ImageNet-C (Hendrycks & Dietterich, 2019) and find even bigger impacts of the", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 405, + 506, + 419 + ], + "spans": [ + { + "bbox": [ + 105, + 405, + 506, + 419 + ], + "score": 1.0, + "content": "smoothed loss landscapes. On ImageNet-C, which corrupts images by noise, bad weather, blur,", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 416, + 505, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 416, + 505, + 429 + ], + "score": 1.0, + "content": "etc., we report the average accuracy against 19 corruptions across five levels. As shown in Ta-", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 426, + 506, + 440 + ], + "spans": [ + { + "bbox": [ + 105, + 426, + 389, + 440 + ], + "score": 1.0, + "content": "bles 1 and 2, the accuracies of ViT-B/16 and Mixer-B/16 increase by", + "type": "text" + }, + { + "bbox": [ + 389, + 428, + 412, + 438 + ], + "score": 0.87, + "content": "9 . 9 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 412, + 426, + 431, + 440 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 432, + 428, + 458, + 438 + ], + "score": 0.86, + "content": "1 5 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 426, + 506, + 440 + ], + "score": 1.0, + "content": "(which are", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 437, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 106, + 438, + 134, + 449 + ], + "score": 0.86, + "content": "2 1 . 2 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 134, + 437, + 154, + 451 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 154, + 438, + 181, + 449 + ], + "score": 0.86, + "content": "4 4 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 181, + 437, + 505, + 451 + ], + "score": 1.0, + "content": "relative improvements), after SAM smooths their converged local regions. In", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 449, + 505, + 462 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 345, + 462 + ], + "score": 1.0, + "content": "comparison, SAM improves the accuracy of ResNet-152 by", + "type": "text" + }, + { + "bbox": [ + 346, + 449, + 368, + 460 + ], + "score": 0.86, + "content": "2 . 2 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 369, + 450, + 372, + 462 + ], + "score": 0.0, + "content": "", + "type": "text" + }, + { + "bbox": [ + 373, + 450, + 394, + 460 + ], + "score": 0.82, + "content": "4 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 395, + 450, + 505, + 462 + ], + "score": 1.0, + "content": "relative improvement). We", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 460, + 505, + 473 + ], + "spans": [ + { + "bbox": [ + 105, + 460, + 505, + 473 + ], + "score": 1.0, + "content": "can see that SAM enhances the robustness even more than the relative clean accuracy improvements", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 109, + 470, + 440, + 484 + ], + "spans": [ + { + "bbox": [ + 109, + 471, + 132, + 482 + ], + "score": 0.74, + "content": "7 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 132, + 470, + 136, + 484 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 136, + 471, + 162, + 482 + ], + "score": 0.73, + "content": "1 6 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 163, + 470, + 183, + 484 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 183, + 471, + 205, + 482 + ], + "score": 0.85, + "content": "1 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 206, + 470, + 440, + 484 + ], + "score": 1.0, + "content": "for ViT-B/16, Mixer-B/16, and ResNet-152, respectively).", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 12 + }, + { + "type": "title", + "bbox": [ + 106, + 497, + 494, + 507 + ], + "lines": [ + { + "bbox": [ + 106, + 496, + 495, + 509 + ], + "spans": [ + { + "bbox": [ + 106, + 496, + 495, + 509 + ], + "score": 1.0, + "content": "4.3 VITS OUTPERFORM RESNETS WITHOUT PRE-TRAINING OR STRONG AUGMENTATIONS", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 17 + }, + { + "type": "text", + "bbox": [ + 107, + 517, + 296, + 616 + ], + "lines": [ + { + "bbox": [ + 106, + 517, + 297, + 529 + ], + "spans": [ + { + "bbox": [ + 106, + 517, + 297, + 529 + ], + "score": 1.0, + "content": "The performance of an architecture is often", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 528, + 297, + 540 + ], + "spans": [ + { + "bbox": [ + 106, + 528, + 297, + 540 + ], + "score": 1.0, + "content": "conflated with the training strategies (Bello", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 539, + 298, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 539, + 298, + 551 + ], + "score": 1.0, + "content": "et al., 2021), where data augmentations play a", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 550, + 297, + 562 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 297, + 562 + ], + "score": 1.0, + "content": "key role (Cubuk et al., 2019; 2020; Zhang et al.,", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 560, + 297, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 297, + 573 + ], + "score": 1.0, + "content": "2018; Xie et al., 2020; Chen et al., 2021b).", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 572, + 297, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 297, + 584 + ], + "score": 1.0, + "content": "However, the design of augmentations requires", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 582, + 297, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 582, + 297, + 595 + ], + "score": 1.0, + "content": "substantial domain expertise and may not trans-", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 593, + 297, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 297, + 606 + ], + "score": 1.0, + "content": "late between images and videos, for instance.", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 604, + 297, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 297, + 618 + ], + "score": 1.0, + "content": "Thanks to the principled sharpness-aware opti-", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 22 + }, + { + "type": "table", + "bbox": [ + 305, + 543, + 504, + 610 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 304, + 518, + 504, + 540 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 303, + 517, + 505, + 530 + ], + "spans": [ + { + "bbox": [ + 303, + 517, + 505, + 530 + ], + "score": 1.0, + "content": "Table 3: Accuracy and robustness of two hybrid", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 304, + 529, + 361, + 541 + ], + "spans": [ + { + "bbox": [ + 304, + 529, + 361, + 541 + ], + "score": 1.0, + "content": "architectures.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 27.5 + }, + { + "type": "table_body", + "bbox": [ + 305, + 543, + 504, + 610 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 305, + 543, + 504, + 610 + ], + "spans": [ + { + "bbox": [ + 305, + 543, + 504, + 610 + ], + "score": 0.981, + "html": "
Model#paramsImageNet (%)ImageNet-C (%)
R50-S/16 R50-S/16-SAM34M79.8 81.0 (+1.2)53.4 57.2 (+3.8)
R50-B/1679.754.4
R50-B/16-SAM99M82.4 (+2.7)61.0 (+6.6)
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Model#paramsThroughput (img/sec/core)ImageNetReaLV2ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216176.7 (+0.7)83.1 (+0.7)64.6 (+1.0)23.3 (+1.1)46.5 (+1.9)
ResNet-101-SAM44M133478.6 (+0.8)84.8 (+0.9)66.7 (+1.4)25.9 (+1.5)51.3 (+2.8)
ResNet-152-SAM60M93579.3 (+0.8)84.9 (+0.7)67.3 (+1.0)25.7 (+0.4)52.2 (+2.2)
ResNet-50x2-SAM98M89179.6 (+1.5)85.3 (+1.6)67.5 (+1.7)26.0 (+2.9)50.7 (+3.9)
ResNet-101x2-SAM173M51980.9 (+2.4)86.4 (+2.4)69.1 (+2.8)27.8(+3.2)54.0 (+4.7)
ResNet-152x2-SAM236M35681.1 (+1.8)86.4 (+1.9)69.6 (+2.3)28.1 (+2.8)55.0 (+4.2)
Vision Transformer
ViT-S/32-SAM23M688870.5 (+2.1)77.5 (+2.3)56.9 (+2.6)21.4 (+2.4)46.2 (+2.9)
ViT-S/16-SAM22M204378.1 (+3.7)84.1 (+3.7)65.6(+3.9)24.7 (+4.7)53.0 (+6.5)
ViT-S/14-SAM22M123478.8 (+4.0)84.8 (+4.5)67.2(+5.2)24.4 (+4.7)54.2 (+7.0)
ViT-S/8-SAM22M33381.3 (+5.3)86.7 (+5.5)70.4 (+6.2)25.3 (+6.1)55.6 (+8.5)
ViT-B/32-SAM88M280573.6 (+4.1)80.3 (+5.1)60.0 (+4.7)24.0 (+4.1)50.7 (+6.7)
ViT-B/16-SAM87M86379.9 (+5.3)85.2 (+5.4)67.5 (+6.2)26.4 (+6.3)56.5 (+9.9)
MLP-Mixer
Mixer-S/32-SAM19M1140166.7 (+2.8)73.8 (+3.5)52.4 (+2.9)18.6 (+2.7)39.3 (+4.1)
Mixer-S/16-SAM18M400572.9 (+4.1)79.8 (+4.7)58.9 (+4.1)20.1 (+4.2)42.0 (+6.4)
Mixer-S/8-SAM20M149875.9 (+5.7)82.5 (+6.3)62.3 (+6.2)20.5 (+5.1)42.4 (+7.8)
Mixer-B/32-SAM60M420972.4 (+9.9)79.0 (+10.9)58.0 (+10.4)22.8 (+8.2)46.2 (12.4)
Mixer-B/16-SAM Mixer-B/8-SAM59M139077.4 (+11.0)83.5 (+11.4) 84.4(+10.1)63.9 (+13.1)24.7 (+10.2)48.8 (+15.0)
64M46679.0 (+10.4)65.5 (+11.6)23.5 (+9.2)48.9 (+16.9)
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We also evaluate the models’ robustness using ImageNet-R (Hendrycks et al.,", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 394, + 505, + 406 + ], + "spans": [ + { + "bbox": [ + 106, + 394, + 505, + 406 + ], + "score": 1.0, + "content": "2020) and ImageNet-C (Hendrycks & Dietterich, 2019) and find even bigger impacts of the", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 405, + 506, + 419 + ], + "spans": [ + { + "bbox": [ + 105, + 405, + 506, + 419 + ], + "score": 1.0, + "content": "smoothed loss landscapes. On ImageNet-C, which corrupts images by noise, bad weather, blur,", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 416, + 505, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 416, + 505, + 429 + ], + "score": 1.0, + "content": "etc., we report the average accuracy against 19 corruptions across five levels. 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Model#paramsImageNet (%)ImageNet-C (%)
R50-S/16 R50-S/16-SAM34M79.8 81.0 (+1.2)53.4 57.2 (+3.8)
R50-B/1679.754.4
R50-B/16-SAM99M82.4 (+2.7)61.0 (+6.6)
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ModelXmax of diagonal blocks of Hessian|w|l2|a1|l2|a6|2|a12|l2
EmbeddingMSA/ Token MLPMLP/ Channel MLPBlock1Block6Block12Whole
ViT-B/16300.4179.8281.444.432.426.9738.8269.3104.9104.3138.1
ViT-B/16-SAM3.88.59.61.71.71.520.9353.8117.0120.397.2
Mixer-B/161042.395.8417.9239.341.25.11644.4197.696.7135.174.9
Mixer-B/16-SAM18.21.49.54.01.10.322.5389.9110.9176.0216.1
", + "type": "table", + "image_path": "f5fa82ff8dfa49d161b7a592113be464653af27e559189f56f90867e02e93d8d.jpg" + } + ] + } + ], + "index": 5, + "virtual_lines": [ + { + "bbox": [ + 107, + 127, + 505, + 149.66666666666666 + ], + "spans": [], + "index": 4 + }, + { + "bbox": [ + 107, + 149.66666666666666, + 505, + 172.33333333333331 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 107, + 172.33333333333331, + 505, + 194.99999999999997 + ], + "spans": [], + "index": 6 + } + ] + } + ], + "index": 3.25 + }, + { + "type": "title", + "bbox": [ + 108, + 212, + 275, + 223 + ], + "lines": [ + { + "bbox": [ + 106, + 211, + 277, + 224 + ], + "spans": [ + { + "bbox": [ + 106, + 211, + 277, + 224 + ], + "score": 1.0, + "content": "4.4 INTRINSIC CHANGES AFTER SAM", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 106, + 232, + 504, + 255 + ], + "lines": [ + { + "bbox": [ + 106, + 231, + 505, + 245 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 505, + 245 + ], + "score": 1.0, + "content": "We take a deeper look into the models to understand how they intrinsically change to reduce the", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 243, + 499, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 189, + 255 + ], + "score": 1.0, + "content": "Hessian’ eigenvalue", + "type": "text" + }, + { + "bbox": [ + 189, + 244, + 212, + 255 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 243, + 499, + 255 + ], + "score": 1.0, + "content": "and what the changes imply in addition to the enhanced generalization.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5 + }, + { + "type": "text", + "bbox": [ + 106, + 260, + 505, + 360 + ], + "lines": [ + { + "bbox": [ + 106, + 259, + 505, + 273 + ], + "spans": [ + { + "bbox": [ + 106, + 259, + 505, + 273 + ], + "score": 1.0, + "content": "Smoother loss landscapes for every network component. In Table 4, we break down the Hessian", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 270, + 505, + 285 + ], + "spans": [ + { + "bbox": [ + 105, + 270, + 505, + 285 + ], + "score": 1.0, + "content": "of the whole architecture into small diagonal blocks of Hessians concerning each set of parameters,", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 395, + 295 + ], + "score": 1.0, + "content": "attempting to analyze what specific components cause the blowing up of", + "type": "text" + }, + { + "bbox": [ + 395, + 283, + 418, + 294 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 282, + 505, + 295 + ], + "score": 1.0, + "content": "in the models trained", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 293, + 506, + 306 + ], + "spans": [ + { + "bbox": [ + 106, + 293, + 428, + 306 + ], + "score": 1.0, + "content": "without SAM. We observe that shallower layers have larger Hessian eigenvalues", + "type": "text" + }, + { + "bbox": [ + 428, + 294, + 451, + 304 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 452, + 293, + 506, + 306 + ], + "score": 1.0, + "content": ", and the first", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "score": 1.0, + "content": "linear embedding layer incurs the sharpest geometry. This agrees with the finding in (Chen et al.,", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 314, + 506, + 328 + ], + "spans": [ + { + "bbox": [ + 105, + 314, + 506, + 328 + ], + "score": 1.0, + "content": "2021c) that spiking gradients happen early in the embedding layer. Additionally, the multi-head", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 325, + 505, + 339 + ], + "spans": [ + { + "bbox": [ + 105, + 325, + 505, + 339 + ], + "score": 1.0, + "content": "self-attention (MSA) in ViTs and the Token MLPs in MLP-Mixers, both of which mix information", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 337, + 506, + 350 + ], + "spans": [ + { + "bbox": [ + 105, + 337, + 303, + 350 + ], + "score": 1.0, + "content": "across spatial locations, have comparably lower", + "type": "text" + }, + { + "bbox": [ + 304, + 337, + 327, + 348 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 337, + 506, + 350 + ], + "score": 1.0, + "content": "than the other network components. SAM", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 348, + 318, + 360 + ], + "spans": [ + { + "bbox": [ + 106, + 348, + 204, + 360 + ], + "score": 1.0, + "content": "consistently reduces the", + "type": "text" + }, + { + "bbox": [ + 204, + 348, + 227, + 359 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 348, + 318, + 360 + ], + "score": 1.0, + "content": "of all network blocks.", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 14 + }, + { + "type": "text", + "bbox": [ + 108, + 364, + 504, + 431 + ], + "lines": [ + { + "bbox": [ + 106, + 364, + 506, + 377 + ], + "spans": [ + { + "bbox": [ + 106, + 364, + 506, + 377 + ], + "score": 1.0, + "content": "We can gain insights into the above findings by the recursive formulation of Hessian matrices for", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 375, + 506, + 388 + ], + "spans": [ + { + "bbox": [ + 105, + 375, + 233, + 388 + ], + "score": 1.0, + "content": "MLPs (Botev et al., 2017). Let", + "type": "text" + }, + { + "bbox": [ + 234, + 376, + 245, + 387 + ], + "score": 0.88, + "content": "h _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 375, + 264, + 388 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 264, + 377, + 276, + 387 + ], + "score": 0.85, + "content": "a _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 375, + 506, + 388 + ], + "score": 1.0, + "content": "be the pre-activation and post-activation values for layer", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 387, + 506, + 399 + ], + "spans": [ + { + "bbox": [ + 106, + 387, + 113, + 397 + ], + "score": 0.8, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 387, + 223, + 399 + ], + "score": 1.0, + "content": ", respectively. They satisfy", + "type": "text" + }, + { + "bbox": [ + 223, + 387, + 284, + 398 + ], + "score": 0.92, + "content": "h _ { k } = W _ { k } a _ { k - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 387, + 302, + 399 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 303, + 387, + 356, + 398 + ], + "score": 0.92, + "content": "\\bar { a } _ { k } = f _ { k } ( h _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 357, + 387, + 388, + 399 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 388, + 387, + 403, + 398 + ], + "score": 0.9, + "content": "W _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 387, + 506, + 399 + ], + "score": 1.0, + "content": "is the weight matrix and", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 107, + 397, + 506, + 411 + ], + "spans": [ + { + "bbox": [ + 107, + 398, + 117, + 409 + ], + "score": 0.87, + "content": "f _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 118, + 397, + 506, + 411 + ], + "score": 1.0, + "content": "is the activation function (GELU (Hendrycks & Gimpel, 2020) in MLP-Mixers). Here we omit", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 409, + 505, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 409, + 379, + 421 + ], + "score": 1.0, + "content": "the bias term for simplicity. The diagonal block of Hessian matrix", + "type": "text" + }, + { + "bbox": [ + 380, + 409, + 394, + 420 + ], + "score": 0.9, + "content": "H _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 409, + 459, + 421 + ], + "score": 1.0, + "content": "with respect to", + "type": "text" + }, + { + "bbox": [ + 459, + 409, + 474, + 420 + ], + "score": 0.89, + "content": "W _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 475, + 409, + 505, + 421 + ], + "score": 1.0, + "content": "can be", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 420, + 209, + 432 + ], + "spans": [ + { + "bbox": [ + 105, + 420, + 209, + 432 + ], + "score": 1.0, + "content": "recursively calculated as:", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 21.5 + }, + { + "type": "interline_equation", + "bbox": [ + 171, + 435, + 440, + 479 + ], + "lines": [ + { + "bbox": [ + 171, + 435, + 440, + 479 + ], + "spans": [ + { + "bbox": [ + 171, + 435, + 440, + 479 + ], + "score": 0.91, + "content": "\\begin{array} { r l r } & { } & { H _ { k } = ( a _ { k - 1 } a _ { k - 1 } ^ { T } ) \\otimes \\mathcal { H } _ { k } , \\quad \\mathcal { H } _ { k } = B _ { k } W _ { k + 1 } ^ { T } \\mathcal { H } _ { k + 1 } W _ { k + 1 } B _ { k } + D _ { k } , } \\\\ & { } & { B _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime } ( h _ { k } ) ) , \\qquad D _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime \\prime } ( h _ { k } ) \\frac { \\partial L } { \\partial a _ { k } } ) , } \\end{array}", + "type": "interline_equation", + "image_path": "e673ff065513b910f3cdc37117ba797c5b6860a86b5ffac17fc7507032ba4d3d.jpg" + } + ] + } + ], + "index": 26, + "virtual_lines": [ + { + "bbox": [ + 171, + 435, + 440, + 449.6666666666667 + ], + "spans": [], + "index": 25 + }, + { + "bbox": [ + 171, + 449.6666666666667, + 440, + 464.33333333333337 + ], + "spans": [], + "index": 26 + }, + { + "bbox": [ + 171, + 464.33333333333337, + 440, + 479.00000000000006 + ], + "spans": [], + "index": 27 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 483, + 502, + 517 + ], + "lines": [ + { + "bbox": [ + 106, + 483, + 504, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 483, + 133, + 496 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 485, + 142, + 494 + ], + "score": 0.84, + "content": "\\otimes", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 483, + 244, + 496 + ], + "score": 1.0, + "content": "is the Kronecker product,", + "type": "text" + }, + { + "bbox": [ + 244, + 484, + 259, + 495 + ], + "score": 0.9, + "content": "\\mathcal { H } _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 483, + 408, + 496 + ], + "score": 1.0, + "content": "is the pre-activation Hessian for layer", + "type": "text" + }, + { + "bbox": [ + 408, + 484, + 415, + 494 + ], + "score": 0.81, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 415, + 483, + 434, + 496 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 435, + 484, + 443, + 493 + ], + "score": 0.84, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 443, + 483, + 504, + 496 + ], + "score": 1.0, + "content": "is the objective", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 495, + 505, + 507 + ], + "spans": [ + { + "bbox": [ + 106, + 495, + 505, + 507 + ], + "score": 1.0, + "content": "function. Therefore, the Hessian norm accumulates as the recursive formulation backpropagates to", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 505, + 502, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 355, + 518 + ], + "score": 1.0, + "content": "shallow layers, explaining why the first block has much larger", + "type": "text" + }, + { + "bbox": [ + 356, + 506, + 379, + 517 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 379, + 505, + 502, + 518 + ], + "score": 1.0, + "content": "than the last block in Table 4.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29 + }, + { + "type": "text", + "bbox": [ + 107, + 522, + 504, + 567 + ], + "lines": [ + { + "bbox": [ + 106, + 522, + 506, + 535 + ], + "spans": [ + { + "bbox": [ + 106, + 522, + 506, + 535 + ], + "score": 1.0, + "content": "Greater weight norms. After applying SAM, we find that in most cases, the norm of the post-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 533, + 506, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 172, + 545 + ], + "score": 1.0, + "content": "activation value", + "type": "text" + }, + { + "bbox": [ + 173, + 535, + 194, + 545 + ], + "score": 0.88, + "content": "a k _ { - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 195, + 533, + 259, + 545 + ], + "score": 1.0, + "content": "and the weight", + "type": "text" + }, + { + "bbox": [ + 259, + 534, + 285, + 545 + ], + "score": 0.92, + "content": "W _ { k + 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 533, + 506, + 545 + ], + "score": 1.0, + "content": "become even bigger (see Table 4), indicating that the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 544, + 506, + 557 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 506, + 557 + ], + "score": 1.0, + "content": "commonly used weight decay may not effectively regularize ViTs and MLP-Mixers (see Appendix J", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 555, + 367, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 367, + 568 + ], + "score": 1.0, + "content": "for further verification when we vary the weight decay strength).", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 32.5 + }, + { + "type": "text", + "bbox": [ + 106, + 571, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 106, + 572, + 504, + 585 + ], + "spans": [ + { + "bbox": [ + 106, + 572, + 504, + 585 + ], + "score": 1.0, + "content": "Sparser active neurons in MLP-Mixers. Given the recursive formulation Equation (3), we identify", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "another intrinsic measure of MLP-Mixers that contribute to the Hessian: the number of activated", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 180, + 607 + ], + "score": 1.0, + "content": "neurons. Indeed,", + "type": "text" + }, + { + "bbox": [ + 180, + 594, + 194, + 605 + ], + "score": 0.9, + "content": "B _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "is determined by the activated neurons whose values are greater than zero,", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "score": 1.0, + "content": "since the first-order derivative of GELU becomes much smaller when the input is negative. As", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 615, + 506, + 629 + ], + "spans": [ + { + "bbox": [ + 104, + 615, + 506, + 629 + ], + "score": 1.0, + "content": "a result, the number of active GELU neurons is directly connected to the Hessian norm. Figure 2", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 627, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 418, + 640 + ], + "score": 1.0, + "content": "(right) shows the proportion of activated neurons for each block, counted using", + "type": "text" + }, + { + "bbox": [ + 419, + 627, + 438, + 638 + ], + "score": 0.87, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 438, + 627, + 506, + 640 + ], + "score": 1.0, + "content": "of the ImageNet", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 639, + 505, + 650 + ], + "spans": [ + { + "bbox": [ + 106, + 639, + 505, + 650 + ], + "score": 1.0, + "content": "training set. We can see that SAM greatly reduces the proportion of activated neurons for the first", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "score": 1.0, + "content": "few layers of the Mixer-B/16, pushing them to much sparser states. This result also suggests the", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 660, + 266, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 266, + 673 + ], + "score": 1.0, + "content": "potential redundancy of image patches.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 39 + }, + { + "type": "text", + "bbox": [ + 107, + 677, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 676, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 506, + 690 + ], + "score": 1.0, + "content": "ViTs’ active neurons are highly sparse. Although Equations (3) and (4) only involve MLPs, we", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "still observe a decrease of activated neurons in the first layer of ViTs (but not as significant as in", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "score": 1.0, + "content": "MLP-Mixers). More interestingly, we find that the proportion of active neurons in ViT is much", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 401, + 722 + ], + "score": 1.0, + "content": "smaller than another two architectures — given an input image, less than", + "type": "text" + }, + { + "bbox": [ + 401, + 710, + 421, + 720 + ], + "score": 0.86, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 421, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "neurons have values", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 721, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 505, + 732 + ], + "score": 1.0, + "content": "greater than zero for most layers (see Figure 2 (right)). In other words, ViTs offer a huge potential for", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 46 + } + ], + "page_idx": 6, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 762 + ], + "score": 1.0, + "content": "7", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 107, + 127, + 505, + 195 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 80, + 505, + 125 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 79, + 506, + 94 + ], + "spans": [ + { + "bbox": [ + 105, + 79, + 227, + 94 + ], + "score": 1.0, + "content": "Table 4: Dominant eigenvalue", + "type": "text" + }, + { + "bbox": [ + 227, + 81, + 251, + 91 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 251, + 79, + 506, + 94 + ], + "score": 1.0, + "content": "of the sub-diagonal Hessians for different network components,", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 91, + 505, + 103 + ], + "spans": [ + { + "bbox": [ + 106, + 91, + 243, + 103 + ], + "score": 1.0, + "content": "and norm of the model parameter", + "type": "text" + }, + { + "bbox": [ + 243, + 93, + 252, + 101 + ], + "score": 0.71, + "content": "w", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 91, + 345, + 103 + ], + "score": 1.0, + "content": "and the post-activation", + "type": "text" + }, + { + "bbox": [ + 346, + 93, + 357, + 102 + ], + "score": 0.87, + "content": "a _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 91, + 394, + 103 + ], + "score": 1.0, + "content": "of block", + "type": "text" + }, + { + "bbox": [ + 394, + 92, + 401, + 101 + ], + "score": 0.63, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 401, + 91, + 505, + 103 + ], + "score": 1.0, + "content": ". Each ViT block consists", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 103, + 505, + 114 + ], + "spans": [ + { + "bbox": [ + 106, + 103, + 505, + 114 + ], + "score": 1.0, + "content": "of a MSA and a MLP, and MLP-Mixer alternates between a token MLP a channel MLP. Shallower", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 113, + 340, + 126 + ], + "spans": [ + { + "bbox": [ + 105, + 113, + 179, + 126 + ], + "score": 1.0, + "content": "layers have larger", + "type": "text" + }, + { + "bbox": [ + 179, + 114, + 202, + 124 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 113, + 340, + 126 + ], + "score": 1.0, + "content": ". SAM smooths every component.", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5 + }, + { + "type": "table_body", + "bbox": [ + 107, + 127, + 505, + 195 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 107, + 127, + 505, + 195 + ], + "spans": [ + { + "bbox": [ + 107, + 127, + 505, + 195 + ], + "score": 0.98, + "html": "
ModelXmax of diagonal blocks of Hessian|w|l2|a1|l2|a6|2|a12|l2
EmbeddingMSA/ Token MLPMLP/ Channel MLPBlock1Block6Block12Whole
ViT-B/16300.4179.8281.444.432.426.9738.8269.3104.9104.3138.1
ViT-B/16-SAM3.88.59.61.71.71.520.9353.8117.0120.397.2
Mixer-B/161042.395.8417.9239.341.25.11644.4197.696.7135.174.9
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", + "type": "table", + "image_path": "f5fa82ff8dfa49d161b7a592113be464653af27e559189f56f90867e02e93d8d.jpg" + } + ] + } + ], + "index": 5, + "virtual_lines": [ + { + "bbox": [ + 107, + 127, + 505, + 149.66666666666666 + ], + "spans": [], + "index": 4 + }, + { + "bbox": [ + 107, + 149.66666666666666, + 505, + 172.33333333333331 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 107, + 172.33333333333331, + 505, + 194.99999999999997 + ], + "spans": [], + "index": 6 + } + ] + } + ], + "index": 3.25 + }, + { + "type": "title", + "bbox": [ + 108, + 212, + 275, + 223 + ], + "lines": [ + { + "bbox": [ + 106, + 211, + 277, + 224 + ], + "spans": [ + { + "bbox": [ + 106, + 211, + 277, + 224 + ], + "score": 1.0, + "content": "4.4 INTRINSIC CHANGES AFTER SAM", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 106, + 232, + 504, + 255 + ], + "lines": [ + { + "bbox": [ + 106, + 231, + 505, + 245 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 505, + 245 + ], + "score": 1.0, + "content": "We take a deeper look into the models to understand how they intrinsically change to reduce the", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 243, + 499, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 189, + 255 + ], + "score": 1.0, + "content": "Hessian’ eigenvalue", + "type": "text" + }, + { + "bbox": [ + 189, + 244, + 212, + 255 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 243, + 499, + 255 + ], + "score": 1.0, + "content": "and what the changes imply in addition to the enhanced generalization.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5, + "bbox_fs": [ + 106, + 231, + 505, + 255 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 260, + 505, + 360 + ], + "lines": [ + { + "bbox": [ + 106, + 259, + 505, + 273 + ], + "spans": [ + { + "bbox": [ + 106, + 259, + 505, + 273 + ], + "score": 1.0, + "content": "Smoother loss landscapes for every network component. In Table 4, we break down the Hessian", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 270, + 505, + 285 + ], + "spans": [ + { + "bbox": [ + 105, + 270, + 505, + 285 + ], + "score": 1.0, + "content": "of the whole architecture into small diagonal blocks of Hessians concerning each set of parameters,", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 395, + 295 + ], + "score": 1.0, + "content": "attempting to analyze what specific components cause the blowing up of", + "type": "text" + }, + { + "bbox": [ + 395, + 283, + 418, + 294 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 282, + 505, + 295 + ], + "score": 1.0, + "content": "in the models trained", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 293, + 506, + 306 + ], + "spans": [ + { + "bbox": [ + 106, + 293, + 428, + 306 + ], + "score": 1.0, + "content": "without SAM. We observe that shallower layers have larger Hessian eigenvalues", + "type": "text" + }, + { + "bbox": [ + 428, + 294, + 451, + 304 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 452, + 293, + 506, + 306 + ], + "score": 1.0, + "content": ", and the first", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "score": 1.0, + "content": "linear embedding layer incurs the sharpest geometry. This agrees with the finding in (Chen et al.,", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 314, + 506, + 328 + ], + "spans": [ + { + "bbox": [ + 105, + 314, + 506, + 328 + ], + "score": 1.0, + "content": "2021c) that spiking gradients happen early in the embedding layer. Additionally, the multi-head", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 325, + 505, + 339 + ], + "spans": [ + { + "bbox": [ + 105, + 325, + 505, + 339 + ], + "score": 1.0, + "content": "self-attention (MSA) in ViTs and the Token MLPs in MLP-Mixers, both of which mix information", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 337, + 506, + 350 + ], + "spans": [ + { + "bbox": [ + 105, + 337, + 303, + 350 + ], + "score": 1.0, + "content": "across spatial locations, have comparably lower", + "type": "text" + }, + { + "bbox": [ + 304, + 337, + 327, + 348 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 337, + 506, + 350 + ], + "score": 1.0, + "content": "than the other network components. SAM", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 348, + 318, + 360 + ], + "spans": [ + { + "bbox": [ + 106, + 348, + 204, + 360 + ], + "score": 1.0, + "content": "consistently reduces the", + "type": "text" + }, + { + "bbox": [ + 204, + 348, + 227, + 359 + ], + "score": 0.91, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 348, + 318, + 360 + ], + "score": 1.0, + "content": "of all network blocks.", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 14, + "bbox_fs": [ + 105, + 259, + 506, + 360 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 364, + 504, + 431 + ], + "lines": [ + { + "bbox": [ + 106, + 364, + 506, + 377 + ], + "spans": [ + { + "bbox": [ + 106, + 364, + 506, + 377 + ], + "score": 1.0, + "content": "We can gain insights into the above findings by the recursive formulation of Hessian matrices for", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 375, + 506, + 388 + ], + "spans": [ + { + "bbox": [ + 105, + 375, + 233, + 388 + ], + "score": 1.0, + "content": "MLPs (Botev et al., 2017). Let", + "type": "text" + }, + { + "bbox": [ + 234, + 376, + 245, + 387 + ], + "score": 0.88, + "content": "h _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 375, + 264, + 388 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 264, + 377, + 276, + 387 + ], + "score": 0.85, + "content": "a _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 375, + 506, + 388 + ], + "score": 1.0, + "content": "be the pre-activation and post-activation values for layer", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 387, + 506, + 399 + ], + "spans": [ + { + "bbox": [ + 106, + 387, + 113, + 397 + ], + "score": 0.8, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 387, + 223, + 399 + ], + "score": 1.0, + "content": ", respectively. They satisfy", + "type": "text" + }, + { + "bbox": [ + 223, + 387, + 284, + 398 + ], + "score": 0.92, + "content": "h _ { k } = W _ { k } a _ { k - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 387, + 302, + 399 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 303, + 387, + 356, + 398 + ], + "score": 0.92, + "content": "\\bar { a } _ { k } = f _ { k } ( h _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 357, + 387, + 388, + 399 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 388, + 387, + 403, + 398 + ], + "score": 0.9, + "content": "W _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 387, + 506, + 399 + ], + "score": 1.0, + "content": "is the weight matrix and", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 107, + 397, + 506, + 411 + ], + "spans": [ + { + "bbox": [ + 107, + 398, + 117, + 409 + ], + "score": 0.87, + "content": "f _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 118, + 397, + 506, + 411 + ], + "score": 1.0, + "content": "is the activation function (GELU (Hendrycks & Gimpel, 2020) in MLP-Mixers). Here we omit", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 409, + 505, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 409, + 379, + 421 + ], + "score": 1.0, + "content": "the bias term for simplicity. The diagonal block of Hessian matrix", + "type": "text" + }, + { + "bbox": [ + 380, + 409, + 394, + 420 + ], + "score": 0.9, + "content": "H _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 409, + 459, + 421 + ], + "score": 1.0, + "content": "with respect to", + "type": "text" + }, + { + "bbox": [ + 459, + 409, + 474, + 420 + ], + "score": 0.89, + "content": "W _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 475, + 409, + 505, + 421 + ], + "score": 1.0, + "content": "can be", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 420, + 209, + 432 + ], + "spans": [ + { + "bbox": [ + 105, + 420, + 209, + 432 + ], + "score": 1.0, + "content": "recursively calculated as:", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 21.5, + "bbox_fs": [ + 105, + 364, + 506, + 432 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 171, + 435, + 440, + 479 + ], + "lines": [ + { + "bbox": [ + 171, + 435, + 440, + 479 + ], + "spans": [ + { + "bbox": [ + 171, + 435, + 440, + 479 + ], + "score": 0.91, + "content": "\\begin{array} { r l r } & { } & { H _ { k } = ( a _ { k - 1 } a _ { k - 1 } ^ { T } ) \\otimes \\mathcal { H } _ { k } , \\quad \\mathcal { H } _ { k } = B _ { k } W _ { k + 1 } ^ { T } \\mathcal { H } _ { k + 1 } W _ { k + 1 } B _ { k } + D _ { k } , } \\\\ & { } & { B _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime } ( h _ { k } ) ) , \\qquad D _ { k } = \\mathrm { d i a g } ( f _ { k } ^ { \\prime \\prime } ( h _ { k } ) \\frac { \\partial L } { \\partial a _ { k } } ) , } \\end{array}", + "type": "interline_equation", + "image_path": "e673ff065513b910f3cdc37117ba797c5b6860a86b5ffac17fc7507032ba4d3d.jpg" + } + ] + } + ], + "index": 26, + "virtual_lines": [ + { + "bbox": [ + 171, + 435, + 440, + 449.6666666666667 + ], + "spans": [], + "index": 25 + }, + { + "bbox": [ + 171, + 449.6666666666667, + 440, + 464.33333333333337 + ], + "spans": [], + "index": 26 + }, + { + "bbox": [ + 171, + 464.33333333333337, + 440, + 479.00000000000006 + ], + "spans": [], + "index": 27 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 483, + 502, + 517 + ], + "lines": [ + { + "bbox": [ + 106, + 483, + 504, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 483, + 133, + 496 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 485, + 142, + 494 + ], + "score": 0.84, + "content": "\\otimes", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 483, + 244, + 496 + ], + "score": 1.0, + "content": "is the Kronecker product,", + "type": "text" + }, + { + "bbox": [ + 244, + 484, + 259, + 495 + ], + "score": 0.9, + "content": "\\mathcal { H } _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 483, + 408, + 496 + ], + "score": 1.0, + "content": "is the pre-activation Hessian for layer", + "type": "text" + }, + { + "bbox": [ + 408, + 484, + 415, + 494 + ], + "score": 0.81, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 415, + 483, + 434, + 496 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 435, + 484, + 443, + 493 + ], + "score": 0.84, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 443, + 483, + 504, + 496 + ], + "score": 1.0, + "content": "is the objective", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 495, + 505, + 507 + ], + "spans": [ + { + "bbox": [ + 106, + 495, + 505, + 507 + ], + "score": 1.0, + "content": "function. Therefore, the Hessian norm accumulates as the recursive formulation backpropagates to", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 505, + 502, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 355, + 518 + ], + "score": 1.0, + "content": "shallow layers, explaining why the first block has much larger", + "type": "text" + }, + { + "bbox": [ + 356, + 506, + 379, + 517 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 379, + 505, + 502, + 518 + ], + "score": 1.0, + "content": "than the last block in Table 4.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29, + "bbox_fs": [ + 105, + 483, + 505, + 518 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 522, + 504, + 567 + ], + "lines": [ + { + "bbox": [ + 106, + 522, + 506, + 535 + ], + "spans": [ + { + "bbox": [ + 106, + 522, + 506, + 535 + ], + "score": 1.0, + "content": "Greater weight norms. After applying SAM, we find that in most cases, the norm of the post-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 533, + 506, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 172, + 545 + ], + "score": 1.0, + "content": "activation value", + "type": "text" + }, + { + "bbox": [ + 173, + 535, + 194, + 545 + ], + "score": 0.88, + "content": "a k _ { - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 195, + 533, + 259, + 545 + ], + "score": 1.0, + "content": "and the weight", + "type": "text" + }, + { + "bbox": [ + 259, + 534, + 285, + 545 + ], + "score": 0.92, + "content": "W _ { k + 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 533, + 506, + 545 + ], + "score": 1.0, + "content": "become even bigger (see Table 4), indicating that the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 544, + 506, + 557 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 506, + 557 + ], + "score": 1.0, + "content": "commonly used weight decay may not effectively regularize ViTs and MLP-Mixers (see Appendix J", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 555, + 367, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 367, + 568 + ], + "score": 1.0, + "content": "for further verification when we vary the weight decay strength).", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 32.5, + "bbox_fs": [ + 105, + 522, + 506, + 568 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 571, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 106, + 572, + 504, + 585 + ], + "spans": [ + { + "bbox": [ + 106, + 572, + 504, + 585 + ], + "score": 1.0, + "content": "Sparser active neurons in MLP-Mixers. Given the recursive formulation Equation (3), we identify", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "another intrinsic measure of MLP-Mixers that contribute to the Hessian: the number of activated", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 180, + 607 + ], + "score": 1.0, + "content": "neurons. Indeed,", + "type": "text" + }, + { + "bbox": [ + 180, + 594, + 194, + 605 + ], + "score": 0.9, + "content": "B _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "is determined by the activated neurons whose values are greater than zero,", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "score": 1.0, + "content": "since the first-order derivative of GELU becomes much smaller when the input is negative. As", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 615, + 506, + 629 + ], + "spans": [ + { + "bbox": [ + 104, + 615, + 506, + 629 + ], + "score": 1.0, + "content": "a result, the number of active GELU neurons is directly connected to the Hessian norm. Figure 2", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 627, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 418, + 640 + ], + "score": 1.0, + "content": "(right) shows the proportion of activated neurons for each block, counted using", + "type": "text" + }, + { + "bbox": [ + 419, + 627, + 438, + 638 + ], + "score": 0.87, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 438, + 627, + 506, + 640 + ], + "score": 1.0, + "content": "of the ImageNet", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 639, + 505, + 650 + ], + "spans": [ + { + "bbox": [ + 106, + 639, + 505, + 650 + ], + "score": 1.0, + "content": "training set. We can see that SAM greatly reduces the proportion of activated neurons for the first", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "score": 1.0, + "content": "few layers of the Mixer-B/16, pushing them to much sparser states. This result also suggests the", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 660, + 266, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 266, + 673 + ], + "score": 1.0, + "content": "potential redundancy of image patches.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 39, + "bbox_fs": [ + 104, + 572, + 506, + 673 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 677, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 676, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 506, + 690 + ], + "score": 1.0, + "content": "ViTs’ active neurons are highly sparse. Although Equations (3) and (4) only involve MLPs, we", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "still observe a decrease of activated neurons in the first layer of ViTs (but not as significant as in", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "score": 1.0, + "content": "MLP-Mixers). More interestingly, we find that the proportion of active neurons in ViT is much", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 401, + 722 + ], + "score": 1.0, + "content": "smaller than another two architectures — given an input image, less than", + "type": "text" + }, + { + "bbox": [ + 401, + 710, + 421, + 720 + ], + "score": 0.86, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 421, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "neurons have values", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 721, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 505, + 732 + ], + "score": 1.0, + "content": "greater than zero for most layers (see Figure 2 (right)). In other words, ViTs offer a huge potential for", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 372, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 106, + 372, + 505, + 385 + ], + "score": 1.0, + "content": "network pruning. This sparsity may also explain why one Transformer can handle multi-modality", + "type": "text", + "cross_page": true + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 383, + 321, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 321, + 396 + ], + "score": 1.0, + "content": "signals (vision, text, and audio) (Akbari et al., 2021).", + "type": "text", + "cross_page": true + } + ], + "index": 11 + } + ], + "index": 46, + "bbox_fs": [ + 105, + 676, + 506, + 732 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 108, + 105, + 505, + 180 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 80, + 504, + 102 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 80, + 506, + 93 + ], + "spans": [ + { + "bbox": [ + 106, + 80, + 506, + 93 + ], + "score": 1.0, + "content": "Table 5: Data augmentations, SAM, and their combination applied to different model architectures", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 91, + 306, + 103 + ], + "spans": [ + { + "bbox": [ + 106, + 91, + 306, + 103 + ], + "score": 1.0, + "content": "trained on ImageNet and its subsets from scratch.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "table_body", + "bbox": [ + 108, + 105, + 505, + 180 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 108, + 105, + 505, + 180 + ], + "spans": [ + { + "bbox": [ + 108, + 105, + 505, + 180 + ], + "score": 0.957, + "html": "
DatasetResNet-152ViT-B/16Mixer-B/16
Vanilla SAMAUGSAM + AUGVanilla SAMAUGSAM +AUGVanillaSAMAUGSAM + AUG
ImageNet78.579.378.878.974.679.979.681.566.477.476.578.1
i1k (1/2)74.275.675.175.564.975.473.175.853.971.070.473.1
i1k (1/4)68.070.370.270.652.466.863.265.637.262.861.065.8
i1k (1/10)54.657.159.259.532.846.138.545.721.043.543.051.0
", + "type": "table", + "image_path": "924afd67bcbf36c57c51263a576bda2009ef29b2d9229d92ae62c595b81707f1.jpg" + } + ] + } + ], + "index": 3, + "virtual_lines": [ + { + "bbox": [ + 108, + 105, + 505, + 130.0 + ], + "spans": [], + "index": 2 + }, + { + "bbox": [ + 108, + 130.0, + 505, + 155.0 + ], + "spans": [], + "index": 3 + }, + { + "bbox": [ + 108, + 155.0, + 505, + 180.0 + ], + "spans": [], + "index": 4 + } + ] + } + ], + "index": 1.75 + }, + { + "type": "image", + "bbox": [ + 140, + 191, + 471, + 337 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 140, + 191, + 471, + 337 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 140, + 191, + 471, + 337 + ], + "spans": [ + { + "bbox": [ + 140, + 191, + 471, + 337 + ], + "score": 0.972, + "type": "image", + "image_path": "aab787bfaa975ef1497c10bad7ae3a875097e6eb7ec54cbdbb139c7c437a72eb.jpg" + } + ] + } + ], + "index": 6, + "virtual_lines": [ + { + "bbox": [ + 140, + 191, + 471, + 239.66666666666666 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 140, + 239.66666666666666, + 471, + 288.3333333333333 + ], + "spans": [], + "index": 6 + }, + { + "bbox": [ + 140, + 288.3333333333333, + 471, + 337.0 + ], + "spans": [], + "index": 7 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 105, + 343, + 504, + 366 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 342, + 505, + 356 + ], + "spans": [ + { + "bbox": [ + 105, + 342, + 505, + 356 + ], + "score": 1.0, + "content": "Figure 3: Raw images (Left) and attention maps of ViT-S/16 with (Right) and without (Middle)", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 354, + 230, + 367 + ], + "spans": [ + { + "bbox": [ + 106, + 354, + 230, + 367 + ], + "score": 1.0, + "content": "sharpness-aware optimization.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5 + } + ], + "index": 7.25 + }, + { + "type": "text", + "bbox": [ + 106, + 372, + 503, + 394 + ], + "lines": [ + { + "bbox": [ + 106, + 372, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 106, + 372, + 505, + 385 + ], + "score": 1.0, + "content": "network pruning. This sparsity may also explain why one Transformer can handle multi-modality", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 383, + 321, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 321, + 396 + ], + "score": 1.0, + "content": "signals (vision, text, and audio) (Akbari et al., 2021).", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 10.5 + }, + { + "type": "text", + "bbox": [ + 107, + 399, + 505, + 444 + ], + "lines": [ + { + "bbox": [ + 106, + 400, + 505, + 412 + ], + "spans": [ + { + "bbox": [ + 106, + 400, + 505, + 412 + ], + "score": 1.0, + "content": "Visually improved attention maps in ViTs. We visualize ViT-S/16’s attention map of the classifi-", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 411, + 505, + 423 + ], + "spans": [ + { + "bbox": [ + 106, + 411, + 505, + 423 + ], + "score": 1.0, + "content": "cation token averaged over the last multi-head attentions in Figure 3 following Caron et al. (2021).", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 422, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 105, + 422, + 505, + 435 + ], + "score": 1.0, + "content": "Interestingly, the ViT model optimized with SAM appears to possess visually improved attention", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 433, + 388, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 388, + 446 + ], + "score": 1.0, + "content": "map compared with the one trained via the vanilla AdamW optimizer.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5 + }, + { + "type": "title", + "bbox": [ + 108, + 458, + 284, + 469 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 286, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 286, + 470 + ], + "score": 1.0, + "content": "4.5 SAM VS. STRONG AUGMENTATIONS", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 16 + }, + { + "type": "text", + "bbox": [ + 107, + 478, + 505, + 545 + ], + "lines": [ + { + "bbox": [ + 105, + 478, + 506, + 491 + ], + "spans": [ + { + "bbox": [ + 105, + 478, + 506, + 491 + ], + "score": 1.0, + "content": "Previous sections show that SAM can improve the generalization (and robustness) of ViTs and", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 488, + 506, + 502 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 506, + 502 + ], + "score": 1.0, + "content": "MLP-Mixers. Meanwhile, another paradigm to train these models on ImageNet from scratch is to", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 500, + 506, + 513 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 506, + 513 + ], + "score": 1.0, + "content": "stack multiple strong augmentations (Touvron et al., 2021b;a; Tolstikhin et al., 2021). Hence, it is", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 510, + 506, + 525 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 506, + 525 + ], + "score": 1.0, + "content": "interesting to study the differences and similarities between the models trained by SAM and by using", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 523, + 505, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 523, + 505, + 534 + ], + "score": 1.0, + "content": "strong data augmentations. For the augmentation experiments, we follow Tolstikhin et al. (2021)’s", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 533, + 466, + 546 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 466, + 546 + ], + "score": 1.0, + "content": "pipeline that includes mixup (Zhang et al., 2018) and RandAugment (Cubuk et al., 2020).", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 19.5 + }, + { + "type": "text", + "bbox": [ + 106, + 550, + 505, + 638 + ], + "lines": [ + { + "bbox": [ + 106, + 550, + 505, + 563 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 505, + 563 + ], + "score": 1.0, + "content": "Generalization. Table 5 shows the results of strong data augmentation, SAM, and their combination", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 561, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 505, + 573 + ], + "score": 1.0, + "content": "on ImageNet. Each row corresponds to a training set of a different fraction of ImageNet-1k. SAM", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "score": 1.0, + "content": "benefits ViT-B/16 and Mixer-B/16 more than the strong data augmentations, especially when the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 582, + 506, + 597 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 597 + ], + "score": 1.0, + "content": "training set is small. For instance, when the training set contains only 1/10 of ImageNet training", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 594, + 506, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 333, + 607 + ], + "score": 1.0, + "content": "images, ViT-B/16-SAM outperforms ViT-B/16-AUG by", + "type": "text" + }, + { + "bbox": [ + 333, + 594, + 355, + 605 + ], + "score": 0.86, + "content": "7 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 355, + 594, + 506, + 607 + ], + "score": 1.0, + "content": ". Apart from the improved validation", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "accuracy, we also observe that both SAM and strong augmentations increase the training error (see", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 617, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 617, + 506, + 628 + ], + "score": 1.0, + "content": "Figure 2 (Middle) and Table 6), indicating their regularization effects. However, they have distinct", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 627, + 474, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 474, + 638 + ], + "score": 1.0, + "content": "training dynamics as the loss curve for ViT-B/16-AUG is much nosier than ViT-B/16-SAM.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 26.5 + }, + { + "type": "text", + "bbox": [ + 107, + 644, + 300, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 643, + 302, + 657 + ], + "spans": [ + { + "bbox": [ + 106, + 643, + 302, + 657 + ], + "score": 1.0, + "content": "Sharpness at convergence. Another intriguing", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 655, + 301, + 666 + ], + "spans": [ + { + "bbox": [ + 105, + 655, + 301, + 666 + ], + "score": 1.0, + "content": "question is as follows. Can augmentations also", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 666, + 301, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 666, + 301, + 677 + ], + "score": 1.0, + "content": "smooth the loss geometry similarly to SAM? To", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 677, + 301, + 688 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 301, + 688 + ], + "score": 1.0, + "content": "answer it, we also plot the landscape of ViT-", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 687, + 301, + 699 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 301, + 699 + ], + "score": 1.0, + "content": "B/16-AUG (see Figure 5 in the Appendix) and", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 102, + 698, + 304, + 728 + ], + "spans": [ + { + "bbox": [ + 102, + 698, + 165, + 728 + ], + "score": 1.0, + "content": "compute its Herage flatness", + "type": "text" + }, + { + "bbox": [ + 190, + 699, + 213, + 710 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 214, + 698, + 304, + 728 + ], + "score": 1.0, + "content": "together with the av-able 6. Surprisingly,", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 165, + 709, + 193, + 722 + ], + "spans": [ + { + "bbox": [ + 165, + 709, + 193, + 722 + ], + "score": 0.93, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 718, + 297, + 735 + ], + "spans": [ + { + "bbox": [ + 105, + 718, + 273, + 735 + ], + "score": 1.0, + "content": "strong augmentations even enlarge the", + "type": "text" + }, + { + "bbox": [ + 273, + 721, + 297, + 732 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + } + ], + "index": 38 + } + ], + "index": 34.5 + }, + { + "type": "table", + "bbox": [ + 310, + 680, + 505, + 729 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 308, + 645, + 504, + 677 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 307, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 307, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "Table 6: Comparison between ViT-B/16-SAM", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 307, + 654, + 506, + 668 + ], + "spans": [ + { + "bbox": [ + 307, + 654, + 393, + 668 + ], + "score": 1.0, + "content": "and ViT-B/16-AUG.", + "type": "text" + }, + { + "bbox": [ + 393, + 655, + 403, + 666 + ], + "score": 0.38, + "content": "R", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 654, + 506, + 668 + ], + "score": 1.0, + "content": "denotes the missing rate", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 308, + 666, + 415, + 679 + ], + "spans": [ + { + "bbox": [ + 308, + 666, + 415, + 679 + ], + "score": 1.0, + "content": "under linear interpolation.", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 40 + }, + { + "type": "table_body", + "bbox": [ + 310, + 680, + 505, + 729 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 310, + 680, + 505, + 729 + ], + "spans": [ + { + "bbox": [ + 310, + 680, + 505, + 729 + ], + "score": 0.971, + "html": "
ModelXmaxLtrainR(↓)
ViT-B/16738.80.656.6657.9%
ViT-B/16-SAM20.90.820.9639.6%
ViT-B/16-AUG1659.30.851.2321.4%
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DatasetResNet-152ViT-B/16Mixer-B/16
Vanilla SAMAUGSAM + AUGVanilla SAMAUGSAM +AUGVanillaSAMAUGSAM + AUG
ImageNet78.579.378.878.974.679.979.681.566.477.476.578.1
i1k (1/2)74.275.675.175.564.975.473.175.853.971.070.473.1
i1k (1/4)68.070.370.270.652.466.863.265.637.262.861.065.8
i1k (1/10)54.657.159.259.532.846.138.545.721.043.543.051.0
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We visualize ViT-S/16’s attention map of the classifi-", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 411, + 505, + 423 + ], + "spans": [ + { + "bbox": [ + 106, + 411, + 505, + 423 + ], + "score": 1.0, + "content": "cation token averaged over the last multi-head attentions in Figure 3 following Caron et al. (2021).", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 422, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 105, + 422, + 505, + 435 + ], + "score": 1.0, + "content": "Interestingly, the ViT model optimized with SAM appears to possess visually improved attention", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 433, + 388, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 388, + 446 + ], + "score": 1.0, + "content": "map compared with the one trained via the vanilla AdamW optimizer.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5, + "bbox_fs": [ + 105, + 400, + 505, + 446 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 458, + 284, + 469 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 286, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 286, + 470 + ], + "score": 1.0, + "content": "4.5 SAM VS. STRONG AUGMENTATIONS", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 16 + }, + { + "type": "text", + "bbox": [ + 107, + 478, + 505, + 545 + ], + "lines": [ + { + "bbox": [ + 105, + 478, + 506, + 491 + ], + "spans": [ + { + "bbox": [ + 105, + 478, + 506, + 491 + ], + "score": 1.0, + "content": "Previous sections show that SAM can improve the generalization (and robustness) of ViTs and", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 488, + 506, + 502 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 506, + 502 + ], + "score": 1.0, + "content": "MLP-Mixers. Meanwhile, another paradigm to train these models on ImageNet from scratch is to", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 500, + 506, + 513 + ], + "spans": [ + { + "bbox": [ + 105, + 500, + 506, + 513 + ], + "score": 1.0, + "content": "stack multiple strong augmentations (Touvron et al., 2021b;a; Tolstikhin et al., 2021). Hence, it is", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 510, + 506, + 525 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 506, + 525 + ], + "score": 1.0, + "content": "interesting to study the differences and similarities between the models trained by SAM and by using", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 523, + 505, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 523, + 505, + 534 + ], + "score": 1.0, + "content": "strong data augmentations. For the augmentation experiments, we follow Tolstikhin et al. (2021)’s", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 533, + 466, + 546 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 466, + 546 + ], + "score": 1.0, + "content": "pipeline that includes mixup (Zhang et al., 2018) and RandAugment (Cubuk et al., 2020).", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 19.5, + "bbox_fs": [ + 105, + 478, + 506, + 546 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 550, + 505, + 638 + ], + "lines": [ + { + "bbox": [ + 106, + 550, + 505, + 563 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 505, + 563 + ], + "score": 1.0, + "content": "Generalization. Table 5 shows the results of strong data augmentation, SAM, and their combination", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 561, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 505, + 573 + ], + "score": 1.0, + "content": "on ImageNet. Each row corresponds to a training set of a different fraction of ImageNet-1k. SAM", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "score": 1.0, + "content": "benefits ViT-B/16 and Mixer-B/16 more than the strong data augmentations, especially when the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 582, + 506, + 597 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 597 + ], + "score": 1.0, + "content": "training set is small. For instance, when the training set contains only 1/10 of ImageNet training", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 594, + 506, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 333, + 607 + ], + "score": 1.0, + "content": "images, ViT-B/16-SAM outperforms ViT-B/16-AUG by", + "type": "text" + }, + { + "bbox": [ + 333, + 594, + 355, + 605 + ], + "score": 0.86, + "content": "7 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 355, + 594, + 506, + 607 + ], + "score": 1.0, + "content": ". Apart from the improved validation", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "accuracy, we also observe that both SAM and strong augmentations increase the training error (see", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 617, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 617, + 506, + 628 + ], + "score": 1.0, + "content": "Figure 2 (Middle) and Table 6), indicating their regularization effects. However, they have distinct", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 627, + 474, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 474, + 638 + ], + "score": 1.0, + "content": "training dynamics as the loss curve for ViT-B/16-AUG is much nosier than ViT-B/16-SAM.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 26.5, + "bbox_fs": [ + 105, + 550, + 506, + 638 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 644, + 300, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 643, + 302, + 657 + ], + "spans": [ + { + "bbox": [ + 106, + 643, + 302, + 657 + ], + "score": 1.0, + "content": "Sharpness at convergence. Another intriguing", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 655, + 301, + 666 + ], + "spans": [ + { + "bbox": [ + 105, + 655, + 301, + 666 + ], + "score": 1.0, + "content": "question is as follows. Can augmentations also", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 666, + 301, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 666, + 301, + 677 + ], + "score": 1.0, + "content": "smooth the loss geometry similarly to SAM? To", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 677, + 301, + 688 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 301, + 688 + ], + "score": 1.0, + "content": "answer it, we also plot the landscape of ViT-", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 687, + 301, + 699 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 301, + 699 + ], + "score": 1.0, + "content": "B/16-AUG (see Figure 5 in the Appendix) and", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 102, + 698, + 304, + 728 + ], + "spans": [ + { + "bbox": [ + 102, + 698, + 165, + 728 + ], + "score": 1.0, + "content": "compute its Herage flatness", + "type": "text" + }, + { + "bbox": [ + 190, + 699, + 213, + 710 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + }, + { + "bbox": [ + 214, + 698, + 304, + 728 + ], + "score": 1.0, + "content": "together with the av-able 6. Surprisingly,", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 165, + 709, + 193, + 722 + ], + "spans": [ + { + "bbox": [ + 165, + 709, + 193, + 722 + ], + "score": 0.93, + "content": "L _ { t r a i n } ^ { \\mathcal { N } }", + "type": "inline_equation" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 718, + 297, + 735 + ], + "spans": [ + { + "bbox": [ + 105, + 718, + 273, + 735 + ], + "score": 1.0, + "content": "strong augmentations even enlarge the", + "type": "text" + }, + { + "bbox": [ + 273, + 721, + 297, + 732 + ], + "score": 0.9, + "content": "\\lambda _ { m a x }", + "type": "inline_equation" + } + ], + "index": 38 + } + ], + "index": 34.5, + "bbox_fs": [ + 102, + 643, + 304, + 735 + ] + }, + { + "type": "table", + "bbox": [ + 310, + 680, + 505, + 729 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 308, + 645, + 504, + 677 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 307, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 307, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "Table 6: Comparison between ViT-B/16-SAM", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 307, + 654, + 506, + 668 + ], + "spans": [ + { + "bbox": [ + 307, + 654, + 393, + 668 + ], + "score": 1.0, + "content": "and ViT-B/16-AUG.", + "type": "text" + }, + { + "bbox": [ + 393, + 655, + 403, + 666 + ], + "score": 0.38, + "content": "R", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 654, + 506, + 668 + ], + "score": 1.0, + "content": "denotes the missing rate", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 308, + 666, + 415, + 679 + ], + "spans": [ + { + "bbox": [ + 308, + 666, + 415, + 679 + ], + "score": 1.0, + "content": "under linear interpolation.", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 40 + }, + { + "type": "table_body", + "bbox": [ + 310, + 680, + 505, + 729 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 310, + 680, + 505, + 729 + ], + "spans": [ + { + "bbox": [ + 310, + 680, + 505, + 729 + ], + "score": 0.971, + "html": "
ModelXmaxLtrainR(↓)
ViT-B/16738.80.656.6657.9%
ViT-B/16-SAM20.90.820.9639.6%
ViT-B/16-AUG1659.30.851.2321.4%
", + "type": "table", + "image_path": "ec4ac0b041aa316e4f8fd851fac02bfd7a30ed9e933a20731268615051dec4d6.jpg" + } + ] + } + ], + "index": 43, + "virtual_lines": [ + { + "bbox": [ + 310, + 680, + 505, + 696.3333333333334 + ], + "spans": [], + "index": 42 + }, + { + "bbox": [ + 310, + 696.3333333333334, + 505, + 712.6666666666667 + ], + "spans": [], + "index": 43 + }, + { + "bbox": [ + 310, + 712.6666666666667, + 505, + 729.0000000000001 + ], + "spans": [], + "index": 44 + } + ] + } + ], + "index": 41.5 + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 504, + 149 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "However, like SAM, augmentations make ViT-B/16-AUG smoother and achieve a significantly", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "score": 1.0, + "content": "smaller training error under random Gaussian perturbations than ViT-B/16. These results show that", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "both SAM and augmentations make the loss landscape flat on average. The difference is that SAM", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "score": 1.0, + "content": "enforces the smoothness by reducing the largest curvature via a minimax formulation to optimize", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 506, + 139 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 506, + 139 + ], + "score": 1.0, + "content": "the worst-case scenario, while augmentations ignore the worse-case curvature and instead smooth", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 137, + 363, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 137, + 363, + 150 + ], + "score": 1.0, + "content": "the landscape over the directions induced by the augmentations.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 107, + 154, + 505, + 221 + ], + "lines": [ + { + "bbox": [ + 106, + 154, + 506, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 506, + 167 + ], + "score": 1.0, + "content": "Interestingly, besides the similarity in smoothing the loss curvature on average, we also discover that", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 163, + 505, + 179 + ], + "spans": [ + { + "bbox": [ + 105, + 163, + 505, + 179 + ], + "score": 1.0, + "content": "SAM-trained models possess “linearality” resembling the property manually injected by the mixup", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 175, + 506, + 190 + ], + "spans": [ + { + "bbox": [ + 105, + 175, + 506, + 190 + ], + "score": 1.0, + "content": "augmentation. Following Zhang et al. (2018), we compute the prediction error in-between training", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 247, + 200 + ], + "score": 1.0, + "content": "data in Table 6, where a prediction", + "type": "text" + }, + { + "bbox": [ + 248, + 189, + 254, + 199 + ], + "score": 0.8, + "content": "y", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 187, + 430, + 200 + ], + "score": 1.0, + "content": "is counted as a miss if it does not belong to", + "type": "text" + }, + { + "bbox": [ + 431, + 187, + 464, + 199 + ], + "score": 0.92, + "content": "\\{ y _ { i } , y _ { j } \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 464, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "evaluated", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 198, + 505, + 210 + ], + "spans": [ + { + "bbox": [ + 105, + 198, + 117, + 210 + ], + "score": 1.0, + "content": "at", + "type": "text" + }, + { + "bbox": [ + 117, + 198, + 195, + 210 + ], + "score": 0.91, + "content": "x = 0 . 5 x _ { i } + 0 . 5 x _ { j }", + "type": "inline_equation" + }, + { + "bbox": [ + 196, + 198, + 426, + 210 + ], + "score": 1.0, + "content": ". We observe that SAM greatly reduces the missing rate", + "type": "text" + }, + { + "bbox": [ + 426, + 199, + 440, + 209 + ], + "score": 0.66, + "content": "( R )", + "type": "inline_equation" + }, + { + "bbox": [ + 441, + 198, + 505, + 210 + ], + "score": 1.0, + "content": "compared with", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 209, + 487, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 487, + 222 + ], + "score": 1.0, + "content": "the vanilla baseline, showing a similar effect to mixup that explicitly encourages such linearity.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 8.5 + }, + { + "type": "title", + "bbox": [ + 108, + 238, + 228, + 251 + ], + "lines": [ + { + "bbox": [ + 104, + 236, + 230, + 254 + ], + "spans": [ + { + "bbox": [ + 104, + 236, + 230, + 254 + ], + "score": 1.0, + "content": "5 ABLATION STUDIES", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 108, + 264, + 505, + 298 + ], + "lines": [ + { + "bbox": [ + 106, + 264, + 505, + 277 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 505, + 277 + ], + "score": 1.0, + "content": "In this section, we provide a more comprehensive study about SAM’s effect on various vision models", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 276, + 505, + 288 + ], + "spans": [ + { + "bbox": [ + 106, + 276, + 370, + 288 + ], + "score": 1.0, + "content": "and under different training setups. We refer to Appendices B to", + "type": "text" + }, + { + "bbox": [ + 370, + 276, + 379, + 286 + ], + "score": 0.27, + "content": "\\mathrm { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 276, + 505, + 288 + ], + "score": 1.0, + "content": "for the adversarial, contrastive", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 287, + 223, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 287, + 223, + 299 + ], + "score": 1.0, + "content": "and transfer learning results.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 14 + }, + { + "type": "title", + "bbox": [ + 107, + 314, + 304, + 325 + ], + "lines": [ + { + "bbox": [ + 105, + 313, + 306, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 306, + 326 + ], + "score": 1.0, + "content": "5.1 WHEN SCALING THE TRAINING SET SIZE", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 16 + }, + { + "type": "text", + "bbox": [ + 107, + 335, + 505, + 423 + ], + "lines": [ + { + "bbox": [ + 105, + 335, + 505, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 335, + 505, + 347 + ], + "score": 1.0, + "content": "Previous studies scale up training data to show massive pre-training trumps inductive biases (Doso-", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 346, + 505, + 358 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 505, + 358 + ], + "score": 1.0, + "content": "vitskiy et al., 2021; Tolstikhin et al., 2021). Here we show SAM further enables ViTs and MLP-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 356, + 505, + 369 + ], + "spans": [ + { + "bbox": [ + 105, + 356, + 505, + 369 + ], + "score": 1.0, + "content": "Mixers to handle small-scale training data well. We randomly sample 1/4 and 1/2 images from each", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 368, + 505, + 380 + ], + "spans": [ + { + "bbox": [ + 105, + 368, + 505, + 380 + ], + "score": 1.0, + "content": "ImageNet class to compose two smaller-scale training sets, i.e., i1k (1/4) and i1k (1/2) with 320,291", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 379, + 505, + 391 + ], + "spans": [ + { + "bbox": [ + 106, + 379, + 505, + 391 + ], + "score": 1.0, + "content": "and 640,583 images, respectively. We also use ImageNet-21k to pre-train the models with SAM,", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 389, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 389, + 505, + 403 + ], + "score": 1.0, + "content": "followed by fine-tuning on ImageNet-1k without SAM. The ImageNet validation set remains intact.", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 401, + 505, + 413 + ], + "spans": [ + { + "bbox": [ + 105, + 401, + 387, + 413 + ], + "score": 1.0, + "content": "SAM can still bring improvement when pre-trained on ImageNet-21k", + "type": "text" + }, + { + "bbox": [ + 388, + 401, + 416, + 412 + ], + "score": 0.8, + "content": "( + 0 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 416, + 401, + 419, + 413 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 419, + 401, + 447, + 412 + ], + "score": 0.85, + "content": "+ 1 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 401, + 467, + 413 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 468, + 401, + 490, + 411 + ], + "score": 0.86, + "content": "2 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 401, + 505, + 413 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 411, + 326, + 425 + ], + "spans": [ + { + "bbox": [ + 105, + 411, + 326, + 425 + ], + "score": 1.0, + "content": "ResNet-152, ViT-B/16, and Mixer-B/16, respectively).", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 20.5 + }, + { + "type": "text", + "bbox": [ + 107, + 429, + 505, + 517 + ], + "lines": [ + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "score": 1.0, + "content": "As expected, fewer training examples amplify the drawback of ViTs and MLP-Mixers’ lack of the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 441, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 106, + 441, + 505, + 451 + ], + "score": 1.0, + "content": "convolutional inductive bias — their accuracies decline much faster than ResNets’ (see Figure 4 in", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "score": 1.0, + "content": "the Appendix and the corresponding numbers in Table 5). However, SAM can drastically rescue", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 106, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers’ performance decrease on smaller training sets. Figure 4 (right) shows that", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 473, + 505, + 485 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 505, + 485 + ], + "score": 1.0, + "content": "the improvement brought by SAM over vanilla SGD training is proportional to the number of train-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 428, + 496 + ], + "score": 1.0, + "content": "ing images. When trained on i1k (1/4), it boosts ViT-B/16 and Mixer-B/16 by", + "type": "text" + }, + { + "bbox": [ + 428, + 483, + 455, + 494 + ], + "score": 0.86, + "content": "1 4 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 456, + 483, + 474, + 496 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 474, + 484, + 501, + 494 + ], + "score": 0.86, + "content": "2 5 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 483, + 505, + 496 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 494, + 505, + 506 + ], + "spans": [ + { + "bbox": [ + 105, + 494, + 209, + 506 + ], + "score": 1.0, + "content": "escalating their results to", + "type": "text" + }, + { + "bbox": [ + 209, + 495, + 237, + 505 + ], + "score": 0.88, + "content": "6 6 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 237, + 494, + 255, + 506 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 255, + 495, + 282, + 505 + ], + "score": 0.87, + "content": "6 2 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 494, + 505, + 506 + ], + "score": 1.0, + "content": ", respectively. It also tells that ViT-B/16-SAM matches", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 505, + 433, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 433, + 518 + ], + "score": 1.0, + "content": "the performance of ResNet-152-SAM even with only 1/2 ImageNet training data.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 28.5 + }, + { + "type": "title", + "bbox": [ + 108, + 535, + 296, + 547 + ], + "lines": [ + { + "bbox": [ + 105, + 533, + 299, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 299, + 550 + ], + "score": 1.0, + "content": "6 CONCLUSIONS AND LIMITATIONS", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 107, + 561, + 505, + 671 + ], + "lines": [ + { + "bbox": [ + 105, + 561, + 505, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 505, + 574 + ], + "score": 1.0, + "content": "This paper presents a detailed analysis of the convolution-free ViTs and MLP-Mixers from the lens", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 571, + 506, + 586 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 506, + 586 + ], + "score": 1.0, + "content": "of the loss landscape geometry, intending to reduce the models’ dependency on massive pre-training", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "and/or strong data augmentations. We arrive at the sharpness-aware minimizer (SAM) after ob-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "serving sharp local minima of the converged models. By explicitly regularizing the loss geometry", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "score": 1.0, + "content": "through SAM, the models enjoy much flatter loss landscapes and improved generalization regard-", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 616, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 505, + 628 + ], + "score": 1.0, + "content": "ing accuracy and robustness. The resultant ViT models outperform ResNets of comparable size and", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 627, + 505, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 627, + 505, + 640 + ], + "score": 1.0, + "content": "throughput when learned with no pre-training or strong augmentations. Further investigation reveals", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "score": 1.0, + "content": "that the smoothed loss landscapes attribute to much sparser activated neurons in the first few lay-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "score": 1.0, + "content": "ers. Last but not least, we discover that SAM and strong augmentations share certain similarities to", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 659, + 496, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 496, + 673 + ], + "score": 1.0, + "content": "enhance the generalization. They both smooth the average loss curvature and encourage linearity.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 38.5 + }, + { + "type": "text", + "bbox": [ + 107, + 676, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 676, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 505, + 690 + ], + "score": 1.0, + "content": "Despite achieving better generalization, training ViTs with SAM has the following limitations which", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 688, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 688, + 505, + 700 + ], + "score": 1.0, + "content": "could lead to potential future work. First, SAM incurs another round of forward and backward", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 698, + 506, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 200, + 713 + ], + "score": 1.0, + "content": "propagations to update", + "type": "text" + }, + { + "bbox": [ + 200, + 701, + 206, + 709 + ], + "score": 0.52, + "content": "\\epsilon", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 698, + 316, + 713 + ], + "score": 1.0, + "content": ", which will lead to around", + "type": "text" + }, + { + "bbox": [ + 316, + 699, + 327, + 709 + ], + "score": 0.46, + "content": "2 \\mathbf { x }", + "type": "inline_equation" + }, + { + "bbox": [ + 328, + 698, + 506, + 713 + ], + "score": 1.0, + "content": "computational cost per update. Second, we", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 708, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 708, + 506, + 723 + ], + "score": 1.0, + "content": "notice that the effect of SAM diminishes as the training dataset becomes larger, so it is vital to", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 720, + 476, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 476, + 734 + ], + "score": 1.0, + "content": "develop learning algorithms that can improve/accelerate the large-scale pre-training process.", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 46 + } + ], + "page_idx": 8, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "score": 1.0, + "content": "9", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 504, + 149 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "However, like SAM, augmentations make ViT-B/16-AUG smoother and achieve a significantly", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "score": 1.0, + "content": "smaller training error under random Gaussian perturbations than ViT-B/16. These results show that", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "both SAM and augmentations make the loss landscape flat on average. The difference is that SAM", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "score": 1.0, + "content": "enforces the smoothness by reducing the largest curvature via a minimax formulation to optimize", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 506, + 139 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 506, + 139 + ], + "score": 1.0, + "content": "the worst-case scenario, while augmentations ignore the worse-case curvature and instead smooth", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 137, + 363, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 137, + 363, + 150 + ], + "score": 1.0, + "content": "the landscape over the directions induced by the augmentations.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 2.5, + "bbox_fs": [ + 105, + 83, + 506, + 150 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 154, + 505, + 221 + ], + "lines": [ + { + "bbox": [ + 106, + 154, + 506, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 506, + 167 + ], + "score": 1.0, + "content": "Interestingly, besides the similarity in smoothing the loss curvature on average, we also discover that", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 163, + 505, + 179 + ], + "spans": [ + { + "bbox": [ + 105, + 163, + 505, + 179 + ], + "score": 1.0, + "content": "SAM-trained models possess “linearality” resembling the property manually injected by the mixup", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 175, + 506, + 190 + ], + "spans": [ + { + "bbox": [ + 105, + 175, + 506, + 190 + ], + "score": 1.0, + "content": "augmentation. Following Zhang et al. (2018), we compute the prediction error in-between training", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 247, + 200 + ], + "score": 1.0, + "content": "data in Table 6, where a prediction", + "type": "text" + }, + { + "bbox": [ + 248, + 189, + 254, + 199 + ], + "score": 0.8, + "content": "y", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 187, + 430, + 200 + ], + "score": 1.0, + "content": "is counted as a miss if it does not belong to", + "type": "text" + }, + { + "bbox": [ + 431, + 187, + 464, + 199 + ], + "score": 0.92, + "content": "\\{ y _ { i } , y _ { j } \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 464, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "evaluated", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 198, + 505, + 210 + ], + "spans": [ + { + "bbox": [ + 105, + 198, + 117, + 210 + ], + "score": 1.0, + "content": "at", + "type": "text" + }, + { + "bbox": [ + 117, + 198, + 195, + 210 + ], + "score": 0.91, + "content": "x = 0 . 5 x _ { i } + 0 . 5 x _ { j }", + "type": "inline_equation" + }, + { + "bbox": [ + 196, + 198, + 426, + 210 + ], + "score": 1.0, + "content": ". We observe that SAM greatly reduces the missing rate", + "type": "text" + }, + { + "bbox": [ + 426, + 199, + 440, + 209 + ], + "score": 0.66, + "content": "( R )", + "type": "inline_equation" + }, + { + "bbox": [ + 441, + 198, + 505, + 210 + ], + "score": 1.0, + "content": "compared with", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 209, + 487, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 487, + 222 + ], + "score": 1.0, + "content": "the vanilla baseline, showing a similar effect to mixup that explicitly encourages such linearity.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 8.5, + "bbox_fs": [ + 105, + 154, + 506, + 222 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 238, + 228, + 251 + ], + "lines": [ + { + "bbox": [ + 104, + 236, + 230, + 254 + ], + "spans": [ + { + "bbox": [ + 104, + 236, + 230, + 254 + ], + "score": 1.0, + "content": "5 ABLATION STUDIES", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 108, + 264, + 505, + 298 + ], + "lines": [ + { + "bbox": [ + 106, + 264, + 505, + 277 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 505, + 277 + ], + "score": 1.0, + "content": "In this section, we provide a more comprehensive study about SAM’s effect on various vision models", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 276, + 505, + 288 + ], + "spans": [ + { + "bbox": [ + 106, + 276, + 370, + 288 + ], + "score": 1.0, + "content": "and under different training setups. We refer to Appendices B to", + "type": "text" + }, + { + "bbox": [ + 370, + 276, + 379, + 286 + ], + "score": 0.27, + "content": "\\mathrm { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 276, + 505, + 288 + ], + "score": 1.0, + "content": "for the adversarial, contrastive", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 287, + 223, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 287, + 223, + 299 + ], + "score": 1.0, + "content": "and transfer learning results.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 14, + "bbox_fs": [ + 106, + 264, + 505, + 299 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 314, + 304, + 325 + ], + "lines": [ + { + "bbox": [ + 105, + 313, + 306, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 306, + 326 + ], + "score": 1.0, + "content": "5.1 WHEN SCALING THE TRAINING SET SIZE", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 16 + }, + { + "type": "text", + "bbox": [ + 107, + 335, + 505, + 423 + ], + "lines": [ + { + "bbox": [ + 105, + 335, + 505, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 335, + 505, + 347 + ], + "score": 1.0, + "content": "Previous studies scale up training data to show massive pre-training trumps inductive biases (Doso-", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 346, + 505, + 358 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 505, + 358 + ], + "score": 1.0, + "content": "vitskiy et al., 2021; Tolstikhin et al., 2021). Here we show SAM further enables ViTs and MLP-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 356, + 505, + 369 + ], + "spans": [ + { + "bbox": [ + 105, + 356, + 505, + 369 + ], + "score": 1.0, + "content": "Mixers to handle small-scale training data well. We randomly sample 1/4 and 1/2 images from each", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 368, + 505, + 380 + ], + "spans": [ + { + "bbox": [ + 105, + 368, + 505, + 380 + ], + "score": 1.0, + "content": "ImageNet class to compose two smaller-scale training sets, i.e., i1k (1/4) and i1k (1/2) with 320,291", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 379, + 505, + 391 + ], + "spans": [ + { + "bbox": [ + 106, + 379, + 505, + 391 + ], + "score": 1.0, + "content": "and 640,583 images, respectively. We also use ImageNet-21k to pre-train the models with SAM,", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 389, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 389, + 505, + 403 + ], + "score": 1.0, + "content": "followed by fine-tuning on ImageNet-1k without SAM. The ImageNet validation set remains intact.", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 401, + 505, + 413 + ], + "spans": [ + { + "bbox": [ + 105, + 401, + 387, + 413 + ], + "score": 1.0, + "content": "SAM can still bring improvement when pre-trained on ImageNet-21k", + "type": "text" + }, + { + "bbox": [ + 388, + 401, + 416, + 412 + ], + "score": 0.8, + "content": "( + 0 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 416, + 401, + 419, + 413 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 419, + 401, + 447, + 412 + ], + "score": 0.85, + "content": "+ 1 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 401, + 467, + 413 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 468, + 401, + 490, + 411 + ], + "score": 0.86, + "content": "2 . 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 401, + 505, + 413 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 411, + 326, + 425 + ], + "spans": [ + { + "bbox": [ + 105, + 411, + 326, + 425 + ], + "score": 1.0, + "content": "ResNet-152, ViT-B/16, and Mixer-B/16, respectively).", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 20.5, + "bbox_fs": [ + 105, + 335, + 505, + 425 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 429, + 505, + 517 + ], + "lines": [ + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "score": 1.0, + "content": "As expected, fewer training examples amplify the drawback of ViTs and MLP-Mixers’ lack of the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 441, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 106, + 441, + 505, + 451 + ], + "score": 1.0, + "content": "convolutional inductive bias — their accuracies decline much faster than ResNets’ (see Figure 4 in", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "score": 1.0, + "content": "the Appendix and the corresponding numbers in Table 5). However, SAM can drastically rescue", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 106, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers’ performance decrease on smaller training sets. Figure 4 (right) shows that", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 473, + 505, + 485 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 505, + 485 + ], + "score": 1.0, + "content": "the improvement brought by SAM over vanilla SGD training is proportional to the number of train-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 428, + 496 + ], + "score": 1.0, + "content": "ing images. When trained on i1k (1/4), it boosts ViT-B/16 and Mixer-B/16 by", + "type": "text" + }, + { + "bbox": [ + 428, + 483, + 455, + 494 + ], + "score": 0.86, + "content": "1 4 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 456, + 483, + 474, + 496 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 474, + 484, + 501, + 494 + ], + "score": 0.86, + "content": "2 5 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 483, + 505, + 496 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 494, + 505, + 506 + ], + "spans": [ + { + "bbox": [ + 105, + 494, + 209, + 506 + ], + "score": 1.0, + "content": "escalating their results to", + "type": "text" + }, + { + "bbox": [ + 209, + 495, + 237, + 505 + ], + "score": 0.88, + "content": "6 6 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 237, + 494, + 255, + 506 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 255, + 495, + 282, + 505 + ], + "score": 0.87, + "content": "6 2 . 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 494, + 505, + 506 + ], + "score": 1.0, + "content": ", respectively. It also tells that ViT-B/16-SAM matches", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 505, + 433, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 433, + 518 + ], + "score": 1.0, + "content": "the performance of ResNet-152-SAM even with only 1/2 ImageNet training data.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 28.5, + "bbox_fs": [ + 105, + 428, + 506, + 518 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 535, + 296, + 547 + ], + "lines": [ + { + "bbox": [ + 105, + 533, + 299, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 533, + 299, + 550 + ], + "score": 1.0, + "content": "6 CONCLUSIONS AND LIMITATIONS", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 107, + 561, + 505, + 671 + ], + "lines": [ + { + "bbox": [ + 105, + 561, + 505, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 505, + 574 + ], + "score": 1.0, + "content": "This paper presents a detailed analysis of the convolution-free ViTs and MLP-Mixers from the lens", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 571, + 506, + 586 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 506, + 586 + ], + "score": 1.0, + "content": "of the loss landscape geometry, intending to reduce the models’ dependency on massive pre-training", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "and/or strong data augmentations. We arrive at the sharpness-aware minimizer (SAM) after ob-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "serving sharp local minima of the converged models. By explicitly regularizing the loss geometry", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 505, + 618 + ], + "score": 1.0, + "content": "through SAM, the models enjoy much flatter loss landscapes and improved generalization regard-", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 616, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 505, + 628 + ], + "score": 1.0, + "content": "ing accuracy and robustness. The resultant ViT models outperform ResNets of comparable size and", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 627, + 505, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 627, + 505, + 640 + ], + "score": 1.0, + "content": "throughput when learned with no pre-training or strong augmentations. Further investigation reveals", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "score": 1.0, + "content": "that the smoothed loss landscapes attribute to much sparser activated neurons in the first few lay-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 505, + 662 + ], + "score": 1.0, + "content": "ers. Last but not least, we discover that SAM and strong augmentations share certain similarities to", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 659, + 496, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 496, + 673 + ], + "score": 1.0, + "content": "enhance the generalization. They both smooth the average loss curvature and encourage linearity.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 38.5, + "bbox_fs": [ + 105, + 561, + 506, + 673 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 676, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 676, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 505, + 690 + ], + "score": 1.0, + "content": "Despite achieving better generalization, training ViTs with SAM has the following limitations which", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 688, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 688, + 505, + 700 + ], + "score": 1.0, + "content": "could lead to potential future work. First, SAM incurs another round of forward and backward", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 698, + 506, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 200, + 713 + ], + "score": 1.0, + "content": "propagations to update", + "type": "text" + }, + { + "bbox": [ + 200, + 701, + 206, + 709 + ], + "score": 0.52, + "content": "\\epsilon", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 698, + 316, + 713 + ], + "score": 1.0, + "content": ", which will lead to around", + "type": "text" + }, + { + "bbox": [ + 316, + 699, + 327, + 709 + ], + "score": 0.46, + "content": "2 \\mathbf { x }", + "type": "inline_equation" + }, + { + "bbox": [ + 328, + 698, + 506, + 713 + ], + "score": 1.0, + "content": "computational cost per update. Second, we", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 708, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 708, + 506, + 723 + ], + "score": 1.0, + "content": "notice that the effect of SAM diminishes as the training dataset becomes larger, so it is vital to", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 720, + 476, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 476, + 734 + ], + "score": 1.0, + "content": "develop learning algorithms that can improve/accelerate the large-scale pre-training process.", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 46, + "bbox_fs": [ + 105, + 676, + 506, + 734 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 108, + 81, + 210, + 94 + ], + "lines": [ + { + "bbox": [ + 106, + 81, + 213, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 81, + 213, + 95 + ], + "score": 1.0, + "content": "ETHICS STATEMENT", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "text", + "bbox": [ + 107, + 106, + 505, + 162 + ], + "lines": [ + { + "bbox": [ + 106, + 107, + 505, + 119 + ], + "spans": [ + { + "bbox": [ + 106, + 107, + 505, + 119 + ], + "score": 1.0, + "content": "We are not aware of any immediate ethical issues in our work. We hope this paper can provide new", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 117, + 505, + 131 + ], + "spans": [ + { + "bbox": [ + 105, + 117, + 505, + 131 + ], + "score": 1.0, + "content": "insights into the convolution-free neural architectures and their interplay with optimizers, hence", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 129, + 505, + 141 + ], + "spans": [ + { + "bbox": [ + 106, + 129, + 505, + 141 + ], + "score": 1.0, + "content": "benefiting future developments of advanced neural architectures that are efficient in data and com-", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 139, + 505, + 152 + ], + "spans": [ + { + "bbox": [ + 105, + 139, + 505, + 152 + ], + "score": 1.0, + "content": "putation. Possible negative societal impacts mainly hinge on the applications of convolution-free", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 151, + 360, + 163 + ], + "spans": [ + { + "bbox": [ + 106, + 151, + 360, + 163 + ], + "score": 1.0, + "content": "architectures, whose societal effects may translate to this work.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 3 + }, + { + "type": "title", + "bbox": [ + 108, + 180, + 219, + 191 + ], + "lines": [ + { + "bbox": [ + 106, + 180, + 220, + 194 + ], + "spans": [ + { + "bbox": [ + 106, + 180, + 220, + 194 + ], + "score": 1.0, + "content": "ACKNOWLEDGEMENT", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 6 + }, + { + "type": "text", + "bbox": [ + 108, + 204, + 504, + 226 + ], + "lines": [ + { + "bbox": [ + 106, + 204, + 504, + 217 + ], + "spans": [ + { + "bbox": [ + 106, + 204, + 504, + 217 + ], + "score": 1.0, + "content": "This work is partially supported by NSF under IIS-1901527, IIS-2008173, IIS-2048280 and by", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 215, + 407, + 227 + ], + "spans": [ + { + "bbox": [ + 106, + 215, + 407, + 227 + ], + "score": 1.0, + "content": "Army Research Laboratory under agreement number W911NF-20-2-0158.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 7.5 + }, + { + "type": "title", + "bbox": [ + 108, + 244, + 267, + 256 + ], + "lines": [ + { + "bbox": [ + 106, + 243, + 270, + 257 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 270, + 257 + ], + "score": 1.0, + "content": "REPRODUCIBILITY STATEMENT", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 9 + }, + { + "type": "text", + "bbox": [ + 107, + 269, + 505, + 346 + ], + "lines": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "spans": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "score": 1.0, + "content": "We provide comprehensive experimental details and references to existing works and codebases", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 281, + 505, + 292 + ], + "spans": [ + { + "bbox": [ + 106, + 281, + 505, + 292 + ], + "score": 1.0, + "content": "to ensure reproducibility. The specification of all the architectures used in this paper is available", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 291, + 505, + 303 + ], + "spans": [ + { + "bbox": [ + 105, + 291, + 505, + 303 + ], + "score": 1.0, + "content": "in Appendix A. The instructions for plotting the landscape and the attention map are detailed in", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 104, + 300, + 504, + 317 + ], + "spans": [ + { + "bbox": [ + 104, + 300, + 480, + 317 + ], + "score": 1.0, + "content": "Appendix E. 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Model#paramsThroughput (img/sec/core)ImageNetRealV2PGD-10ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216170.1 (-0.7)77.9 (-0.3)56.6(-0.8)54.1 (+0.9)27.0 (+0.9)42.7 (-0.1)
ResNet-101-SAM44M133473.6(-0.4)81.0 (+0.1)60.4 (-0.6)58.8 (+1.4)29.5(+0.6)46.9 (+0.3)
ResNet-152-SAM60M93575.1 (-0.4)82.3 (+0.2)62.2 (-0.4)61.0(+1.8)30.8 (+1.4)49.1 (+0.6)
Vision Transformer
ViT-S/16-SAM22M204373.2 (+1.2)80.7 (+1.7)60.2 (+1.4)58.0 (+5.2)28.4(+2.4)47.5 (+1.6)
ViT-B/32-SAM88M280569.9 (+3.0)76.9 (+3.4)55.7 (+2.5)54.0 (+6.4)26.0 (+3.0)46.4 (+3.0)
ViT-B/16-SAM87M86376.7 (+3.9)82.9 (+4.1)63.6 (+4.3)62.0(+7.7)30.0 (+4.9)51.4 (+5.0)
MLP-Mixer
Mixer-S/16-SAM18M400567.1 (+2.2)74.5 (+2.3)52.8 (+2.5)50.1 (+4.1)22.9 (+2.6)37.9 (+2.5)
Mixer-B/32-SAM60M420969.3 (+9.1)76.4 (+10.2)54.7 (+9.4)54.5 (+13.9)26.3 (+8.0)43.7(+8.8)
Mixer-B/16-SAM59M139073.9 (+11.1)80.8 (+11.8)60.2 (+11.9)59.8 (+17.3)29.0 (+10.5)45.9 (+12.5)
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Model#paramsThroughput (img/sec/core)Patch ResolutionSequence LengthHidden Size#heads#layersToken MLP DimensionChannel MLP Dimension
ViT-S/3223M688832×3249384612
ViT-S/1622M204316×16196384612
ViT-S/1422M123414 × 14256384612
ViT-S/822M3338×8784384612
ViT-B/3288M280532×32497681212
ViT-B/1687M86316×16196768121211
Mixer-S/3219M1140132×3249512182562048
Mixer-S/1618M400516×1619651282562048
Mixer-S/820M14988×878451282562048
Mixer-B/3260M420932×3249768123843072
Mixer-B/1659M139016×16196768123843072
Mixer-B/864M4668×8784768123843072
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DatasetTotal stepsWarmup stepsBase LR
CIFAR-1010K500
CIFAR-10010K500{0.001,0.003,0.01,0.03}
Flowers500100
Pets500100
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Model#paramsThroughput (img/sec/core)ImageNetRealV2PGD-10ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216170.1 (-0.7)77.9 (-0.3)56.6(-0.8)54.1 (+0.9)27.0 (+0.9)42.7 (-0.1)
ResNet-101-SAM44M133473.6(-0.4)81.0 (+0.1)60.4 (-0.6)58.8 (+1.4)29.5(+0.6)46.9 (+0.3)
ResNet-152-SAM60M93575.1 (-0.4)82.3 (+0.2)62.2 (-0.4)61.0(+1.8)30.8 (+1.4)49.1 (+0.6)
Vision Transformer
ViT-S/16-SAM22M204373.2 (+1.2)80.7 (+1.7)60.2 (+1.4)58.0 (+5.2)28.4(+2.4)47.5 (+1.6)
ViT-B/32-SAM88M280569.9 (+3.0)76.9 (+3.4)55.7 (+2.5)54.0 (+6.4)26.0 (+3.0)46.4 (+3.0)
ViT-B/16-SAM87M86376.7 (+3.9)82.9 (+4.1)63.6 (+4.3)62.0(+7.7)30.0 (+4.9)51.4 (+5.0)
MLP-Mixer
Mixer-S/16-SAM18M400567.1 (+2.2)74.5 (+2.3)52.8 (+2.5)50.1 (+4.1)22.9 (+2.6)37.9 (+2.5)
Mixer-B/32-SAM60M420969.3 (+9.1)76.4 (+10.2)54.7 (+9.4)54.5 (+13.9)26.3 (+8.0)43.7(+8.8)
Mixer-B/16-SAM59M139073.9 (+11.1)80.8 (+11.8)60.2 (+11.9)59.8 (+17.3)29.0 (+10.5)45.9 (+12.5)
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Model#paramsThroughput (img/sec/core)Patch ResolutionSequence LengthHidden Size#heads#layersToken MLP DimensionChannel MLP Dimension
ViT-S/3223M688832×3249384612
ViT-S/1622M204316×16196384612
ViT-S/1422M123414 × 14256384612
ViT-S/822M3338×8784384612
ViT-B/3288M280532×32497681212
ViT-B/1687M86316×16196768121211
Mixer-S/3219M1140132×3249512182562048
Mixer-S/1618M400516×1619651282562048
Mixer-S/820M14988×878451282562048
Mixer-B/3260M420932×3249768123843072
Mixer-B/1659M139016×16196768123843072
Mixer-B/864M4668×8784768123843072
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DatasetTotal stepsWarmup stepsBase LR
CIFAR-1010K500
CIFAR-10010K500{0.001,0.003,0.01,0.03}
Flowers500100
Pets500100
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We take the classification token output from the last layer as the", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "score": 1.0, + "content": "encoded representation and retain the structures of the projection and classification heads (Khosla", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 604, + 504, + 617 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 504, + 617 + ], + "score": 1.0, + "content": "et al., 2020). We employ a batch size 2048 without memory bank (He et al., 2020) and use Au-", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 616, + 505, + 629 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 505, + 629 + ], + "score": 1.0, + "content": "toAugment (Cubuk et al., 2019) with strength 1.0 following Khosla et al. (2020). For the 350-epoch", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 627, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 627, + 506, + 640 + ], + "score": 1.0, + "content": "pretraining stage, the contrastive loss temperature is set as 0.1, and we use the LAMB optimizer (You", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 104, + 634, + 507, + 651 + ], + "spans": [ + { + "bbox": [ + 104, + 634, + 230, + 651 + ], + "score": 1.0, + "content": "et al., 2020) with learning rate", + "type": "text" + }, + { + "bbox": [ + 230, + 637, + 295, + 650 + ], + "score": 0.91, + "content": "0 . 0 0 1 \\times { \\frac { \\mathrm { b a t c h s i z e } } { 2 5 6 } }", + "type": "inline_equation" + }, + { + "bbox": [ + 296, + 634, + 507, + 651 + ], + "score": 1.0, + "content": "along with a cosine decay schedule. For the second", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 104, + 648, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 104, + 648, + 506, + 662 + ], + "score": 1.0, + "content": "stage, we train the classification head for 90 epochs via a RMSProp optimizer (Tieleman & Hinton,", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 658, + 506, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 658, + 506, + 673 + ], + "score": 1.0, + "content": "2012) with base learning rate 0.05 and exponential decay. The weight decays are set as 0.3 and 1e-6", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 670, + 496, + 684 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 454, + 684 + ], + "score": 1.0, + "content": "for the first and second stages, respectively. We use a small SAM perturbation strength", + "type": "text" + }, + { + "bbox": [ + 455, + 671, + 492, + 682 + ], + "score": 0.89, + "content": "\\rho = 0 . 0 2", + "type": "inline_equation" + }, + { + "bbox": [ + 492, + 670, + 496, + 684 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 32.5, + "bbox_fs": [ + 104, + 527, + 507, + 684 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 687, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 506, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 506, + 700 + ], + "score": 1.0, + "content": "Compared to the training procedure without SAM, we find considerable performance gain thanks to", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "score": 1.0, + "content": "SAM’s smoothing of the contrastive loss geometry, improving the ImageNet top-1 accuracy of ViT-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 127, + 720 + ], + "score": 0.25, + "content": "\\mathrm { S } / 1 6", + "type": "inline_equation" + }, + { + "bbox": [ + 127, + 709, + 149, + 722 + ], + "score": 1.0, + "content": "from", + "type": "text" + }, + { + "bbox": [ + 150, + 710, + 177, + 720 + ], + "score": 0.87, + "content": "7 7 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 709, + 189, + 722 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 189, + 710, + 216, + 720 + ], + "score": 0.87, + "content": "7 8 . 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 709, + 299, + 722 + ], + "score": 1.0, + "content": ", and ViT-B/16 from", + "type": "text" + }, + { + "bbox": [ + 300, + 710, + 327, + 720 + ], + "score": 0.88, + "content": "7 7 . 4 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 709, + 339, + 722 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 339, + 710, + 366, + 720 + ], + "score": 0.87, + "content": "8 0 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 366, + 709, + 505, + 722 + ], + "score": 1.0, + "content": ". In comparison, the improvement", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 720, + 406, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 264, + 733 + ], + "score": 1.0, + "content": "on ResNet-152 is less significant (from", + "type": "text" + }, + { + "bbox": [ + 265, + 721, + 292, + 731 + ], + "score": 0.85, + "content": "7 9 . 7 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 720, + 303, + 733 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 304, + 721, + 330, + 731 + ], + "score": 0.86, + "content": "8 0 . 0 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 720, + 406, + 733 + ], + "score": 1.0, + "content": "after using SAM).", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 41.5, + "bbox_fs": [ + 105, + 687, + 506, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 109, + 106, + 501, + 167 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 108, + 80, + 504, + 102 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 79, + 505, + 93 + ], + "spans": [ + { + "bbox": [ + 106, + 79, + 505, + 93 + ], + "score": 1.0, + "content": "Table 10: Accuracy on downstream tasks of the models pre-trained on ImageNet. SAM improves", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 90, + 471, + 103 + ], + "spans": [ + { + "bbox": [ + 106, + 90, + 471, + 103 + ], + "score": 1.0, + "content": "ViTs and MLP-Mixers’ transferabilities. ViTs transfer better than ResNets of similar sizes.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "table_body", + "bbox": [ + 109, + 106, + 501, + 167 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 106, + 501, + 167 + ], + "spans": [ + { + "bbox": [ + 109, + 106, + 501, + 167 + ], + "score": 0.972, + "html": "
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Strong augmentations and large-scale pre-training can also smooth the curvature.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5 + } + ], + "index": 7.25 + }, + { + "type": "title", + "bbox": [ + 107, + 330, + 349, + 343 + ], + "lines": [ + { + "bbox": [ + 105, + 329, + 350, + 345 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 350, + 345 + ], + "score": 1.0, + "content": "D WHEN SAM MEETS TRANSFER LEARNING", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 107, + 362, + 505, + 483 + ], + "lines": [ + { + "bbox": [ + 106, + 362, + 505, + 376 + ], + "spans": [ + { + "bbox": [ + 106, + 362, + 505, + 376 + ], + "score": 1.0, + "content": "We also study the role of smoothed loss geometry in transfer learning. We select four datasets", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 374, + 505, + 386 + ], + "spans": [ + { + "bbox": [ + 105, + 374, + 505, + 386 + ], + "score": 1.0, + "content": "to test ViTs and MLP-Mixers’ transferabilities: CIFAR-10/100 (Krizhevsky, 2009), Oxford-IIIT", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 383, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 505, + 399 + ], + "score": 1.0, + "content": "Pets (Parkhi et al., 2012), and Oxford Flowers-102 (Nilsback & Zisserman, 2008). We use image", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 395, + 505, + 409 + ], + "spans": [ + { + "bbox": [ + 105, + 395, + 149, + 409 + ], + "score": 1.0, + "content": "resolution", + "type": "text" + }, + { + "bbox": [ + 149, + 396, + 194, + 406 + ], + "score": 0.88, + "content": "2 2 4 \\times 2 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 395, + 505, + 409 + ], + "score": 1.0, + "content": "during fine-tuning on downstream tasks, other settings exactly follow Doso-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 405, + 505, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 405, + 505, + 421 + ], + "score": 1.0, + "content": "vitskiy et al. (2021); Tolstikhin et al. (2021) (see Table 9). Note that we do not employ SAM during", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 418, + 505, + 430 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 505, + 430 + ], + "score": 1.0, + "content": "fine-tuning. We perform a grid search over the base learning rates on small sub-splits of the train-", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 429, + 504, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 429, + 144, + 441 + ], + "score": 1.0, + "content": "ing sets (", + "type": "text" + }, + { + "bbox": [ + 144, + 429, + 163, + 439 + ], + "score": 0.85, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 163, + 429, + 253, + 441 + ], + "score": 1.0, + "content": "for Flowers and Pets,", + "type": "text" + }, + { + "bbox": [ + 253, + 429, + 268, + 439 + ], + "score": 0.83, + "content": "2 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 268, + 429, + 504, + 441 + ], + "score": 1.0, + "content": "for CIFAR-10/100). After that, we fine-tune on the entire", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 440, + 505, + 452 + ], + "spans": [ + { + "bbox": [ + 105, + 440, + 505, + 452 + ], + "score": 1.0, + "content": "training sets and report the results on the respective test sets. For comparison, we also include", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "score": 1.0, + "content": "ResNet-50-SAM and ResNet-152-SAM in the experiments. Table 10 summarizes the results, which", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 462, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 105, + 462, + 505, + 474 + ], + "score": 1.0, + "content": "confirm that the enhanced models also perform better after fine-tuning and that MLP-Mixers gain", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 473, + 303, + 485 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 303, + 485 + ], + "score": 1.0, + "content": "the most from the sharpness-aware optimization.", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 16 + }, + { + "type": "title", + "bbox": [ + 108, + 512, + 209, + 524 + ], + "lines": [ + { + "bbox": [ + 105, + 510, + 211, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 211, + 527 + ], + "score": 1.0, + "content": "E VISUALIZATION", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 22 + }, + { + "type": "title", + "bbox": [ + 108, + 544, + 209, + 555 + ], + "lines": [ + { + "bbox": [ + 105, + 543, + 210, + 557 + ], + "spans": [ + { + "bbox": [ + 105, + 543, + 210, + 557 + ], + "score": 1.0, + "content": "E.1 LOSS LANDSCAPE", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 23 + }, + { + "type": "text", + "bbox": [ + 107, + 569, + 505, + 635 + ], + "lines": [ + { + "bbox": [ + 106, + 568, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 505, + 582 + ], + "score": 1.0, + "content": "We use the “filter normalization” method (Li et al., 2018) to visualize the loss function curvature in", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 580, + 505, + 593 + ], + "spans": [ + { + "bbox": [ + 106, + 580, + 505, + 593 + ], + "score": 1.0, + "content": "Figure 1 and 5. For a fair comparison, we use the cross-entropy loss when plotting the landscapes", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 591, + 505, + 604 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 505, + 604 + ], + "score": 1.0, + "content": "for all architectures, although the original training objective is the sigmoid loss for ViTs and MLP-", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "score": 1.0, + "content": "Mixers. Note that their sigmoid loss geometry is even sharper. 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Strong augmentations and large-scale pre-training can also smooth the curvature.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5 + } + ], + "index": 7.25 + }, + { + "type": "title", + "bbox": [ + 107, + 330, + 349, + 343 + ], + "lines": [ + { + "bbox": [ + 105, + 329, + 350, + 345 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 350, + 345 + ], + "score": 1.0, + "content": "D WHEN SAM MEETS TRANSFER LEARNING", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 107, + 362, + 505, + 483 + ], + "lines": [ + { + "bbox": [ + 106, + 362, + 505, + 376 + ], + "spans": [ + { + "bbox": [ + 106, + 362, + 505, + 376 + ], + "score": 1.0, + "content": "We also study the role of smoothed loss geometry in transfer learning. We select four datasets", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 374, + 505, + 386 + ], + "spans": [ + { + "bbox": [ + 105, + 374, + 505, + 386 + ], + "score": 1.0, + "content": "to test ViTs and MLP-Mixers’ transferabilities: CIFAR-10/100 (Krizhevsky, 2009), Oxford-IIIT", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 383, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 505, + 399 + ], + "score": 1.0, + "content": "Pets (Parkhi et al., 2012), and Oxford Flowers-102 (Nilsback & Zisserman, 2008). 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ModelTaskSAM p
ResNet
ResNet-50-SAM ResNet-101-SAM ResNet-152-SAM ResNet-50x2-SAM ResNet-101x2-SAM ResNet-152x2-SAM ResNet-50-SAMsupervised supervised supervised supervised supervised supervised0.02 0.05 0.02 0.05 0.05 0.05 0.05
ResNet-152-SAM adversarial ViT
ViT-S/16-SAM ViT-S/14-SAM ViT-S/8-SAM ViT-B/32-SAM ViT-B/16-SAMsupervised supervised supervised supervised0.1 0.1 0.15 0.15 0.2
ViT-B/16-AUG-SAM ViT-S/16-SAM ViT-B/32-SAMsupervised supervised adversarial0.05 0.1
ViT-B/16-SAMadversarial0.1 0.1
supervised contrastive
adversarial
ViT-S/16-SAM0.02
ViT-B/16-SAM
supervised contrastive0.02
MLP-Mixer
Mixer-S/32-SAM
Mixer-S/16-SAMsupervised0.1
supervised0.15
Mixer-S/8-SAMsupervised0.2
Mixer-B/32-SAMsupervised0.35
Mixer-B/16-SAMsupervised0.6
Mixer-B/8-SAM0.6
supervised
Mixer-B/16-AUG-SAMsupervised0.2
Mixer-S/16-SAMadversarial0.05
Mixer-B/32-SAMadversarial0.25
Mixer-B/16-SAMadversarial0.25
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ModelTaskSAM p
ResNet
ResNet-50-SAM ResNet-101-SAM ResNet-152-SAM ResNet-50x2-SAM ResNet-101x2-SAM ResNet-152x2-SAM ResNet-50-SAMsupervised supervised supervised supervised supervised supervised0.02 0.05 0.02 0.05 0.05 0.05 0.05
ResNet-152-SAM adversarial ViT
ViT-S/16-SAM ViT-S/14-SAM ViT-S/8-SAM ViT-B/32-SAM ViT-B/16-SAMsupervised supervised supervised supervised0.1 0.1 0.15 0.15 0.2
ViT-B/16-AUG-SAM ViT-S/16-SAM ViT-B/32-SAMsupervised supervised adversarial0.05 0.1
ViT-B/16-SAMadversarial0.1 0.1
supervised contrastive
adversarial
ViT-S/16-SAM0.02
ViT-B/16-SAM
supervised contrastive0.02
MLP-Mixer
Mixer-S/32-SAM
Mixer-S/16-SAMsupervised0.1
supervised0.15
Mixer-S/8-SAMsupervised0.2
Mixer-B/32-SAMsupervised0.35
Mixer-B/16-SAMsupervised0.6
Mixer-B/8-SAM0.6
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Mixer-B/16-AUG-SAMsupervised0.2
Mixer-S/16-SAMadversarial0.05
Mixer-B/32-SAMadversarial0.25
Mixer-B/16-SAMadversarial0.25
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As the activation plays an important role when computing", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 590, + 505, + 604 + ], + "spans": [ + { + "bbox": [ + 105, + 590, + 505, + 604 + ], + "score": 1.0, + "content": "NTK — we find that smoother activation functions enjoy smaller condition numbers, we replace the", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 601, + 419, + 615 + ], + "spans": [ + { + "bbox": [ + 105, + 601, + 419, + 615 + ], + "score": 1.0, + "content": "GELU in ViT and MLP-Mixer with ReLU for a fair comparison with ResNet.", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 32, + "bbox_fs": [ + 105, + 558, + 505, + 615 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 631, + 229, + 644 + ], + "lines": [ + { + "bbox": [ + 105, + 629, + 230, + 645 + ], + "spans": [ + { + "bbox": [ + 105, + 629, + 230, + 645 + ], + "score": 1.0, + "content": "H TRAINING DETAILS", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 35 + }, + { + "type": "text", + "bbox": [ + 107, + 656, + 505, + 712 + ], + "lines": [ + { + "bbox": [ + 107, + 657, + 504, + 668 + ], + "spans": [ + { + "bbox": [ + 107, + 657, + 208, + 668 + ], + "score": 1.0, + "content": "We use image resolution", + "type": "text" + }, + { + "bbox": [ + 208, + 657, + 252, + 667 + ], + "score": 0.89, + "content": "2 2 4 \\times 2 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 657, + 504, + 668 + ], + "score": 1.0, + "content": "during fine-tuning on downstream tasks, other settings exactly", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 666, + 505, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 505, + 680 + ], + "score": 1.0, + "content": "follow (Dosovitskiy et al., 2021; Tolstikhin et al., 2021) (see Table 9). Note that we do not employ", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 678, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 678, + 505, + 690 + ], + "score": 1.0, + "content": "SAM during fine-tuning. We perform a grid search over the base learning rates on small sub-splits", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 688, + 505, + 702 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 187, + 702 + ], + "score": 1.0, + "content": "of the training sets", + "type": "text" + }, + { + "bbox": [ + 188, + 690, + 207, + 700 + ], + "score": 0.86, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 688, + 296, + 702 + ], + "score": 1.0, + "content": "for Flowers and Pets,", + "type": "text" + }, + { + "bbox": [ + 296, + 689, + 311, + 700 + ], + "score": 0.85, + "content": "2 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 311, + 688, + 505, + 702 + ], + "score": 1.0, + "content": "for CIFAR-10/100). After that, we fine-tune on", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 701, + 389, + 713 + ], + "spans": [ + { + "bbox": [ + 106, + 701, + 389, + 713 + ], + "score": 1.0, + "content": "the entire training sets and report the results on the respective test sets.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 38, + "bbox_fs": [ + 105, + 657, + 505, + 713 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 177, + 105, + 436, + 267 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 80, + 501, + 102 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 79, + 503, + 94 + ], + "spans": [ + { + "bbox": [ + 105, + 79, + 503, + 94 + ], + "score": 1.0, + "content": "Table 12: Hyperparameters for training from scratch on ImageNet with basic Inception-style pre-", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 91, + 285, + 104 + ], + "spans": [ + { + "bbox": [ + 105, + 91, + 168, + 104 + ], + "score": 1.0, + "content": "processing and", + "type": "text" + }, + { + "bbox": [ + 169, + 91, + 212, + 102 + ], + "score": 0.89, + "content": "2 2 4 \\times 2 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 91, + 285, + 104 + ], + "score": 1.0, + "content": "image resolution.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "table_body", + "bbox": [ + 177, + 105, + 436, + 267 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 177, + 105, + 436, + 267 + ], + "spans": [ + { + "bbox": [ + 177, + 105, + 436, + 267 + ], + "score": 0.981, + "html": "
ResNetViTMLP-Mixer
Data augmentationInception-style
Input resolution224×224
Batch size4,096
Epoch90300300
Warmup steps5K10K10K
Peak learning rate0.1× batch size 2563e-33e-3
Learning rate decaycosinecosinelinear
Optimizer SGD MomentumSGDAdamWAdamW
Adam (β1, β2)0.9
Weight decay1(0.9, 0.999)(0.9, 0.999)
1e-30.30.3
Dropout rate0.00.10.0
Stochastic depth110.1
Gradient clipping11.01.0
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SAM p0.00.050.10.20.250.350.40.50.60.65
ViT-B/1674.677.578.879.979.311111
Mixer-B/1666.469.51174.174.775.676.977.477.1
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Please see Table 12 for the detailed training settings. We simply follow the original", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 417, + 505, + 430 + ], + "spans": [ + { + "bbox": [ + 105, + 417, + 505, + 430 + ], + "score": 1.0, + "content": "training settings of ResNet and ViT (Kolesnikov et al., 2020; Dosovitskiy et al., 2021). For MLP-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 429, + 505, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 429, + 505, + 441 + ], + "score": 1.0, + "content": "Mixer, we remove the strong augmentations in its original training pipeline and perform a grid", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 104, + 438, + 506, + 453 + ], + "spans": [ + { + "bbox": [ + 104, + 438, + 237, + 453 + ], + "score": 1.0, + "content": "search over the learning rate in", + "type": "text" + }, + { + "bbox": [ + 238, + 439, + 298, + 451 + ], + "score": 0.94, + "content": "\\{ 0 . 0 0 3 , 0 . 0 0 1 \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 298, + 438, + 372, + 453 + ], + "score": 1.0, + "content": ", weight decay in", + "type": "text" + }, + { + "bbox": [ + 372, + 439, + 435, + 451 + ], + "score": 0.9, + "content": "\\lbrace 0 . 3 , 0 . 1 , 0 . 0 3 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 435, + 438, + 506, + 453 + ], + "score": 1.0, + "content": ", Dropout rate in", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 107, + 450, + 506, + 464 + ], + "spans": [ + { + "bbox": [ + 107, + 450, + 147, + 462 + ], + "score": 0.89, + "content": "\\lbrace 0 . 1 , 0 . 0 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 450, + 243, + 464 + ], + "score": 1.0, + "content": ", and stochastic depth in", + "type": "text" + }, + { + "bbox": [ + 244, + 451, + 284, + 462 + ], + "score": 0.88, + "content": "\\lbrace 0 . 1 , 0 . 0 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 450, + 506, + 464 + ], + "score": 1.0, + "content": ". Note that training for 90 epochs is enough for ResNets", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "to converge, and longer schedule brings almost no effect. For all the experiments, we use 128 TPU-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 472, + 506, + 487 + ], + "spans": [ + { + "bbox": [ + 105, + 472, + 433, + 487 + ], + "score": 1.0, + "content": "v3 cores (2 per chip), resulting in 32 images per core. The SAM computation for", + "type": "text" + }, + { + "bbox": [ + 433, + 473, + 439, + 482 + ], + "score": 0.49, + "content": "\\hat { \\epsilon }", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 472, + 506, + 487 + ], + "score": 1.0, + "content": "is conducted on", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 484, + 208, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 484, + 208, + 496 + ], + "score": 1.0, + "content": "each core independently.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 15 + }, + { + "type": "title", + "bbox": [ + 108, + 513, + 285, + 524 + ], + "lines": [ + { + "bbox": [ + 106, + 513, + 287, + 525 + ], + "spans": [ + { + "bbox": [ + 106, + 513, + 287, + 525 + ], + "score": 1.0, + "content": "H.1 PERTURBATION STRENGTH IN SAM", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 106, + 536, + 505, + 646 + ], + "lines": [ + { + "bbox": [ + 106, + 536, + 504, + 548 + ], + "spans": [ + { + "bbox": [ + 106, + 536, + 388, + 548 + ], + "score": 1.0, + "content": "Different architecture species favor different strengths of perturbation", + "type": "text" + }, + { + "bbox": [ + 389, + 538, + 395, + 548 + ], + "score": 0.8, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 395, + 536, + 504, + 548 + ], + "score": 1.0, + "content": ". We perform a grid search", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 546, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 546, + 126, + 560 + ], + "score": 1.0, + "content": "over", + "type": "text" + }, + { + "bbox": [ + 127, + 549, + 133, + 559 + ], + "score": 0.81, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 134, + 546, + 505, + 560 + ], + "score": 1.0, + "content": "and report the best results — Table 11 reports the corresponding strengths used in our Ima-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 558, + 506, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 558, + 357, + 571 + ], + "score": 1.0, + "content": "geNet experiments. Besides, we show the results when varying", + "type": "text" + }, + { + "bbox": [ + 357, + 560, + 364, + 570 + ], + "score": 0.82, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 364, + 558, + 506, + 571 + ], + "score": 1.0, + "content": "in Table 13. Similar to (Foret et al.,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 568, + 263, + 582 + ], + "score": 1.0, + "content": "2021), we also find that a relative small", + "type": "text" + }, + { + "bbox": [ + 263, + 569, + 327, + 581 + ], + "score": 0.9, + "content": "\\rho \\in [ 0 . 0 2 , 0 . 0 5 ]", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 568, + 505, + 582 + ], + "score": 1.0, + "content": "works the best for ResNets. However, larger", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 580, + 506, + 592 + ], + "spans": [ + { + "bbox": [ + 106, + 582, + 113, + 592 + ], + "score": 0.79, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 580, + 506, + 592 + ], + "score": 1.0, + "content": "gives rise to the best results for ViTs and MLP-Mixers. We also observe that architectures with", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 591, + 504, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 504, + 603 + ], + "score": 1.0, + "content": "larger capacities and longer input sequences prefer stronger perturbation strengths. Interestingly,", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 601, + 506, + 615 + ], + "spans": [ + { + "bbox": [ + 105, + 601, + 163, + 615 + ], + "score": 1.0, + "content": "the choice of", + "type": "text" + }, + { + "bbox": [ + 163, + 604, + 170, + 614 + ], + "score": 0.8, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 171, + 601, + 506, + 615 + ], + "score": 1.0, + "content": "coincides with our previous observations. Since MLP-Mixers suffer the sharpest", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 612, + 506, + 626 + ], + "spans": [ + { + "bbox": [ + 105, + 612, + 506, + 626 + ], + "score": 1.0, + "content": "landscapes, they need the largest perturbation strength. As strong augmentations and contrastive", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 624, + 506, + 637 + ], + "spans": [ + { + "bbox": [ + 105, + 624, + 319, + 637 + ], + "score": 1.0, + "content": "learning already improve generalization, the suitable", + "type": "text" + }, + { + "bbox": [ + 319, + 626, + 326, + 636 + ], + "score": 0.81, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 326, + 624, + 506, + 637 + ], + "score": 1.0, + "content": "becomes significantly smaller. 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ResNetViTMLP-Mixer
Data augmentationInception-style
Input resolution224×224
Batch size4,096
Epoch90300300
Warmup steps5K10K10K
Peak learning rate0.1× batch size 2563e-33e-3
Learning rate decaycosinecosinelinear
Optimizer SGD MomentumSGDAdamWAdamW
Adam (β1, β2)0.9
Weight decay1(0.9, 0.999)(0.9, 0.999)
1e-30.30.3
Dropout rate0.00.10.0
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SAM p0.00.050.10.20.250.350.40.50.60.65
ViT-B/1674.677.578.879.979.311111
Mixer-B/1666.469.51174.174.775.676.977.477.1
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Please see Table 12 for the detailed training settings. We simply follow the original", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 417, + 505, + 430 + ], + "spans": [ + { + "bbox": [ + 105, + 417, + 505, + 430 + ], + "score": 1.0, + "content": "training settings of ResNet and ViT (Kolesnikov et al., 2020; Dosovitskiy et al., 2021). For MLP-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 429, + 505, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 429, + 505, + 441 + ], + "score": 1.0, + "content": "Mixer, we remove the strong augmentations in its original training pipeline and perform a grid", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 104, + 438, + 506, + 453 + ], + "spans": [ + { + "bbox": [ + 104, + 438, + 237, + 453 + ], + "score": 1.0, + "content": "search over the learning rate in", + "type": "text" + }, + { + "bbox": [ + 238, + 439, + 298, + 451 + ], + "score": 0.94, + "content": "\\{ 0 . 0 0 3 , 0 . 0 0 1 \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 298, + 438, + 372, + 453 + ], + "score": 1.0, + "content": ", weight decay in", + "type": "text" + }, + { + "bbox": [ + 372, + 439, + 435, + 451 + ], + "score": 0.9, + "content": "\\lbrace 0 . 3 , 0 . 1 , 0 . 0 3 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 435, + 438, + 506, + 453 + ], + "score": 1.0, + "content": ", Dropout rate in", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 107, + 450, + 506, + 464 + ], + "spans": [ + { + "bbox": [ + 107, + 450, + 147, + 462 + ], + "score": 0.89, + "content": "\\lbrace 0 . 1 , 0 . 0 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 450, + 243, + 464 + ], + "score": 1.0, + "content": ", and stochastic depth in", + "type": "text" + }, + { + "bbox": [ + 244, + 451, + 284, + 462 + ], + "score": 0.88, + "content": "\\lbrace 0 . 1 , 0 . 0 \\rbrace", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 450, + 506, + 464 + ], + "score": 1.0, + "content": ". Note that training for 90 epochs is enough for ResNets", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 505, + 474 + ], + "score": 1.0, + "content": "to converge, and longer schedule brings almost no effect. For all the experiments, we use 128 TPU-", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 472, + 506, + 487 + ], + "spans": [ + { + "bbox": [ + 105, + 472, + 433, + 487 + ], + "score": 1.0, + "content": "v3 cores (2 per chip), resulting in 32 images per core. The SAM computation for", + "type": "text" + }, + { + "bbox": [ + 433, + 473, + 439, + 482 + ], + "score": 0.49, + "content": "\\hat { \\epsilon }", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 472, + 506, + 487 + ], + "score": 1.0, + "content": "is conducted on", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 484, + 208, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 484, + 208, + 496 + ], + "score": 1.0, + "content": "each core independently.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 15, + "bbox_fs": [ + 104, + 373, + 506, + 496 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 513, + 285, + 524 + ], + "lines": [ + { + "bbox": [ + 106, + 513, + 287, + 525 + ], + "spans": [ + { + "bbox": [ + 106, + 513, + 287, + 525 + ], + "score": 1.0, + "content": "H.1 PERTURBATION STRENGTH IN SAM", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 106, + 536, + 505, + 646 + ], + "lines": [ + { + "bbox": [ + 106, + 536, + 504, + 548 + ], + "spans": [ + { + "bbox": [ + 106, + 536, + 388, + 548 + ], + "score": 1.0, + "content": "Different architecture species favor different strengths of perturbation", + "type": "text" + }, + { + "bbox": [ + 389, + 538, + 395, + 548 + ], + "score": 0.8, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 395, + 536, + 504, + 548 + ], + "score": 1.0, + "content": ". We perform a grid search", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 546, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 546, + 126, + 560 + ], + "score": 1.0, + "content": "over", + "type": "text" + }, + { + "bbox": [ + 127, + 549, + 133, + 559 + ], + "score": 0.81, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 134, + 546, + 505, + 560 + ], + "score": 1.0, + "content": "and report the best results — Table 11 reports the corresponding strengths used in our Ima-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 558, + 506, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 558, + 357, + 571 + ], + "score": 1.0, + "content": "geNet experiments. Besides, we show the results when varying", + "type": "text" + }, + { + "bbox": [ + 357, + 560, + 364, + 570 + ], + "score": 0.82, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 364, + 558, + 506, + 571 + ], + "score": 1.0, + "content": "in Table 13. Similar to (Foret et al.,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 568, + 263, + 582 + ], + "score": 1.0, + "content": "2021), we also find that a relative small", + "type": "text" + }, + { + "bbox": [ + 263, + 569, + 327, + 581 + ], + "score": 0.9, + "content": "\\rho \\in [ 0 . 0 2 , 0 . 0 5 ]", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 568, + 505, + 582 + ], + "score": 1.0, + "content": "works the best for ResNets. However, larger", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 580, + 506, + 592 + ], + "spans": [ + { + "bbox": [ + 106, + 582, + 113, + 592 + ], + "score": 0.79, + "content": "\\rho", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 580, + 506, + 592 + ], + "score": 1.0, + "content": "gives rise to the best results for ViTs and MLP-Mixers. We also observe that architectures with", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 591, + 504, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 504, + 603 + ], + "score": 1.0, + "content": "larger capacities and longer input sequences prefer stronger perturbation strengths. 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ViT-B/160.274.2339.80.514.22507.4
0.374.6269.30.656.66738.8
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ModelWeight decayImageNet (%)|w|l2LtrainXmax
ViT-B/160.274.2339.80.514.22507.4
0.374.6269.30.656.66738.8
0.474.7236.70.777.081548.9
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Model#paramsThroughput (img/sec/core)ImageNetReaLV2ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216176.7 (+0.7)83.1 (+0.7)64.6 (+1.0)23.3 (+1.1)46.5 (+1.9)
ResNet-101-SAM44M133478.6 (+0.8)84.8 (+0.9)66.7 (+1.4)25.9 (+1.5)51.3 (+2.8)
ResNet-152-SAM60M93579.3 (+0.8)84.9 (+0.7)67.3 (+1.0)25.7 (+0.4)52.2 (+2.2)
ResNet-50x2-SAM98M89179.6 (+1.5)85.3 (+1.6)67.5 (+1.7)26.0 (+2.9)50.7 (+3.9)
ResNet-101x2-SAM173M51980.9 (+2.4)86.4 (+2.4)69.1 (+2.8)27.8(+3.2)54.0 (+4.7)
ResNet-152x2-SAM236M35681.1 (+1.8)86.4 (+1.9)69.6 (+2.3)28.1 (+2.8)55.0 (+4.2)
Vision Transformer
ViT-S/32-SAM23M688870.5 (+2.1)77.5 (+2.3)56.9 (+2.6)21.4 (+2.4)46.2 (+2.9)
ViT-S/16-SAM22M204378.1 (+3.7)84.1 (+3.7)65.6(+3.9)24.7 (+4.7)53.0 (+6.5)
ViT-S/14-SAM22M123478.8 (+4.0)84.8 (+4.5)67.2(+5.2)24.4 (+4.7)54.2 (+7.0)
ViT-S/8-SAM22M33381.3 (+5.3)86.7 (+5.5)70.4 (+6.2)25.3 (+6.1)55.6 (+8.5)
ViT-B/32-SAM88M280573.6 (+4.1)80.3 (+5.1)60.0 (+4.7)24.0 (+4.1)50.7 (+6.7)
ViT-B/16-SAM87M86379.9 (+5.3)85.2 (+5.4)67.5 (+6.2)26.4 (+6.3)56.5 (+9.9)
MLP-Mixer
Mixer-S/32-SAM19M1140166.7 (+2.8)73.8 (+3.5)52.4 (+2.9)18.6 (+2.7)39.3 (+4.1)
Mixer-S/16-SAM18M400572.9 (+4.1)79.8 (+4.7)58.9 (+4.1)20.1 (+4.2)42.0 (+6.4)
Mixer-S/8-SAM20M149875.9 (+5.7)82.5 (+6.3)62.3 (+6.2)20.5 (+5.1)42.4 (+7.8)
Mixer-B/32-SAM60M420972.4 (+9.9)79.0 (+10.9)58.0 (+10.4)22.8 (+8.2)46.2 (12.4)
Mixer-B/16-SAM Mixer-B/8-SAM59M139077.4 (+11.0)83.5 (+11.4) 84.4(+10.1)63.9 (+13.1)24.7 (+10.2)48.8 (+15.0)
64M46679.0 (+10.4)65.5 (+11.6)23.5 (+9.2)48.9 (+16.9)
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Model#paramsImageNet (%)ImageNet-C (%)
R50-S/16 R50-S/16-SAM34M79.8 81.0 (+1.2)53.4 57.2 (+3.8)
R50-B/1679.754.4
R50-B/16-SAM99M82.4 (+2.7)61.0 (+6.6)
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ModelXmaxLtrainR(↓)
ViT-B/16738.80.656.6657.9%
ViT-B/16-SAM20.90.820.9639.6%
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DatasetResNet-152ViT-B/16Mixer-B/16
Vanilla SAMAUGSAM + AUGVanilla SAMAUGSAM +AUGVanillaSAMAUGSAM + AUG
ImageNet78.579.378.878.974.679.979.681.566.477.476.578.1
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i1k (1/4)68.070.370.270.652.466.863.265.637.262.861.065.8
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Model#paramsThroughput (img/sec/core)ImageNetRealV2PGD-10ImageNet-RImageNet-C
ResNet
ResNet-50-SAM25M216170.1 (-0.7)77.9 (-0.3)56.6(-0.8)54.1 (+0.9)27.0 (+0.9)42.7 (-0.1)
ResNet-101-SAM44M133473.6(-0.4)81.0 (+0.1)60.4 (-0.6)58.8 (+1.4)29.5(+0.6)46.9 (+0.3)
ResNet-152-SAM60M93575.1 (-0.4)82.3 (+0.2)62.2 (-0.4)61.0(+1.8)30.8 (+1.4)49.1 (+0.6)
Vision Transformer
ViT-S/16-SAM22M204373.2 (+1.2)80.7 (+1.7)60.2 (+1.4)58.0 (+5.2)28.4(+2.4)47.5 (+1.6)
ViT-B/32-SAM88M280569.9 (+3.0)76.9 (+3.4)55.7 (+2.5)54.0 (+6.4)26.0 (+3.0)46.4 (+3.0)
ViT-B/16-SAM87M86376.7 (+3.9)82.9 (+4.1)63.6 (+4.3)62.0(+7.7)30.0 (+4.9)51.4 (+5.0)
MLP-Mixer
Mixer-S/16-SAM18M400567.1 (+2.2)74.5 (+2.3)52.8 (+2.5)50.1 (+4.1)22.9 (+2.6)37.9 (+2.5)
Mixer-B/32-SAM60M420969.3 (+9.1)76.4 (+10.2)54.7 (+9.4)54.5 (+13.9)26.3 (+8.0)43.7(+8.8)
Mixer-B/16-SAM59M139073.9 (+11.1)80.8 (+11.8)60.2 (+11.9)59.8 (+17.3)29.0 (+10.5)45.9 (+12.5)
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Model#paramsThroughput (img/sec/core)Patch ResolutionSequence LengthHidden Size#heads#layersToken MLP DimensionChannel MLP Dimension
ViT-S/3223M688832×3249384612
ViT-S/1622M204316×16196384612
ViT-S/1422M123414 × 14256384612
ViT-S/822M3338×8784384612
ViT-B/3288M280532×32497681212
ViT-B/1687M86316×16196768121211
Mixer-S/3219M1140132×3249512182562048
Mixer-S/1618M400516×1619651282562048
Mixer-S/820M14988×878451282562048
Mixer-B/3260M420932×3249768123843072
Mixer-B/1659M139016×16196768123843072
Mixer-B/864M4668×8784768123843072
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DatasetTotal stepsWarmup stepsBase LR
CIFAR-1010K500
CIFAR-10010K500{0.001,0.003,0.01,0.03}
Flowers500100
Pets500100
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ModelTaskSAM p
ResNet
ResNet-50-SAM ResNet-101-SAM ResNet-152-SAM ResNet-50x2-SAM ResNet-101x2-SAM ResNet-152x2-SAM ResNet-50-SAMsupervised supervised supervised supervised supervised supervised0.02 0.05 0.02 0.05 0.05 0.05 0.05
ResNet-152-SAM adversarial ViT
ViT-S/16-SAM ViT-S/14-SAM ViT-S/8-SAM ViT-B/32-SAM ViT-B/16-SAMsupervised supervised supervised supervised0.1 0.1 0.15 0.15 0.2
ViT-B/16-AUG-SAM ViT-S/16-SAM ViT-B/32-SAMsupervised supervised adversarial0.05 0.1
ViT-B/16-SAMadversarial0.1 0.1
supervised contrastive
adversarial
ViT-S/16-SAM0.02
ViT-B/16-SAM
supervised contrastive0.02
MLP-Mixer
Mixer-S/32-SAM
Mixer-S/16-SAMsupervised0.1
supervised0.15
Mixer-S/8-SAMsupervised0.2
Mixer-B/32-SAMsupervised0.35
Mixer-B/16-SAMsupervised0.6
Mixer-B/8-SAM0.6
supervised
Mixer-B/16-AUG-SAMsupervised0.2
Mixer-S/16-SAMadversarial0.05
Mixer-B/32-SAMadversarial0.25
Mixer-B/16-SAMadversarial0.25
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ResNetViTMLP-Mixer
Data augmentationInception-style
Input resolution224×224
Batch size4,096
Epoch90300300
Warmup steps5K10K10K
Peak learning rate0.1× batch size 2563e-33e-3
Learning rate decaycosinecosinelinear
Optimizer SGD MomentumSGDAdamWAdamW
Adam (β1, β2)0.9
Weight decay1(0.9, 0.999)(0.9, 0.999)
1e-30.30.3
Dropout rate0.00.10.0
Stochastic depth110.1
Gradient clipping11.01.0
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SAM p0.00.050.10.20.250.350.40.50.60.65
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--git a/parse/dev/R8sQPpGCv0/R8sQPpGCv0_content_list.json b/parse/dev/R8sQPpGCv0/R8sQPpGCv0_content_list.json new file mode 100644 index 0000000000000000000000000000000000000000..bad0ed88a2de471ff5d15dcfd291aa6abf38ad48 --- /dev/null +++ b/parse/dev/R8sQPpGCv0/R8sQPpGCv0_content_list.json @@ -0,0 +1,2206 @@ +[ + { + "type": "text", + "text": "TRAIN SHORT, TEST LONG: ATTENTION WITH LINEAR BIASES ENABLES INPUT LENGTH EXTRAPOLATION ", + "text_level": 1, + "bbox": [ + 176, + 98, + 823, + 146 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Ofir Press1,2 Noah A. Smith1,3 Mike Lewis2 ", + "bbox": [ + 183, + 167, + 522, + 185 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1Paul G. Allen School of Computer Science & Engineering, University of Washington \n2Facebook AI Research \n3Allen Institute for AI \nofirp@cs.washington.edu ", + "bbox": [ + 184, + 198, + 750, + 255 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "ABSTRACT ", + "text_level": 1, + "bbox": [ + 454, + 291, + 544, + 308 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Since the introduction of the transformer model by Vaswani et al. (2017), a fundamental question has yet to be answered: how does a model achieve extrapolation at inference time for sequences that are longer than it saw during training? We first show that extrapolation can be enabled by simply changing the position representation method, though we find that current methods do not allow for efficient extrapolation. We therefore introduce a simpler and more efficient position method, Attention with Linear Biases (ALiBi). ALiBi does not add positional embeddings to word embeddings; instead, it biases query-key attention scores with a penalty that is proportional to their distance. We show that this method trains a 1.3 billion parameter model on input sequences of length 1024 that extrapolates to input sequences of length 2048, achieving the same perplexity as a sinusoidal position embedding model trained on inputs of length 2048 but training $11 \\%$ faster and using $11 \\%$ less memory. ALiBi’s inductive bias towards recency also leads it to outperform multiple strong position methods on the WikiText-103 benchmark.1 ", + "bbox": [ + 233, + 327, + 764, + 521 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1 INTRODUCTION ", + "text_level": 1, + "bbox": [ + 176, + 556, + 334, + 571 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "When constructing a transformer-based language model, a major design decision is the length of training sequences, denoted $L$ herein, which has to date been equivalent to the length of inference sequences. More context, achieved by larger $L$ , improves predictions at inference time. But longer sequences are more expensive to train on.2 ", + "bbox": [ + 174, + 590, + 825, + 646 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Before transformers, RNN language models were trained on shorter- $L$ sequences and assumed to generalize to longer contexts at inference time (Mikolov et al., 2010; Mikolov & Zweig, 2012; Zaremba et al., 2014). Vaswani et al. (2017), introducing the transformer, speculated that it “may [...] extrapolate to sequence lengths longer than the ones encountered during training.” We define extrapolation as a model’s ability to continue performing well as the number of input tokens during validation increases beyond the number of tokens on which the the model was trained. We find that transformer language models (LMs) that use sinusoidal position embeddings have very weak extrapolation abilities; see Figure 1. ", + "bbox": [ + 174, + 654, + 825, + 765 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "We demonstrate that this failure to extrapolate is caused by the position embedding method. As shown in Figure 1, recent alternatives to the original sinusoidal position method (Su et al., 2021; Raffel et al., 2020) have improved extrapolation. However, the better of these, the T5 bias, is considerably slower than the sinusoidal approach and uses extra memory and parameters (Figure 2). ", + "bbox": [ + 174, + 772, + 825, + 828 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "We therefore introduce Attention with Linear Biases (ALiBi) to facilitate efficient extrapolation. ALiBi negatively biases attention scores with a linearly decreasing penalty proportional to the distance between the relevant key and query. Our simple approach eliminates position embeddings. ", + "bbox": [ + 176, + 835, + 823, + 877 + ], + "page_idx": 0 + }, + { + "type": "image", + "img_path": "images/7c2de5b2ccea4aa444e71cd10921636105b41bcb27c830339ed09ce9eab36dcd.jpg", + "image_caption": [ + "Figure 1: Extrapolation: as the (validation-set’s) input sequence gets longer $x$ -axis), current position methods (sinusoidal, rotary, and T5) show degraded perplexity $y$ -axis, lower is better), but our method (§3) does not. Models were trained on WikiText-103 with sequences of $L = 5 1 2$ (left) or $L = 1 { , } 0 2 4$ (right) tokens. T5 ran out of memory on our 32GB GPU. For more detail on exact perplexities and runtimes, see Tables 2 and 3 in the appendix. " + ], + "image_footnote": [], + "bbox": [ + 176, + 104, + 816, + 294 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Compared to a sinusoidal model trained on the same input length, our method requires no additional runtime or parameters and incurs a negligible $( 0 - 0 . 7 \\% )$ memory increase. ALiBi can be implemented by changing only a few lines of existing transformer code. ", + "bbox": [ + 174, + 410, + 823, + 452 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Using ALiBi, a transformer LM can be trained on short- $L$ sequences and therefore at much lower cost, and it can still be reliably applied to long sequences at runtime. For example, a 1.3 billion parameter LM trained on $L = 1 0 2 4$ tokens with ALiBi achieves the same perplexity as a sinusoidal model trained on $L = 2 0 4 8$ when both are tested on sequences of 2048 tokens, even though our model is $11 \\%$ faster and uses $11 \\%$ less memory. ", + "bbox": [ + 174, + 459, + 823, + 529 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Though performance peaks at around two times the number of tokens that the model was trained on, ALiBi maintains strong performance even on sequences of length 10,000. In recently explored settings where NLP training examples are given as context to an LM (Brown et al., 2020), our approach will allow exposure to more examples. Additionally, it enables generation of longer outputs. ", + "bbox": [ + 174, + 536, + 825, + 592 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "2 CURRENT APPROACHES DO NOT EXTRAPOLATE EFFICIENTLY", + "text_level": 1, + "bbox": [ + 176, + 617, + 720, + 633 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "We show for the first time that the sinusoidal position method, which technically should be able to extrapolate, in practice has very limited extrapolation capabilities. Though the rotary position method improves over the sinusoidal one, it still does not achieve satisfying results. Holding everything else constant, we are the first to observe that the T5 bias method leads to better extrapolation than either of these, and so we conclude that extrapolation ability depends heavily on the position embedding. Unfortunately, the T5 bias is computationally costly (Figure 2). ", + "bbox": [ + 174, + 651, + 825, + 734 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "2.1 BACKGROUND AND EXPERIMENTAL SETUP ", + "text_level": 1, + "bbox": [ + 174, + 757, + 514, + 771 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "A transformer LM receives a list of tokens and outputs a probability distribution representing its prediction for the next token. We call the input list the current input subsequence since the inputs to language models are typically subsequences from (much longer) training or evaluation sequences. During both training and perplexity evaluation (i.e., scoring a fixed sequence), many predictions can be calculated at once; this is done using a “causal mask” that ensures each position’s prediction is influenced only by tokens to its left. Let $L$ be the length of each input subsequence during training; it includes $L$ predictions, which on average have access to $\\textstyle { \\frac { L + 1 } { 2 } }$ tokens of (left) context. To explore a model’s extrapolation abilities, we are interested in cases where sequences of length $L _ { \\nu a l i d } > L$ are considered at evaluation time. When $L$ differs between inference and training, we use $L$ to refer to the length of subsequences during training and $L _ { \\nu a l i d }$ to refer to their length at validation. ", + "bbox": [ + 174, + 785, + 825, + 924 + ], + "page_idx": 1 + }, + { + "type": "image", + "img_path": "images/9f29b550e905335c294f61b8464d4c694992982177b7482612f4886e33a397ed.jpg", + "image_caption": [ + "Figure 2: A comparison of batched training, inference speed and memory use of the sinusoidal, rotary, T5 bias, and our ALiBi position methods. The speed differences between our method and the sinusoidal are within $1 \\%$ during training and $3 \\%$ for inference, which is insignificant on our hardware. ALiBi uses 100MB of extra memory when training on input lengths 1024 and 3072 in this setting. Memory usage is lower in all approaches when training on 3072 tokens (compared to 1024) since we break batches into multiple updates. See Table 1 in the appendix for exact numbers. " + ], + "image_footnote": [], + "bbox": [ + 181, + 103, + 821, + 193 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Nonoverlapping Inference To train on or evaluate a sequence longer than $L$ tokens, it is typical to segment the sequence into $L$ -length subsequences and train on or evaluate them independently. Unless otherwise stated, we use nonoverlapping inference to report perplexity scores. ", + "bbox": [ + 174, + 318, + 825, + 361 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Extrapolation During Inference Formally, the functions that define a transformer layer are agnostic to input length;3 they map from some arbitrary, unfixed number of input vectors to the same number of output vectors. When transformers are applied to data that is inherently sequential, like text, positional information is injected into the inputs in various ways. ", + "bbox": [ + 174, + 376, + 823, + 433 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Vaswani et al. (2017) discussed two options for embedding positions into vectors to be added to word embeddings: learning embeddings for specific positions and unlearned sinusoidal embeddings. They observed similar performance between these two but preferred the sinusoidal approach, which they argued might extrapolate to longer input sequences during inference. We find that this model cannot extrapolate to more than a few dozen tokens beyond $L$ . 4 ", + "bbox": [ + 174, + 439, + 825, + 508 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Experiment Setup We first test the extrapolation abilities of various position methods on the WikiText-103 corpus (Merity et al., 2016) using the transformer language model of Baevski & Auli (2018). We use this model because of its prominent role in recent language modeling developments (Khandelwal et al., 2020; Press et al., 2021). The training set is about 103 million tokens from English Wikipedia (half a gigabyte). The model has 16 transformer layers of dimension 1024, with 8 heads, and a feedforward inner dimension of 4096. This model ties the word embedding and softmax matrices (Press & Wolf, 2017; Inan et al., 2017). In our experiments, other than varying the position method and training subsequence length, we modify no other hyperparameters, including the random seed and number of training epochs (205). ", + "bbox": [ + 173, + 525, + 825, + 650 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "2.2 MEASURING EXTRAPOLATION ", + "text_level": 1, + "bbox": [ + 176, + 667, + 426, + 681 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Sinusoidal Position Embeddings Sinusoidal position embeddings (Vaswani et al., 2017; $\\ S 3 . 5 \\AA$ ) are constant, non-learned vectors that are added to token embeddings on input to the first layer of the transformer. They are frequently used in transformer language modeling (Baevski & Auli, 2018; Lewis et al., 2021) and machine translation (Vaswani et al., 2017; Ott et al., 2018) models. We first consider the unmodified model of Baevski & Auli (2018), which uses sinusoidal position embeddings, and train it on $L = 5 1 2$ tokens; we then run inference with it on the validation set on $L + k$ tokens, with $k$ ranging from 0 to 15,000. Figure 1 (left) and the corresponding Table 2 (in the appendix) show that while the model improves perplexity up to $k = 2 0$ , performance stops improving and stays steady from $k = 2 0$ to $k = 5 0$ and then begins degrading. Similar results are obtained for a model trained with $L = 1 0 2 4$ tokens (Figure 1 (right) and Table 3 in the appendix). That model improves for up to $L _ { \\nu a l i d } = L + 5 0$ tokens, after which performance declines. ", + "bbox": [ + 174, + 694, + 825, + 848 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Rotary Position Embeddings The rotary method was introduced by Su et al. (2021) and has recently been popularized by the open source GPT-3 (Brown et al., 2020) implementation GPTJ (Wang & Komatsuzaki, 2021). Instead of adding sinusoidal embeddings at the bottom of the transformer, they multiply the keys and queries of every attention layer by sinusoidal embeddings. ", + "bbox": [ + 174, + 103, + 823, + 160 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Unlike the sinusoidal or learned positional embedding approach, the rotary method injects position information into the model at every layer, not just at the initial one. In addition, it adds no position information to the values of the self-attention sublayer. The output of a self-attention sublayer is a linearly transformed, weighted sum of the input value vectors; therefore, by not inserting position information into the values, the outputs of each transformer-layer contain no explicit position information. We suspect that this segregation of position information may be beneficial for extrapolation, and we draw inspiration from it in the design of our method (§3). ", + "bbox": [ + 174, + 166, + 825, + 263 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "We apply the rotary position embedding method to our Baevski & Auli baseline.5 The perplexity results (Figure 1 and Appendix Tables 2 and 3) are better than the sinusoidal approach: the model with $L = 5 1 2$ $L = 1 0 2 4 )$ ) improves perplexity with up to $k = 2 0 0$ $k = 1 0 0$ ) more tokens than it saw during training, but this comes at the cost of slower training and inference (Figure 2). ", + "bbox": [ + 174, + 271, + 825, + 327 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "T5 Bias Though most models use trained or sinusoidal position embeddings, the T5 model of Raffel et al. (2020) uses a relative position method (Shaw et al., 2018; Huang et al., 2019) that adds no position information to word embeddings (as in the previous method). Instead, it modifies the way attention values are computed. We refer to this as the “T5 bias” method.6 To compute attention values in the unmodified transformer, we compute the dot product of every query with every relevant key and then softmax these attention values. In this method, we compute the attention values as before, but then we add a learned, shared bias to each query-key score that is dependent on just the distance between the query and key. Therefore, all query-key scores where the query and key distance are zero (i.e., the query and key represent the same token) get a specific learned bias, all scores where the query and key are one word away get a different learned bias, and so on, up to a certain point, from where multiple different distances share the same learned bias (which might be beneficial for extrapolation). As in the rotary method, the T5 bias injects position information into the model at every layer and integrates no explicit position information into the self-attention value vectors. ", + "bbox": [ + 174, + 357, + 825, + 550 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Raffel et al. (2020) propose that the T5 bias may allow extrapolation, but they did not report experiments testing this. Here, we show that the T5 bias does allow language models to extrapolate. We do this by again modifying the Baevski & Auli model, this time to insert the T5 bias into it.7 ", + "bbox": [ + 176, + 558, + 825, + 601 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "As Figure 1 shows, the T5 bias improves perplexity with longer sequences than the ones it was trained on, i.e., $k = 6 0 0$ $k = 8 0 0$ ) extra tokens for a model trained on $L = 5 1 2$ $L = 1 0 2 4 )$ ) input tokens. Unfortunately, this impressive performance comes at a cost: training is at least twice as slow as with the sinusoidal model. Therefore, this model’s extrapolation ability provides no efficiency advantage. For example, to do inference on 1024 tokens, we could either train the sinusoidal model with $L = 1 0 2 4$ or train the T5 bias model on $L = 5 1 2$ tokens and extrapolate to 1024 for inference. However, the $L = 1 0 2 4$ sinusoidal model runs at $2 8 . 5 \\mathrm { k }$ words per second (WPS), while the $L =$ 512 T5 bias model runs at $1 4 . 4 \\mathrm { k }$ WPS (Appendix Table 1), so there is no speedup when training on shorter sequences with this method.8 ", + "bbox": [ + 174, + 607, + 825, + 732 + ], + "page_idx": 3 + }, + { + "type": "image", + "img_path": "images/8454a7f642bfe7c9c8ba601f447d89325a8b662f0a3982b8163a3c9e341f4b1d.jpg", + "image_caption": [ + "Figure 3: When computing attention scores for each head, our linearly biased attention method, ALiBi, adds a constant bias (right) to each attention score $( { \\bf q } _ { i } \\cdot { \\bf k } _ { j }$ , left). As in the unmodified attention sublayer, the softmax function is then applied to these scores, and the rest of the computation is unmodified. m is a head-specific scalar that is set and not learned throughout training. We show that our method for setting $m$ values generalizes to multiple text domains, models and training compute budgets. When using ALiBi, we do not add positional embeddings at the bottom of the network. " + ], + "image_footnote": [], + "bbox": [ + 346, + 103, + 650, + 202 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "3 ATTENTION WITH LINEAR BIASES (ALIBI) ", + "text_level": 1, + "bbox": [ + 174, + 327, + 566, + 343 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "In the transformer model of Vaswani et al. (2017), position embeddings are added to the word embeddings at the bottom of the network. For an input subsequence of length $L$ , the attention sublayer computes the attention scores for the $i$ th query $\\mathbf { \\bar { q } } _ { i } \\in \\mathbb { R } ^ { 1 \\times \\bar { d } }$ , $( 1 \\leq i \\leq L )$ in each head, given the first $i$ keys $\\mathbf { K } \\in \\mathbb { R } ^ { i \\times d }$ , where $d$ is the head dimension: ", + "bbox": [ + 173, + 357, + 825, + 414 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/dd9f45acde318bf0544e83f93fc733e5eddbbfd3dc045893d757b60407def6c8.jpg", + "text": "$$\n\\operatorname { s o f t m a x } ( \\mathbf { q } _ { i } \\mathbf { K } ^ { \\top } )\n$$", + "text_format": "latex", + "bbox": [ + 442, + 415, + 553, + 434 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "These attention scores are then multiplied by the values to return the output of the attention sublayer.9 ", + "bbox": [ + 176, + 436, + 820, + 452 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "When using ALiBi, we do not add position embeddings at any point in the network. The only modification we apply is after the query-key dot product, where we add a static, non-learned bias:10 ", + "bbox": [ + 174, + 457, + 823, + 486 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/b2ae24960093933fcaea1cc203c45fc8f83b80d48a39d9f5aba32cc9df8377f1.jpg", + "text": "$$\n\\mathrm { s o f t m a x } ( \\mathbf { q } _ { i } \\mathbf { K } ^ { \\top } + m \\cdot [ - ( i - 1 ) , . . . , - 2 , - 1 , 0 ] ) ,\n$$", + "text_format": "latex", + "bbox": [ + 336, + 488, + 655, + 506 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "where scalar $m$ is a head-specific slope fixed before training. Figure 3 offers a visualization. ", + "bbox": [ + 168, + 508, + 774, + 523 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "For our models with 8 heads, the slopes that we used are the geometric sequence: ${ \\frac { 1 } { 2 ^ { 1 } } } , { \\frac { 1 } { 2 ^ { 2 } } } , . . . , { \\frac { 1 } { 2 ^ { 8 } } }$ . For models that require 16 heads, we interpolate those 8 slopes by geometrically averaging every consecutive pair, resulting in the geometric sequence that starts at $\\frac { 1 } { \\sqrt { 2 } }$ and has the ratio of $\\frac { 1 } { \\sqrt { 2 } }$ $\\textstyle { \\frac { 1 } { 2 ^ { 0 . 5 } } } , { \\frac { 1 } { 2 ^ { 1 } } } , { \\frac { 1 } { 2 ^ { 1 . 5 } } } , \\dotsc , { \\frac { 1 } { 2 ^ { 8 } } }$ . In general, for $n$ heads, our set of slopes is the geometric sequence that starts at $2 ^ { \\frac { - 8 } { n } }$ and uses that same value as its ratio. ", + "bbox": [ + 173, + 529, + 825, + 609 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "In $\\ S 4$ , we observe that this set of slopes works on a wide variety of text domains and model sizes. Therefore, we do not believe that it is necessary to tune these slope values every time a new model is trained on a new dataset. This makes our method similar to the sinusoidal approach, where the hyperparameters (the start and end of the geometric progression of wavelengths) were set once by Vaswani et al. (2017) and then reused in different models of different sizes on different datasets. ", + "bbox": [ + 173, + 616, + 825, + 685 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "ALiBi has an inductive bias towards recency; it penalizes attention scores between distant query-key pairs, with the penalty increasing as the distance between a key and a query grows. The different heads increase their penalties at different rates, depending on the slope magnitude. ", + "bbox": [ + 176, + 691, + 821, + 734 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "We initially experimented with making the slopes trainable, but this did not yield strong extrapolation results.11 A brief manual exploration of around ten slope sets led us to discover the set of slopes that we finally picked. Our main insight from this exploration is that the slope sets that work best are those with slopes in the $( 0 , 1 )$ range, with the slopes’ density increasing as we get closer to 0. We also found our method to be robust to slope choice. Even randomly sampling from the exponential distribution worked well in some cases (although that method had high variance). ", + "bbox": [ + 173, + 741, + 825, + 825 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Since ALiBi is a relative position method, we add position information at every layer to the keys and queries but not to the values, as is done in the T5 bias and rotary methods. We hypothesize that these properties might be beneficial for extrapolation. ", + "bbox": [ + 176, + 832, + 823, + 875 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Implementation. ALiBi is easy to implement, with all changes accomplished in a few lines of code. We implement it by modifying the mask matrix by adding the linear biases to it (in practice, when training a transformer LM, query $\\mathbf { q } _ { i }$ attends only to keys 1 to $i$ ; this is implemented by adding a mask matrix to the query-key dot product before the softmax operation is applied). This means that there is no runtime penalty when using our method since we add no operations to the network. ", + "bbox": [ + 174, + 103, + 825, + 174 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Compared to the sinusoidal model trained on the same input lengths, AliBi incurs a memory increase (up to 100MB in some of our experiments): in the unmodified transformer, the mask is of size $L \\times L$ ; when using ALiBi, the mask is a slightly larger $n \\times L \\times L$ (where $n$ is the number of heads) since the linear biases added for each head uses a different slope. But, as we show, ALiBi enables training on much smaller sequences while still achieving (and occasionally surpassing) results obtained using sinusoidal embeddings on longer sequences, which saves multiple gigabytes of memory. ", + "bbox": [ + 174, + 180, + 825, + 265 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "4 RESULTS ", + "text_level": 1, + "bbox": [ + 176, + 284, + 281, + 299 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "We first show that on WikiText103 ALiBi is efficient and enables training models with short input subsequences that outperform strong baselines even when the ALiBi models extrapolate to more than six times the number of tokens that they were trained on. We then take the same hyperparameters for our method (the set of slopes) that worked on WikiText-103 and show that – with no modification – they provide strong results on a dataset in a very different domain: books. Finally, we show that a 1.3B parameter model trained with AliBi on a much larger (461 GB) dataset with much more compute provides a superior alternative to the sinusoidal method since it achieves similar perplexity scores while running faster and using less memory (since it is trained on shorter inputs). ", + "bbox": [ + 174, + 314, + 825, + 426 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "While multiple alternatives to the position methods presented in Vaswani et al. (2017) have been proposed, few have been adopted in large (1B or more parameter) LMs since that setting is much more challenging than the smaller scale experiments. GPT-3 and Jurassic-1 (Lieber et al., 2021) use the learned position embedding method from Vaswani et al., and GPT-J uses the rotary method. Our results on the 1.3B parameter model show our method’s ability to generalize to larger models, dataset sizes and training durations without retuning the hyperparameter. ", + "bbox": [ + 174, + 433, + 825, + 517 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "4.1 RESULTS ON WIKITEXT-103 AND TORONTO BOOKCORPUS ", + "text_level": 1, + "bbox": [ + 174, + 534, + 625, + 547 + ], + "page_idx": 5 + }, + { + "type": "image", + "img_path": "images/d39db463b0572a503ac269bc7ea4d3cf74b4273f25d3fc6a30263194d063c4e9.jpg", + "image_caption": [ + "Figure 4: ALiBi models trained and evaluated on varying sequence lengths on the WikiText-103 validation set and the sinusoidal baseline (not evaluated on longer sequences). All of our models outperform the sinusoidal ones even when trained on fewer tokens. Appendix Table 5 has exact perplexities, more ALiBi models (trained on fewer tokens), and results for rotary and T5 bias models. " + ], + "image_footnote": [], + "bbox": [ + 289, + 563, + 707, + 712 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "We first develop our method on the WikiText-103 corpus (Merity et al., 2016), replacing the sinusoidal position embeddings in the language model of Baevski & Auli (2018) with ALiBi. ", + "bbox": [ + 173, + 804, + 821, + 833 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Figure 4 (and the corresponding Appendix Table 5) show our results for models trained with varying numbers of input subsequence tokens $( L )$ , extrapolating to longer subsequence lengths on the validation dataset. Our first observation is that, without extrapolation, for every $L$ , our models outperform those using the sinusoidal method, sometimes by a significant amount. For example, the Baevski & Auli model achieves $1 8 . 6 7 { \\scriptstyle \\pm 0 . 2 4 }$ (std. dev.) perplexity when trained with $L = 3 0 7 2$ input tokens, but our $L = 3 0 7 2$ model achieves 17.60 perplexity (when both models evaluate with $L _ { \\nu a l i d } = 3 0 7 2$ ). ", + "bbox": [ + 174, + 839, + 825, + 924 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Our second observation is that all of our models can extrapolate, and they obtain improved perplexity scores when handling more tokens than they observed during training. For example, our model trained on 512 tokens (which achieves 19.73 perplexity when evaluating subsequences of length 512 in the development set) achieves a perplexity score of 18.40 on the development set when extrapolating to subsequences of length 3072. Surprisingly, this surpasses the score that the $L =$ 3072 sinusoidal model obtains on the development set by a statistically significant margin. Note that all our models trained on $L = 5 1 2$ to $L = 2 0 4 8$ outperform the sinusoidal baseline trained on $L = 3 0 7 2$ when extrapolating to $L _ { \\nu a l i d } = 3 0 7 2$ even though those models all take much less time to train since they train on shorter subsequences (Appendix Figure 8 compares training speed to perplexity for these models)! The $L \\ = \\ 5 1 2$ model is 1.84 times faster to train and yet still outperforms the $L = 3 0 7 2$ sinusoidal model when extrapolating to $L _ { \\nu a l i d } = 3 0 7 2$ . In addition, training the $L = 3 0 7 2$ sinusoidal model requires a GPU with more than 16 GB of memory to fit the large attention matrices, which our $L = 5 1 2$ outperforms even though it can be trained on a GPU with much less memory due to much smaller attention matrices. ", + "bbox": [ + 174, + 103, + 825, + 297 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Additionally, Table 5 (in the appendix) also shows that, for $L s$ of 1024 and 3072, our method performs better than the rotary and T5 bias models even when $L _ { \\nu a l i d } = L$ (i.e., no extrapolation is occurring). Figure 1 (and the corresponding Appendix Tables 2 and 3) more broadly explore our method vs. the other position methods. They show that the T5 bias (the best of the baselines) improves perplexity until $L _ { \\nu a l i d }$ is around $2 L$ , but on the WikiText-103 dataset our method continually improves perplexity until at least around $3 L$ , with the $L = 5 1 2$ model improving perplexity even when $L _ { \\nu a l i d }$ exceeds $1 2 \\mathrm { k }$ tokens. Even when unable to improve perplexity given longer sequences, ALiBi always maintains strong performance as more tokens are added. ", + "bbox": [ + 174, + 304, + 825, + 416 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Appendix Table 6 shows that our results on the validation set also transfer to the test set of WikiText103. Currently, almost all models that present results on WikiText-103 use sliding window evaluation (defined in $\\ S \\mathbf { B } _ { \\varepsilon }$ ) to compute perplexities. We apply that method to our (and to the sinusoidal, rotary and T5 bias) models in Appendix Table 7. We find that our $\\mathrm { L } = 3 0 7 2$ model surpasses the performance of Transformer-XL (Dai et al., 2019), the Sandwich (Press et al., 2020), and Shortformer (Press et al., 2021) models. Our results are similar to the ones obtained with staged training (Press et al., 2021) but fall short of results obtained by Routing Transformer (Roy et al., 2020) and kNN-LM (Khandelwal et al., 2020). The methods used in those models are orthogonal to ours, and we hypothesize that combining them with ours might lead to even larger performance increases. ", + "bbox": [ + 174, + 422, + 825, + 549 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "After developing our method on WikiText-103, in Appendix Section A.3, we run one set of experiments on a different domain (books) using a similar model architecture and without modifying any of the ALiBi hyperparameters (the slopes) and show that our results fully transfer to this new domain. Our models are able to both surpass the sinusoidal baseline when not extrapolating while also outperforming it when extrapolating to longer sequences. ", + "bbox": [ + 174, + 555, + 823, + 625 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "4.2 RESULTS ON THE CC100+ROBERTA CORPUS ", + "text_level": 1, + "bbox": [ + 176, + 650, + 534, + 664 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Our final set of experiments investigates whether ALiBi transfers to a larger model trained with a larger computational budget on a larger dataset than the ones we previously used. We show that our method achieves strong results in this more challenging setting, obtaining similar performance to the sinusoidal baseline while using significantly less memory, since we train on shorter subsequences. ", + "bbox": [ + 174, + 679, + 825, + 734 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "The dataset we choose is a combination of the datasets used to train the RoBERTa (Liu et al., 2019) implementation of BERT (Devlin et al., 2019) and the English part of the CC-100 corpus introduced in Conneau et al. (2020), for a total of 461 GB. The RoBERTa training corpus—i.e., the Toronto Book Corpus (Zhu et al., 2015), English Wikipedia, CC-News (Nagel, 2016), OpenWebText (Gokaslan & Cohen, 2019) and Stories (Trinh & Le, 2018))—is 161 gigabytes, and the English part of the CC-100 corpus is 300 gigabytes. The validation set contains 649K tokens. ", + "bbox": [ + 174, + 741, + 825, + 825 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Our models for this dataset have 25 transformer layers with 16 heads and a dimension of 2048, with an 8192 hidden dimension of the feedforward sublayers. These models have 1.3B parameters. We train our models for one epoch, which is $5 0 \\mathrm { k }$ updates on 128 V100 GPUs. ", + "bbox": [ + 176, + 833, + 825, + 875 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "In Figure 5 (left), we compare the validation perplexity for $L _ { \\nu a l i d } = 1 0 2 4$ throughout the training process for an ALiBi model trained with $L = 5 1 2$ compared to the sinusoidal model trained with $L = 1 0 2 4$ . Since our model is trained on shorter sequences, it is $7 \\%$ faster and uses 1.6 GB less memory. We halt training of the sinusoidal baseline when our model reaches the end of its training (one epoch). At that time, our model is just 0.06 perplexity away from the baseline even though it was trained on sequences that are half the length of those the baseline used and requires less memory. ", + "bbox": [ + 176, + 882, + 823, + 922 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/62e1ddb45dd45ac9aad501c22f605e26e185a1d9f475f7db8b3e49274186cebf.jpg", + "image_caption": [ + "Figure 5: On the left (right), a 1.3B-parameter ALiBi model trained on 512 (1024) and evaluated on 1024 (2048) tokens during training, compared to the sinusoidal baseline trained on 1024 (2048) tokens. The ALiBi models obtain strong results even though they use $6 \\% - 1 1 \\%$ less memory since they train on shorter sequences. Appendix Table 11 shows memory use and end-of-training perplexities. " + ], + "image_footnote": [], + "bbox": [ + 207, + 102, + 787, + 268 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "", + "bbox": [ + 176, + 364, + 823, + 409 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "In Figure 5 (right), results become even more impressive, showing that our model trained on $L =$ 1024 outperforms by 0.09 perplexity the sinusoidal model trained on $L = 2 0 4 8$ (when evaluating with $L _ { \\nu a l i d } = 2 0 4 8$ ) even though our model uses 3.1 GB less memory. Our model maintains a lead in perplexity over the sinusoidal model during the entire training process. By sampling five evenly distributed points across the training process, we compute that our $L = 1 0 2 4$ model reaches a given perplexity value, on average, $11 \\%$ faster than the sinusoidal model does. ", + "bbox": [ + 173, + 414, + 825, + 498 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Since our models in these comparisons use much less memory, they allow for stacking more layers, which would further improve performance (with negligible, if any, runtime cost). To keep our experiments as straightforward as possible, however, we do not add layers to our models. ", + "bbox": [ + 176, + 506, + 823, + 547 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Appendix Table 12 presents additional results comparing our models to the sinusoidal baseline when both are trained on the same $L$ , showing that ALiBi performs similarly to the sinusoidal baseline when not extrapolating. This contrasts with the results presented on the smaller datasets, where ALiBi consistently outperforms other position methods even when not extrapolating, suggesting that ALiBi’s inductive bias provides additional benefits for lower-resource language modeling. ", + "bbox": [ + 174, + 554, + 825, + 625 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/37d9ab2edddd1d80138da0ecfd8dddb54afcb0124c12608fe09965316d4b2445.jpg", + "image_caption": [ + "Figure 6: The ALiBi and sinusoidal models (with both $L = 5 1 2$ and 1024) trained for $5 0 \\mathrm { k }$ updates (1 epoch) on the CC100+RoBERTa corpus, extrapolating on the validation set. ALiBi achieves the best results at around $2 L$ but maintains strong performance even up to 10000 tokens in these experiments. " + ], + "image_footnote": [], + "bbox": [ + 207, + 638, + 789, + 810 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Figure 6 shows that our models trained on $L = 5 1 2$ and $L = 1 0 2 4$ achieve the best results when extrapolating to about double the tokens that they were trained on. Specifically, the $L = 5 1 2$ model (that obtains 9.79 perplexity when $L _ { \\nu a l i d } = 5 1 2$ ) achieves its best score (9.3) when extrapolating to ", + "bbox": [ + 173, + 881, + 825, + 924 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "1012 tokens, and the $L = 1 0 2 4$ model (that obtains 9.16 perplexity when $L _ { \\nu a l i d } = 1 0 2 4 )$ achieves its best score (8.9) when extrapolating to 2024 tokens. ", + "bbox": [ + 173, + 103, + 823, + 132 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "One possible explanation is that the subsequences the model observes during training are up to $L$ tokens long. When performing inference on subsequences of length $2 L$ , half of the subsequences the model consumes are as long as the examples seen during training. When inference is performed on subsequences of length $2 L + 1$ or longer, less than half of the predictions the model makes are on subsequences of lengths seen during training, and that might degrade performance. ", + "bbox": [ + 174, + 138, + 823, + 208 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "The sinusoidal model cannot extrapolate at all in this setting, with its performance degrading for both the $L = 5 1 2$ and 1024 models as soon as one token more than $L$ is added during evaluation. ", + "bbox": [ + 173, + 215, + 823, + 243 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "In Appendix B, we find that ALiBi’s edge over sinusoidal embeddings is largely explained by its improved avoidance of the early token curse. We posit that future work building on ALiBi might achieve further gains by more efficiently exploiting longer histories. ", + "bbox": [ + 176, + 251, + 821, + 292 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "5 RELATED WORK ", + "text_level": 1, + "bbox": [ + 176, + 320, + 343, + 337 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "In parallel with our work, Wennberg & Henter (2021) introduce a relative position method that, like our method, adds a bias to attention scores that is a function of the distance between the key and query elements. Unlike our ALiBi method, which uses a non-learned linear function, their method uses a radial-basis function, with multiple trainable parameters (in our experiments, this led to a slight decrease in runtime). In addition, they present experiments on text classification, not on language modeling. They do not explore extrapolation. The Distance Aware Transformer (Wu et al., 2021) multiplies attention scores by a bias that is a function of the distance between the key and query. This function uses a different, learned parameter in every head. They show results only on text classification. In our experiments (not presented), multiplying attention scores by the bias (instead of adding, as in ALiBi) degraded performance. ", + "bbox": [ + 174, + 358, + 825, + 497 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Transformer-XL (Dai et al., 2019) presented a language model that uses a cache and can attend to more tokens during inference than it was trained on (by increasing the length of the cache). However, this work presents results only where output length is limited to the $L$ (the training length), and their relative position method is very slow (Press et al., 2021). The Longformer (Beltagy et al., 2020) adapts models trained on shorter sequences to document-level tasks. However, to achieve this they had to partially train their models on longer sequences. Our ALiBi method enables extrapolation without any additional training on longer sequences. ", + "bbox": [ + 174, + 503, + 825, + 602 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "To our knowledge, extrapolation has not been previously explored in transformer language modeling, but it has been investigated previously and concurrently with transformers on other tasks, such as machine translation (Rosendahl et al., 2019; Neishi & Yoshinaga, 2019; Newman et al., 2020; Kiyono et al., 2021), sequence-to-sequence models trained on an artificial dataset (Hupkes et al., 2020), pretrained sequence-to-sequence models tested on arithmetic tasks (Nogueira et al., 2021, Appendix C), models trained with reinforcement learning (Lampinen et al., 2021), image, speech recognition, and machine translation models (Likhomanenko et al., 2021), and protein structure prediction (Jumper et al., 2021, Appendix 1.5). ", + "bbox": [ + 174, + 608, + 825, + 719 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "6 CONCLUSION ", + "text_level": 1, + "bbox": [ + 174, + 748, + 318, + 763 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "We showed that the sinusoidal position embedding approach does not enable transformers to extrapolate to inputs longer than the ones they were trained on. We then established that extrapolation in transformers can be enabled by just changing the position method. We showed that our ALiBi method offers an extremely simple replacement for existing position approaches and allow models to extrapolate. In addition, when not extrapolating, our method achieves either better perplexity than the sinusoidal method (in models smaller than 1B parameters, trained on less data) or similar perplexity (in larger, billion parameter models trained on much more data). ALiBi is simple to implement and does not slow down runtime or require extra parameters (but does occasionally require a negligible amount of extra memory). Using our method, we sped up the training of a 1.3 billion parameter model evaluated on the same input sequence length as GPT-3 (2048). ", + "bbox": [ + 173, + 784, + 825, + 924 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "ACKNOWLEDGMENTS ", + "text_level": 1, + "bbox": [ + 176, + 104, + 326, + 117 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "We thank Tim Dettmers, Gabriel Ilharco, Jungo Kasai, Hao Peng, Sewon Min, Sofia Serrano, Sam Shleifer, Luke Zettlemoyer, Julian Michael, Nikolaos Pappas, Yizhong Wang, and the anonymous reviewers for their valuable feedback and fruitful discussions. 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", + "bbox": [ + 176, + 159, + 823, + 188 + ], + "page_idx": 14 + }, + { + "type": "image", + "img_path": "images/7eb8dd2190ae75b0f8d7168c460e942ce528e59251864b16b1ee56e6ecaa8990.jpg", + "image_caption": [], + "image_footnote": [], + "bbox": [ + 174, + 203, + 820, + 372 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Figure 7: Training speed of our model and the sinusoidal baseline trained on different amounts of input subsequence tokens $L$ . ", + "bbox": [ + 174, + 391, + 823, + 420 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Table 1 contains the runtimes and memory use statistics for models using the various position methods discussed in this work. ", + "bbox": [ + 174, + 443, + 823, + 472 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Table 1: The speed (during training and evaluation, in words per second) and memory usage (during training) of the rotary, T5 bias, and ALiBi models compared to the sinusoidal baseline on WikiText103. Training and inference are batched, and speeds are shown for one V100 GPU. ", + "bbox": [ + 176, + 482, + 825, + 525 + ], + "page_idx": 14 + }, + { + "type": "table", + "img_path": "images/0fbf42529119b258a078496cc25fcbbede04d40af228d062a2b45131e9070b4d.jpg", + "table_caption": [], + "table_footnote": [], + "table_body": "
Position MethodTrain LengthSpeed (↑)Memory (↓)
TrainEval.
Sinusoidal51228.5k82.1k15.3 GB
102426.0k77.8k19.2 GB
307215.3k42.4k15.1 GB
Rotary51220.0k43.4k17.8 GB
102417.7k39.4k22.8 GB
307211.5k29.5k17.8 GB
T5 Bias51214.4k21.8k16.9 GB
102413.0k20.2k20.9 GB
30724.3k4.9k15.9 GB
ALiBi51228.3k85.8k15.3 GB
102425.8k76.4k19.3 GB
307215.5k42.2k15.2 GB
", + "bbox": [ + 284, + 541, + 714, + 772 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Tables 2, 3, and 4 show the perplexity and runtime of models using the sinusoidal, rotary T5 bias, and ALiBi position methods when extrapolating to sequences longer than the ones they were trained on. The models used in these tables were trained on $L = 5 1 2$ , 1024 and 3072 tokens. ", + "bbox": [ + 174, + 801, + 825, + 844 + ], + "page_idx": 14 + }, + { + "type": "table", + "img_path": "images/7394c80c024fd664dd7670c2dfa3c0943e758f85933f38f10869e69d505009a7.jpg", + "table_caption": [ + "Table 2: The sinusoidal, rotary, T5 bias and ALiBi models trained on $L = 5 1 2$ on WikiText-103 and evaluated with different values of $L _ { \\nu a l i d }$ on the validation set. Bold shows the best score for each model. Inference speeds (in words per second) are from inference on a GPU with batch size of one. " + ], + "table_footnote": [], + "table_body": "
SinusoidalRotaryT5 BiasALiBi
InputsPPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
51220.051504620.071083919.651172419.7314726
51319.981492520.011080619.571049119.6214965
52219.931511620.021129519.57997019.6415316
53219.911535819.981085419.531038219.6115383
54219.911507619.941079519.471227019.5715301
55219.911639419.931226719.471300019.5416540
56219.911664619.871248119.391220119.4916385
57219.951693419.831266819.361285119.4616881
58220.131696119.881259419.411390419.4817064
59220.181724319.841300719.361370619.4317289
60220.401750219.811278819.331410219.3817141
61220.591763719.811260119.271457319.3817661
71224.861561419.791267619.101381819.1415637
81230.821715120.171395418.941437718.9917210
91237.421720020.731388718.861534518.8817619
101243.541630421.371375918.791424018.7316059
111250.361642422.011389118.771401418.6816659
121258.011729423.021524518.871458918.6717372
131263.621531423.931369818.841313818.6015698
141270.751566324.811392818.871285718.5915860
151276.231581225.991424818.911375218.5216225
2512132.411525431.581345620.41994818.4115204
3512178.971329335.541185022.91784718.4013329
4512209.371176739.151048525.91614618.4111738
5512240.441016843.14902029.54530918.369986
6512271.40905247.81810834.48468018.359022
7512293.02831551.12748339.29410218.338324
8512305.65725954.98671843.08366018.347366
9512336.02667257.85621148.90337018.346555
10512341.53612660.77557552.95301018.326030
11512362.74599466.62544561.38287318.325882
12512373.17542169.70498864.94260218.315287
13512382.91517473.274692OOM18.314962
14512399.98435175.524103OOM= =18.314352
15512406.01429179.253969OOM18.314289
", + "bbox": [ + 202, + 295, + 790, + 776 + ], + "page_idx": 15 + }, + { + "type": "table", + "img_path": "images/77c404d90305ac3b5859541df68b6fd145c63d44a1a4545a87d81dd5a97b4aaa.jpg", + "table_caption": [ + "Table 3: The sinusoidal, rotary, T5 bias and ALiBi models trained on $L = { \\bf 1 0 2 4 }$ on WikiText-103 and evaluated with different values of $L _ { \\nu a l i d }$ on the validation set. Bold shows the best score for each model. Inference speeds (in words per second) are from inference on a GPU with batch size of one. " + ], + "table_footnote": [], + "table_body": "
SinusoidalRotaryT5 BiasALiBi
InputsPPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
102419.341700219.331469018.801497318.6616951
102519.331663019.341442318.821463518.6716690
103419.271658919.281435118.741443518.6016707
104419.261676019.271449118.721464418.6016667
105419.231674719.261450318.711480018.5816833
106419.211667619.221462318.701449818.5516941
107419.191687919.191446418.651467018.4916936
108419.221694219.231465018.701460718.5617090
109419.241677119.221462918.691451718.5416880
110419.281687019.271483718.691463518.5217009
111419.291679519.271487918.691454018.5217050
112419.261731219.181512118.621448018.4617571
122420.541790119.381558418.581495618.4018013
132423.131630819.961438618.521372618.3316422
142426.451621721.271438518.481351618.2816121
152429.821637722.591469318.421358718.2216659
162434.271592824.341422818.401297918.1716053
172438.241664025.661468618.351297618.1516607
182442.231684027.631491818.301307118.0816846
192446.461507129.641345218.311184318.0815118
202451.091559131.171370618.341190618.0515557
302496.461363935.671225618.62848017.9213668
4024144.001244144.301120319.44744317.9512402
5024182.311143148.311032420.47638417.9211394
6024214.021023854.78911721.76557718.0110119
7024261.86878562.83795023.64486717.938779
8024284.88813264.91735525.79437717.968086
9024310.04704571.91638027.54378717.987001
10024337.48663377.70601629.54358217.976583
11024358.43572281.15521931.94317018.025641
12024375.95556087.51507233.35294018.015294
13024393.57469194.744383OOM17.984621
14024403.52490596.104546OOM-18.014827
15024431.66451899.784170OOM=17.964447
16024453.324239106.993878OOM17.984153
", + "bbox": [ + 202, + 295, + 790, + 776 + ], + "page_idx": 16 + }, + { + "type": "table", + "img_path": "images/391c89e2ed7accf8cf502028e97e6826993de05d21901d81d0d1207adeae6c39.jpg", + "table_caption": [ + "Table 4: The sinusoidal, rotary, T5 bias and ALiBi models trained on $L = 3 0 7 2$ on WikiText-103 and evaluated with different values of $L _ { \\nu a l i d }$ on the validation set. Bold shows the best score for each model. Inference speeds (in words per second) are from inference on a GPU with batch size of one. " + ], + "table_footnote": [], + "table_body": "
InputsSinusoidalRotaryT5BiasALiBi
PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
307218.671338018.571254818.01882817.6013866
307318.671377318.571247418.01848317.5913793
308218.621374118.541238817.95869817.5913778
309218.601374218.481245817.92836117.5513783
310218.651370118.521236517.94876417.5913747
311218.641380918.511244917.96866517.5913827
312218.681372218.521243217.98843717.5813795
313218.671382518.541249017.97865317.5813784
314218.691354318.521223017.97828217.6113572
315218.661352018.561224017.98860817.5913523
316218.711350118.561225318.04858917.6213598
317218.721356318.551229717.99858317.5913625
327218.871345318.551214817.93814417.5913482
337219.461353318.501225417.88844217.5213565
347220.551304718.521186817.95785717.5413107
357221.841312818.501188217.86781417.5013170
367223.041310618.491185917.87771917.4813196
377224.471328718.541194217.85757917.4913312
387225.851262118.401127217.82758117.4112566
397227.211237918.481115117.84748317.4112324
407228.591217818.591101917.88697417.4812212
507245.531107618.80988717.76623017.3310938
607265.011011419.50904917.68555417.2610133
707285.96864720.60786117.83482017.228670
8072102.74775521.60699118.06428117.307729
9072125.99695322.14636018.12382317.266939
10072133.68664623.21606818.37357917.286597
11072161.29566324.39515818.64311917.265585
12072169.55556726.70511118.93292017.245397
13072189.43504429.33465819.10273517.154809
14072203.86491532.214616OOM17.224866
15072221.14456133.474292OOM- =17.234491
16072231.29438234.514099OOM=17.224312
", + "bbox": [ + 202, + 309, + 790, + 766 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "A.2 ALIBI RESULTS ON WIKITEXT-103 ", + "text_level": 1, + "bbox": [ + 174, + 103, + 465, + 117 + ], + "page_idx": 18 + }, + { + "type": "image", + "img_path": "images/03e1e3f377a9207d455228489bc857a42f02c2d3588934f12ec12ce2fcb9d8a3.jpg", + "image_caption": [ + "Figure 8: The training speed and validation perplexity (with $L _ { \\nu a l i d } = 3 0 7 2 )$ for ALiBi models and the sinusoidal model trained with $L = 3 0 7 2$ . All our models trained on 512 or more tokens achieve better perplexity than the sinusoidal model even though all of them (except the $L = 3 0 7 2$ ) require less time and memory to train. " + ], + "image_footnote": [], + "bbox": [ + 338, + 147, + 656, + 334 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Figure 8 depicts a cross section of Figure 4, showing our models with different train lengths and the sinusoidal baseline, all evaluated on $L _ { \\nu a l i d } = 3 0 7 2$ tokens. We observe that all our models with $5 1 2 \\leq L < 3 0 7 2$ are faster to train than the sinusoidal model with $L = 3 0 7 2$ , but they all achieve greater perplexity scores on the validation set. Our model with $L = 3 0 7 2$ trains just as fast as the sinusoidal one but bests its score by more than one perplexity point; (the standard deviation for the the sinusoidal model with $L = 3 0 7 2$ is 0.24). ", + "bbox": [ + 173, + 438, + 825, + 522 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Table 5 shows the perplexity values obtained when 8 different ALiBi models, trained on $L$ values between 64 and 3072, extrapolating to $L _ { \\nu a l i d }$ values longer than the ones they were trained on. In addition, we present results for the sinusoidal, rotary and T5 bias models, with $L _ { \\nu a l i d } = L$ . ", + "bbox": [ + 176, + 529, + 823, + 571 + ], + "page_idx": 18 + }, + { + "type": "table", + "img_path": "images/4b66bcd456fbbade54e5e3d236af88ec96b26bea7db84ad6ec8b20b4ee8c6db4.jpg", + "table_caption": [ + "Table 5: Perplexity when ALiBi extrapolates on the WikiText-103 development set. ∗For results we present for the sinusoidal, rotary and T5 bias models, $L = L _ { v a l i d }$ (so we do not test the extrapolation abilities of those baselines here). " + ], + "table_footnote": [], + "table_body": "
ALiBiEvaluation Length
Train Length641282565121024153620483072
6428.4624.7022.8822.0921.7321.6321.5921.53
128123.9821.7020.6720.3620.2920.3120.28
2561121.2919.8919.2919.1319.1019.03
512--19.7318.8118.5018.4818.40
1024=-18.6618.2018.0517.96
1536===18.1217.9017.72
2048===17.9117.64
30721====-117.60
Sinusoidal*28.0323.8121.4520.0519.3419.0518.8718.67
Rotary*11-20.0719.331118.57
T5 Bias*==119.6518.801=18.01
", + "bbox": [ + 223, + 654, + 776, + 859 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Table 6 compares ALiBi to the sinusoidal, rotary and T5 bias baselines on the test set of WikiText103, and Table 7 compares ALiBi to the current state of the art models on that test set. ", + "bbox": [ + 174, + 895, + 823, + 924 + ], + "page_idx": 18 + }, + { + "type": "table", + "img_path": "images/8757da9f93dc110cf823ec8f9d48e98dd46815515192487f6112b37b760f3e4c.jpg", + "table_caption": [ + "Table 6: Test perplexity and runtime on WikiText-103 for two of our ALiBi models and models that use the sinusoidal, rotary and T5 bias methods. " + ], + "table_footnote": [], + "table_body": "
ModelParam.↓TrainInference
Speed↑Speed ↑Valid ↓Test↓
Sinusoidal, L = 3072247M15.3k13.6k18.6719.38
Rotary,L = 3072247M11.5k12.2k18.5719.28
T5 Bias,L = 3072247M4.3k7.3k18.0118.73
L = 512,Lvalid = 3072247M28.3k13.6k18.4019.08
A L=3072,Lvalid =3072247M15.5k13.6k17.6018.30
", + "bbox": [ + 235, + 146, + 761, + 282 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Table 7: Valid and test perplexity scores on WikiText-103 for two of our ALiBi models and models that use the sinusoidal, rotary and T5 bias methods with sliding window evaluation ( $\\mathrm { \\ S B }$ and $\\scriptstyle \\mathbf { S } = 5 1 2$ following (Baevski & Auli, 2018; Khandelwal et al., 2020; Press et al., 2021)). The sinusoidal model presents our results from training and inference with the model of Baevski & Auli. ", + "bbox": [ + 173, + 303, + 825, + 359 + ], + "page_idx": 19 + }, + { + "type": "table", + "img_path": "images/0bd91b63ce4703aa872d8ff65c4a443fd070ffa7f726c8265da5e790e9ab1d6d.jpg", + "table_caption": [], + "table_footnote": [], + "table_body": "
ModelParam.↓Valid↓Test↓
Adaptive Inputs (Baevski & Auli, 2018)247M17.9718.70
Transformer-XL (Dai et al., 2019)257M118.3
Shortformer (Press et al.,2021)247M17.4718.15
Sandwich Transformer (Press et al., 2020)247M117.96
Staged Training (Press et al.,2021)247M17.56
Compressive Transformer (Rae et al., 2020)329M17.1
Routing Transformer (Roy et al., 2020)=15.8
kNN-LM (Khandelwal et al., 2020)247M15.8115.79
Sinusoidal, L = 3072247M17.9518.67
Rotary,L = 3072247M17.9818.72
T5 Bias,L = 3072247M17.3718.12
L = 512,Lyalid = 3072247M18.3019.01
L = 3072,Lvalid = 3072247M16.9717.66
", + "bbox": [ + 251, + 378, + 746, + 609 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "A.3 RESULTS ON THE TORONTO BOOK CORPUS ", + "text_level": 1, + "bbox": [ + 174, + 643, + 519, + 659 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "To ensure that our results are not specific to the WikiText-103 corpus, we next apply our model and the baselines to a different domain while using a similar model architecture and the same ALiBi slopes as those used in the previous subsection. ", + "bbox": [ + 174, + 671, + 823, + 713 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "We emphasize that our set of slopes was chosen by running experiments on the WikiText-103 corpus, and here we apply that set of slopes to a model trained on a very different text domain. Throughout the entire process of developing this method, we ran only one set of experiments on this domain using the previously selected set of slopes. ", + "bbox": [ + 174, + 720, + 825, + 776 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Specifically, we use the Toronto BooksCorpus (Zhu et al., 2015), which has been used to train BERT (Devlin et al., 2019) (in conjuction with the English Wikipedia). The corpus is about 700M tokens (2.9 GB). ", + "bbox": [ + 174, + 784, + 825, + 825 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "We use the same train/validation/test split as Khandelwal et al. (2020) and their tokenization, which uses BERT’s vocabulary of 29K byte-pair encodings. Since the vocabulary is much smaller than WikiText-103’s, we replace the adaptive word embedding and softmax of Baevski & Auli (2018) with a tied word embedding and softmax matrix (Press & Wolf, 2017; Inan et al., 2017). ", + "bbox": [ + 176, + 832, + 823, + 888 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Our results in Figure 9 (and Table 8) replicate our success on the WikiText-103 dataset. Our model surpasses the sinusoidal baseline when trained on the same amount of input tokens $( L )$ and, in addition, our model is able to extrapolate to longer sequences at inference. This occurs even though our set of slopes was not tuned on this dataset. This result establishes the generality of ALiBi and the particular set of slopes we found and suggests that they may be used on different text domains without further hyperparameter tuning. ", + "bbox": [ + 174, + 895, + 823, + 924 + ], + "page_idx": 19 + }, + { + "type": "image", + "img_path": "images/5d2b57b38065977c1ee49f4412f8f13fc2f5d4c03b7b10ce48b0b3cb02da17e1.jpg", + "image_caption": [ + "Figure 9: ALiBi-enabled models evaluated on different input lengths on the Toronto BookCorpus. Our models extrapolate to longer sequence lengths and outperform the sinusoidal baseline even when trained on much shorter sequences. " + ], + "image_footnote": [], + "bbox": [ + 256, + 103, + 740, + 285 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "", + "bbox": [ + 174, + 375, + 825, + 431 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Tables 9 and 10 present the perplexities for our ALiBi models, the baselines, and the current state of the art on the Toronto BookCorpus validation and test sets. Our results here mirror our results on WikiText-103: we improve over the sinusoidal baseline even when AliBi is trained on fewer tokens. ", + "bbox": [ + 174, + 438, + 825, + 481 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Table 8: ALiBi models extrapolating on the Toronto BookCorpus development set. ∗For the results of the sinusoidal models, $L = L _ { \\nu a l i d }$ (so we do not test the extrapolation abilities of those models here). ", + "bbox": [ + 173, + 493, + 826, + 536 + ], + "page_idx": 20 + }, + { + "type": "table", + "img_path": "images/e889b3a1178ecef869e7adf7daa4ad6ca8d1038dc0a6951439d94a7de2d0b10e.jpg", + "table_caption": [ + "Table 9: Validation and test perplexities on the Toronto Book Corpus dataset. " + ], + "table_footnote": [], + "table_body": "
Train Length 512Evaluation Length 1024 3072
51214.2913.6413.55
1024113.8613.52
30721113.15
Sinusoidal*14.8014.7314.46
", + "bbox": [ + 369, + 554, + 627, + 664 + ], + "page_idx": 20 + }, + { + "type": "table", + "img_path": "images/7425f891fe346dfb7100ee2937ddd8d312018b9c92bffa70a34e6e594f805c72.jpg", + "table_caption": [], + "table_footnote": [], + "table_body": "
ModelParam.↓Valid ↓Test↓
Sinusoidal,L = 3072247M14.4611.67
B Ltrain =512,Lvalid =3072247M13.5510.98
A Ltrain =3072,Lvalid=3072247M13.1510.73
", + "bbox": [ + 289, + 722, + 707, + 810 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "A.4 RESULTS ON THE CC $^ { 1 0 0 + }$ ROBERTA CORPUS ", + "text_level": 1, + "bbox": [ + 176, + 842, + 537, + 856 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Table 11 compares our 1.3 billion parameter ALiBi models when extrapolating to two times the number of tokens that they were trained on. We use the sinusoidal model as our baseline, and train it for the same amount of time as we train the ALiBi model that we compare it to (and so since our ALiBi models run faster in this setting, the sinusoidal models complete less updates). ", + "bbox": [ + 174, + 867, + 825, + 924 + ], + "page_idx": 20 + }, + { + "type": "table", + "img_path": "images/9e20567a85296e4025969c6bb4215811bb70346c20f52face85dd71289965e77.jpg", + "table_caption": [ + "Table 10: Validation and test perplexities on the Toronto Book Corpus dataset with a sliding window $( \\ S \\mathbf { B } )$ . Following (Baevski & Auli, 2018; Khandelwal et al., 2020; Press et al., 2020; 2021), we set the sliding window stride $S { = } 5 1 2$ . " + ], + "table_footnote": [], + "table_body": "
ModelParam.↓Valid ↓Test↓
kNN-LM (Khandelwal et al., 2020)247M14.2010.89
Shortformer (Press et al.,2021)247M13.4010.88
Sandwich (Press et al., 2020)247M=10.83
Staged Training (Press et al., 2021)247M12.8010.48
Sinusoidal,L = 3072247M14.0611.40
L =512,Lyalid = 3072247M13.7611.11
L= 3072,Lalid = 3072247M12.7010.40
", + "bbox": [ + 277, + 161, + 718, + 310 + ], + "page_idx": 21 + }, + { + "type": "table", + "img_path": "images/c7c04000b46e5c565d237e95f9f0f258efe5bf962c814ede3bcbf698c3437f4d.jpg", + "table_caption": [ + "Table 11: Perplexity, memory, and train time on the $\\mathrm { C C 1 0 0 + }$ RoBERTa corpus for our ALiBi models and the sinusoidal baseline. We run our $L = 5 1 2$ (1024) model and the sinusoidal model with $L =$ 1024 (2048) for the same amount of time. We show that our models achieve strong results even though they use $6 { - } 1 1 \\%$ less memory. " + ], + "table_footnote": [], + "table_body": "
TrainingValid PPL↓
Memory↓UpdatesHours↓Lvalid = 1024Lvalid = 2048
Sinusoidal, Ltrain = 102426.2 GB46.7k5.5k9.241
ALiBi, Ltrain = 51224.6 GB50.0k5.5k9.301
Sinusoidal, Ltrain = 204829.3 GB44.2k5.9k19.01
ALiBi,Ltrain = 102426.2 GB50.0k5.9k8.92
", + "bbox": [ + 186, + 406, + 812, + 520 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "Table 12 compares our 1.3 billion parameter ALiBi models to the sinusoidal baselines, with and without extrapolation, with all models completing 50,000 updates. ", + "bbox": [ + 174, + 554, + 823, + 584 + ], + "page_idx": 21 + }, + { + "type": "table", + "img_path": "images/52771287a4b2918a1f92eefe464c1dc193a86ea77d09bae467efe7b508937866.jpg", + "table_caption": [ + "Table 12: Perplexity, train time and memory use of the sinusoidal and ALiBi models on the CC100+RoBERTa corpus when all models are trained with $5 0 \\mathrm { k }$ updates. " + ], + "table_footnote": [], + "table_body": "
TrainingValid PPL ↓
Memory↓UpdatesHours←Lvalid =512 Lvalid =1024 Lvalid=2048
Sinusoidal, Ltrain = 512 ALiBi,Ltrain = 51224.6 GB50.0k5.5k9.7137.05105.42
24.6 GB50.0k5.5k9.799.309.54
Sinusoidal, Ltrain = 1024 ALiBi,Ltrain = 102426.2 GB50.0k5.9k19.1548.85
26.2 GB50.0k5.9k=9.168.92
Sinusoidal, Ltrain = 2048 ALiBi,Ltrain = 204829.3 GB50.0k6.7k-8.83
29.4 GB50.0k6.7k18.84
", + "bbox": [ + 207, + 646, + 790, + 784 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "B ANALYSIS ", + "text_level": 1, + "bbox": [ + 174, + 833, + 295, + 849 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "In this section we investigate why ALiBi works so effectively. We find that ALiBi’s decrease in perplexity when given longer sequences is largely explained by its improved avoidance of the early token curse. We hypothesize that future work building on ALiBi might achieve further gains by more efficiently exploiting longer histories. ", + "bbox": [ + 174, + 867, + 825, + 924 + ], + "page_idx": 21 + }, + { + "type": "image", + "img_path": "images/d4ac4d21ebb896e9182b2f88806590481ddff892b612e79f3a70592e627367b3.jpg", + "image_caption": [ + "Figure 10: Sliding window evaluation (top; blue) compared to nonoverlapping evaluation (bottom; red) on a sequence of 8 words using a model with $L _ { \\nu a l i d } = 4$ . Nonoverlapping evaluation is much faster since it requires just two inference passes (as opposed to the five passes required by the siding window approach). But the sliding window approach provides more context for each prediction. " + ], + "image_footnote": [], + "bbox": [ + 344, + 136, + 648, + 246 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "Sliding Window Inference As mentioned in Section 2, nonoverlapping inference is commonly used to evaluate sequences longer than $L$ (the number of tokens in each training subsequence). An alternative is to use a sliding window during evaluation (Baevski & Auli, 2018). ", + "bbox": [ + 174, + 364, + 821, + 407 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "A stride $S$ is picked between 1 and $L - 1$ , and the window is advanced by $S$ tokens after each forward pass.12 This means that $L - S$ tokens from the previous subsequence are re-encoded, and only $S$ new tokens are output. The advantage is that all outputs in each subsequence after the first have at least $L - S$ previous tokens to condition on. However, since tokens must be re-encoded multiple times, this approach is much slower than the nonoverlapping one. When $S = 1$ , we output one token every inference pass, each using the maximal context window that the model can handle; however, this is the slowest approach. Figure 10 is a visualization of the nonoverlapping and sliding window evaluation approaches. ", + "bbox": [ + 174, + 414, + 825, + 526 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "We use sliding window inference as a tool to analyze our models, but we note that it is normally prohibitively slow in practice (Press et al., 2021). ", + "bbox": [ + 176, + 532, + 820, + 560 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "Early Token Curse Splitting an evaluation set into subsequences means that predictions occuring early in each subsequence cannot access many previous context tokens (appearing at the end of the previous subsequence). The result, referred to as the early token curse (Press et al., 2021), increases (i.e., degrades) perplexity scores. A workaround is to evaluate the model using a sliding window, giving each prediction more context. This solution is slow since it requires many more forward passes of the model. ", + "bbox": [ + 174, + 579, + 825, + 662 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "B.2 EXTRAPOLATION REDUCES THE EARLY TOKEN CURSE ", + "text_level": 1, + "bbox": [ + 174, + 683, + 591, + 695 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "We presented results showing that our ALiBi method (and, to a lesser extent, the T5 bias) allows LMs to extrapolate during inference. Two reasons could explain why these methods enable LMs to achieve better perplexity given longer input subsequences: ", + "bbox": [ + 176, + 708, + 825, + 751 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "1. Performance improves because the models can use longer contexts to make more accurate predictions. For example, the average article length in the WikiText-103 corpus is about 3600 tokens; therefore, if a model trained on $L \\ = \\ 5 1 2$ tokens extrapolates to $L _ { \\nu a l i d } =$ 3072 tokens during inference and achieves better results, that might be because it can spot patterns occurring across more than 512 tokens. 2. Performance improves because longer input sequences mean the early token curse is reduced. For example, during nonoverlapping evaluation on sequences of length $L _ { \\nu a l i d } =$ 1000, $10 \\%$ of predictions have 100 tokens of context or less. If we rerun nonoverlapping evaluation on that model with $L _ { \\nu a l i d } = 2 0 0 0$ tokens, now only $5 \\%$ of predictions have 100 tokens of context or less. So, by simply being able to handle longer sequences, a model can substantially reduce the early token curse and improve performance.13 ", + "bbox": [ + 212, + 763, + 826, + 896 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "", + "bbox": [ + 230, + 103, + 821, + 132 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "To better understand what might be occurring, we re-evaluate the development set of WikiText-103 with our models and the sinusoidal baseline with $L = 5 1 2$ , 1024, 3072. However, this time we use sliding window evaluation with a stride of $S = 1$ , meaning that we move the sliding window just one token after every inference pass, giving each prediction the maximum number of context tokens that the model can use. ", + "bbox": [ + 174, + 143, + 825, + 213 + ], + "page_idx": 23 + }, + { + "type": "image", + "img_path": "images/5f91f6bdf10f91e9df60fe8a82792a8da3426e81d9d9493ba58fb5c39b32bcae.jpg", + "image_caption": [ + "Figure 11: ALiBi models evaluated on different input lengths on WikiText-103 with sliding window evaluation (with stride $S = 1 { \\dot { } }$ ). Unlike results shown in Figure 4, where performance improves in each of our models as we increase the validation sequence length, here performance stays relatively flat as we increase $L _ { \\nu a l i d }$ . This might mean that ALiBi increases performance when $L _ { \\nu a l i d } > L$ not because it uses longer contexts, but because fewer tokens suffer from the early token curse. Note that as in $\\ S 2$ , the perplexity of the sinusoidal model explodes when $L _ { \\nu a l i d } > L$ even when using sliding window evaluation. " + ], + "image_footnote": [], + "bbox": [ + 256, + 227, + 738, + 421 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "The results are shown in Figure 11 and in the corresponding Tables 13 (sinusoidal) and 15 (ALiBi). ", + "bbox": [ + 176, + 556, + 820, + 571 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "Unsurprisingly, for the sinusoidal model, as in $\\ S 2$ , increasing $L _ { \\nu a l i d }$ causes an explosion in perplexity even when using sliding window evaluation. Our ALiBi models cannot improve perplexity when looking at longer sequences in this setting, but they keep perplexity flat when $L _ { \\nu a l i d }$ increases. ", + "bbox": [ + 176, + 578, + 823, + 621 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "This leads us to believe that our perplexity improvement when increasing $L _ { \\nu a l i d }$ and using nonoverlapping evaluation is caused by explanation 2, not explanation 1. Because sliding window evaluation provides long context windows for every prediction made, it curtails the early token curse. In this setting, ALiBi’s performance remains flat when $L _ { \\nu a l i d }$ increases, leading us to hypothesize that the gains seen while increasing $L _ { \\nu a l i d }$ in $\\ S 4$ were the result of larger $L _ { \\nu a l i d }$ values mitigating the early token curse. ", + "bbox": [ + 174, + 627, + 825, + 710 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "Our ALiBi results mirror what occurs in the model using the T5 bias: when using sliding window evaluation, perplexity remains relatively flat when evaluating longer sequences (see Table 14). ", + "bbox": [ + 174, + 718, + 823, + 746 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "Our analysis reveals that when $L _ { \\nu a l i d } > L$ , ALiBi might not be using contexts longer than the ones it was trained on. This highlights a research direction that could be pursued in future work. ", + "bbox": [ + 171, + 752, + 821, + 782 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "These findings do not lessen the value of ALiBi. When $L _ { \\nu a l i d } = L$ , ALiBi achieves either superior or similar results to the sinusoidal method and other alternatives even though it is simpler and requires no learned parameters. When evaluating $L _ { \\nu a l i d } > L$ tokens, even if ALiBi does not attend to more than $L$ tokens, it yields better results than the other alternatives that can be used in this case, i.e., standard nonoverlapping inference (which is cheap, but does not perform as well) and the more accurate sliding window approach (which is very slow). ", + "bbox": [ + 173, + 787, + 825, + 872 + ], + "page_idx": 23 + }, + { + "type": "table", + "img_path": "images/42c8df7a4232fed7cc79092b0ad5d0bdc54fdb47e777cd13c2a67a763b572adc.jpg", + "table_caption": [ + "Table 13: Perplexities of the sinusoidal models evaluated with sliding window evaluation with stride $S = 1$ on the WikiText-103 validation dataset. " + ], + "table_footnote": [], + "table_body": "
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We therefore introduce a simpler and more efficient position method,", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 141, + 324, + 469, + 338 + ], + "spans": [ + { + "bbox": [ + 141, + 324, + 469, + 338 + ], + "score": 1.0, + "content": "Attention with Linear Biases (ALiBi). ALiBi does not add positional embeddings", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 141, + 336, + 469, + 349 + ], + "spans": [ + { + "bbox": [ + 141, + 336, + 469, + 349 + ], + "score": 1.0, + "content": "to word embeddings; instead, it biases query-key attention scores with a penalty", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 141, + 347, + 470, + 359 + ], + "spans": [ + { + "bbox": [ + 141, + 347, + 470, + 359 + ], + "score": 1.0, + "content": "that is proportional to their distance. We show that this method trains a 1.3 bil-", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 141, + 357, + 470, + 371 + ], + "spans": [ + { + "bbox": [ + 141, + 357, + 470, + 371 + ], + "score": 1.0, + "content": "lion parameter model on input sequences of length 1024 that extrapolates to input", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 142, + 369, + 469, + 381 + ], + "spans": [ + { + "bbox": [ + 142, + 369, + 469, + 381 + ], + "score": 1.0, + "content": "sequences of length 2048, achieving the same perplexity as a sinusoidal position", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 142, + 380, + 469, + 392 + ], + "spans": [ + { + "bbox": [ + 142, + 380, + 405, + 392 + ], + "score": 1.0, + "content": "embedding model trained on inputs of length 2048 but training", + "type": "text" + }, + { + "bbox": [ + 405, + 380, + 425, + 390 + ], + "score": 0.86, + "content": "11 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 380, + 469, + 392 + ], + "score": 1.0, + "content": "faster and", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 141, + 391, + 470, + 403 + ], + "spans": [ + { + "bbox": [ + 141, + 391, + 167, + 403 + ], + "score": 1.0, + "content": "using", + "type": "text" + }, + { + "bbox": [ + 167, + 391, + 187, + 402 + ], + "score": 0.84, + "content": "11 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 187, + 391, + 470, + 403 + ], + "score": 1.0, + "content": "less memory. ALiBi’s inductive bias towards recency also leads it to", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 141, + 402, + 461, + 414 + ], + "spans": [ + { + "bbox": [ + 141, + 402, + 461, + 414 + ], + "score": 1.0, + "content": "outperform multiple strong position methods on the WikiText-103 benchmark.1", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 14.5, + "bbox_fs": [ + 141, + 259, + 470, + 414 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 441, + 205, + 453 + ], + "lines": [ + { + "bbox": [ + 105, + 441, + 208, + 456 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 208, + 456 + ], + "score": 1.0, + "content": "1 INTRODUCTION", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 22 + }, + { + "type": "text", + "bbox": [ + 107, + 468, + 505, + 512 + ], + "lines": [ + { + "bbox": [ + 106, + 469, + 505, + 480 + ], + "spans": [ + { + "bbox": [ + 106, + 469, + 505, + 480 + ], + "score": 1.0, + "content": "When constructing a transformer-based language model, a major design decision is the length of", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 480, + 505, + 491 + ], + "spans": [ + { + "bbox": [ + 106, + 480, + 221, + 491 + ], + "score": 1.0, + "content": "training sequences, denoted", + "type": "text" + }, + { + "bbox": [ + 221, + 480, + 229, + 489 + ], + "score": 0.73, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 230, + 480, + 505, + 491 + ], + "score": 1.0, + "content": "herein, which has to date been equivalent to the length of inference", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 491, + 505, + 503 + ], + "spans": [ + { + "bbox": [ + 106, + 491, + 288, + 503 + ], + "score": 1.0, + "content": "sequences. 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But longer", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 502, + 277, + 513 + ], + "spans": [ + { + "bbox": [ + 105, + 502, + 277, + 513 + ], + "score": 1.0, + "content": "sequences are more expensive to train on.2", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 24.5, + "bbox_fs": [ + 105, + 469, + 505, + 513 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 518, + 505, + 606 + ], + "lines": [ + { + "bbox": [ + 105, + 517, + 506, + 531 + ], + "spans": [ + { + "bbox": [ + 105, + 517, + 386, + 531 + ], + "score": 1.0, + "content": "Before transformers, RNN language models were trained on shorter-", + "type": "text" + }, + { + "bbox": [ + 387, + 519, + 394, + 528 + ], + "score": 0.76, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 517, + 506, + 531 + ], + "score": 1.0, + "content": "sequences and assumed to", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "score": 1.0, + "content": "generalize to longer contexts at inference time (Mikolov et al., 2010; Mikolov & Zweig, 2012;", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 539, + 505, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 539, + 505, + 554 + ], + "score": 1.0, + "content": "Zaremba et al., 2014). 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In recently explored set-", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 447, + 506, + 460 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 506, + 460 + ], + "score": 1.0, + "content": "tings where NLP training examples are given as context to an LM (Brown et al., 2020), our approach", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 458, + 476, + 470 + ], + "spans": [ + { + "bbox": [ + 106, + 458, + 476, + 470 + ], + "score": 1.0, + "content": "will allow exposure to more examples. Additionally, it enables generation of longer outputs.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 17.5 + }, + { + "type": "title", + "bbox": [ + 108, + 489, + 441, + 502 + ], + "lines": [ + { + "bbox": [ + 105, + 488, + 443, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 443, + 503 + ], + "score": 1.0, + "content": "2 CURRENT APPROACHES DO NOT EXTRAPOLATE EFFICIENTLY", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 20 + }, + { + "type": "text", + "bbox": [ + 107, + 516, + 505, + 582 + ], + "lines": [ + { + "bbox": [ + 106, + 516, + 504, + 528 + ], + "spans": [ + { + "bbox": [ + 106, + 516, + 504, + 528 + ], + "score": 1.0, + "content": "We show for the first time that the sinusoidal position method, which technically should be able", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "score": 1.0, + "content": "to extrapolate, in practice has very limited extrapolation capabilities. Though the rotary position", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "score": 1.0, + "content": "method improves over the sinusoidal one, it still does not achieve satisfying results. Holding every-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 550, + 504, + 561 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 504, + 561 + ], + "score": 1.0, + "content": "thing else constant, we are the first to observe that the T5 bias method leads to better extrapolation", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "score": 1.0, + "content": "than either of these, and so we conclude that extrapolation ability depends heavily on the position", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 571, + 411, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 411, + 584 + ], + "score": 1.0, + "content": "embedding. 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For example, a 1.3 billion", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 385, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 385, + 209, + 399 + ], + "score": 1.0, + "content": "parameter LM trained on", + "type": "text" + }, + { + "bbox": [ + 209, + 386, + 250, + 396 + ], + "score": 0.91, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 250, + 385, + 505, + 399 + ], + "score": 1.0, + "content": "tokens with ALiBi achieves the same perplexity as a sinusoidal", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 396, + 506, + 411 + ], + "spans": [ + { + "bbox": [ + 105, + 396, + 178, + 411 + ], + "score": 1.0, + "content": "model trained on", + "type": "text" + }, + { + "bbox": [ + 179, + 397, + 222, + 407 + ], + "score": 0.89, + "content": "L = 2 0 4 8", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 396, + 506, + 411 + ], + "score": 1.0, + "content": "when both are tested on sequences of 2048 tokens, even though our", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 407, + 300, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 407, + 142, + 421 + ], + "score": 1.0, + "content": "model is", + "type": "text" + }, + { + "bbox": [ + 142, + 408, + 162, + 419 + ], + "score": 0.81, + "content": "11 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 162, + 407, + 225, + 421 + ], + "score": 1.0, + "content": "faster and uses", + "type": "text" + }, + { + "bbox": [ + 226, + 408, + 245, + 418 + ], + "score": 0.82, + "content": "11 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 407, + 300, + 421 + ], + "score": 1.0, + "content": "less memory.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13, + "bbox_fs": [ + 105, + 364, + 506, + 421 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 425, + 505, + 469 + ], + "lines": [ + { + "bbox": [ + 106, + 425, + 505, + 437 + ], + "spans": [ + { + "bbox": [ + 106, + 425, + 505, + 437 + ], + "score": 1.0, + "content": "Though performance peaks at around two times the number of tokens that the model was trained on,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 434, + 506, + 450 + ], + "spans": [ + { + "bbox": [ + 105, + 434, + 506, + 450 + ], + "score": 1.0, + "content": "ALiBi maintains strong performance even on sequences of length 10,000. In recently explored set-", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 447, + 506, + 460 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 506, + 460 + ], + "score": 1.0, + "content": "tings where NLP training examples are given as context to an LM (Brown et al., 2020), our approach", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 458, + 476, + 470 + ], + "spans": [ + { + "bbox": [ + 106, + 458, + 476, + 470 + ], + "score": 1.0, + "content": "will allow exposure to more examples. Additionally, it enables generation of longer outputs.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 17.5, + "bbox_fs": [ + 105, + 425, + 506, + 470 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 489, + 441, + 502 + ], + "lines": [ + { + "bbox": [ + 105, + 488, + 443, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 443, + 503 + ], + "score": 1.0, + "content": "2 CURRENT APPROACHES DO NOT EXTRAPOLATE EFFICIENTLY", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 20 + }, + { + "type": "text", + "bbox": [ + 107, + 516, + 505, + 582 + ], + "lines": [ + { + "bbox": [ + 106, + 516, + 504, + 528 + ], + "spans": [ + { + "bbox": [ + 106, + 516, + 504, + 528 + ], + "score": 1.0, + "content": "We show for the first time that the sinusoidal position method, which technically should be able", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 505, + 540 + ], + "score": 1.0, + "content": "to extrapolate, in practice has very limited extrapolation capabilities. Though the rotary position", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "score": 1.0, + "content": "method improves over the sinusoidal one, it still does not achieve satisfying results. Holding every-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 550, + 504, + 561 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 504, + 561 + ], + "score": 1.0, + "content": "thing else constant, we are the first to observe that the T5 bias method leads to better extrapolation", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "score": 1.0, + "content": "than either of these, and so we conclude that extrapolation ability depends heavily on the position", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 571, + 411, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 411, + 584 + ], + "score": 1.0, + "content": "embedding. Unfortunately, the T5 bias is computationally costly (Figure 2).", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 23.5, + "bbox_fs": [ + 105, + 516, + 505, + 584 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 600, + 315, + 611 + ], + "lines": [ + { + "bbox": [ + 105, + 599, + 316, + 612 + ], + "spans": [ + { + "bbox": [ + 105, + 599, + 316, + 612 + ], + "score": 1.0, + "content": "2.1 BACKGROUND AND EXPERIMENTAL SETUP", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 27 + }, + { + "type": "text", + "bbox": [ + 107, + 622, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 621, + 505, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 621, + 505, + 635 + ], + "score": 1.0, + "content": "A transformer LM receives a list of tokens and outputs a probability distribution representing its", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 632, + 506, + 646 + ], + "spans": [ + { + "bbox": [ + 104, + 632, + 506, + 646 + ], + "score": 1.0, + "content": "prediction for the next token. We call the input list the current input subsequence since the inputs to", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 644, + 505, + 657 + ], + "spans": [ + { + "bbox": [ + 105, + 644, + 505, + 657 + ], + "score": 1.0, + "content": "language models are typically subsequences from (much longer) training or evaluation sequences.", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "score": 1.0, + "content": "During both training and perplexity evaluation (i.e., scoring a fixed sequence), many predictions can", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 666, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 505, + 678 + ], + "score": 1.0, + "content": "be calculated at once; this is done using a “causal mask” that ensures each position’s prediction is", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 104, + 675, + 505, + 691 + ], + "spans": [ + { + "bbox": [ + 104, + 675, + 269, + 691 + ], + "score": 1.0, + "content": "influenced only by tokens to its left. Let", + "type": "text" + }, + { + "bbox": [ + 269, + 678, + 277, + 687 + ], + "score": 0.81, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 277, + 675, + 505, + 691 + ], + "score": 1.0, + "content": "be the length of each input subsequence during training;", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 104, + 684, + 507, + 702 + ], + "spans": [ + { + "bbox": [ + 104, + 684, + 149, + 702 + ], + "score": 1.0, + "content": "it includes", + "type": "text" + }, + { + "bbox": [ + 150, + 688, + 158, + 698 + ], + "score": 0.76, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 158, + 684, + 339, + 702 + ], + "score": 1.0, + "content": "predictions, which on average have access to", + "type": "text" + }, + { + "bbox": [ + 339, + 688, + 357, + 701 + ], + "score": 0.92, + "content": "\\textstyle { \\frac { L + 1 } { 2 } }", + "type": "inline_equation" + }, + { + "bbox": [ + 357, + 684, + 507, + 702 + ], + "score": 1.0, + "content": "tokens of (left) context. To explore a", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 446, + 712 + ], + "score": 1.0, + "content": "model’s extrapolation abilities, we are interested in cases where sequences of length", + "type": "text" + }, + { + "bbox": [ + 446, + 699, + 489, + 710 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 698, + 506, + 712 + ], + "score": 1.0, + "content": "are", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 709, + 506, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 709, + 256, + 722 + ], + "score": 1.0, + "content": "considered at evaluation time. When", + "type": "text" + }, + { + "bbox": [ + 257, + 711, + 264, + 720 + ], + "score": 0.81, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 265, + 709, + 453, + 722 + ], + "score": 1.0, + "content": "differs between inference and training, we use", + "type": "text" + }, + { + "bbox": [ + 453, + 711, + 461, + 720 + ], + "score": 0.8, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 462, + 709, + 506, + 722 + ], + "score": 1.0, + "content": "to refer to", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 720, + 463, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 295, + 734 + ], + "score": 1.0, + "content": "the length of subsequences during training and", + "type": "text" + }, + { + "bbox": [ + 295, + 722, + 317, + 732 + ], + "score": 0.89, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 318, + 720, + 463, + 734 + ], + "score": 1.0, + "content": "to refer to their length at validation.", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 32.5, + "bbox_fs": [ + 104, + 621, + 507, + 734 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 111, + 82, + 503, + 153 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 111, + 82, + 503, + 153 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 111, + 82, + 503, + 153 + ], + "spans": [ + { + "bbox": [ + 111, + 82, + 503, + 153 + ], + "score": 0.898, + "type": "image", + "image_path": "9f29b550e905335c294f61b8464d4c694992982177b7482612f4886e33a397ed.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 111, + 82, + 503, + 105.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 111, + 105.66666666666667, + 503, + 129.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 111, + 129.33333333333334, + 503, + 153.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 164, + 505, + 231 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 164, + 505, + 176 + ], + "spans": [ + { + "bbox": [ + 105, + 164, + 505, + 176 + ], + "score": 1.0, + "content": "Figure 2: A comparison of batched training, inference speed and memory use of the sinusoidal,", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 174, + 505, + 187 + ], + "spans": [ + { + "bbox": [ + 105, + 174, + 505, + 187 + ], + "score": 1.0, + "content": "rotary, T5 bias, and our ALiBi position methods. The speed differences between our method and", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 185, + 506, + 199 + ], + "spans": [ + { + "bbox": [ + 105, + 185, + 210, + 199 + ], + "score": 1.0, + "content": "the sinusoidal are within", + "type": "text" + }, + { + "bbox": [ + 211, + 186, + 226, + 196 + ], + "score": 0.84, + "content": "1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 226, + 185, + 309, + 199 + ], + "score": 1.0, + "content": "during training and", + "type": "text" + }, + { + "bbox": [ + 309, + 186, + 324, + 197 + ], + "score": 0.85, + "content": "3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 185, + 506, + 199 + ], + "score": 1.0, + "content": "for inference, which is insignificant on our", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 197, + 505, + 209 + ], + "spans": [ + { + "bbox": [ + 105, + 197, + 505, + 209 + ], + "score": 1.0, + "content": "hardware. ALiBi uses 100MB of extra memory when training on input lengths 1024 and 3072 in", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 207, + 506, + 221 + ], + "spans": [ + { + "bbox": [ + 105, + 207, + 506, + 221 + ], + "score": 1.0, + "content": "this setting. Memory usage is lower in all approaches when training on 3072 tokens (compared to", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 218, + 505, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 218, + 505, + 232 + ], + "score": 1.0, + "content": "1024) since we break batches into multiple updates. See Table 1 in the appendix for exact numbers.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "text", + "bbox": [ + 107, + 252, + 505, + 286 + ], + "lines": [ + { + "bbox": [ + 106, + 252, + 505, + 266 + ], + "spans": [ + { + "bbox": [ + 106, + 252, + 416, + 266 + ], + "score": 1.0, + "content": "Nonoverlapping Inference To train on or evaluate a sequence longer than", + "type": "text" + }, + { + "bbox": [ + 417, + 253, + 425, + 262 + ], + "score": 0.75, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 252, + 505, + 266 + ], + "score": 1.0, + "content": "tokens, it is typical", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 263, + 505, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 263, + 227, + 276 + ], + "score": 1.0, + "content": "to segment the sequence into", + "type": "text" + }, + { + "bbox": [ + 227, + 264, + 235, + 273 + ], + "score": 0.68, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 235, + 263, + 505, + 276 + ], + "score": 1.0, + "content": "-length subsequences and train on or evaluate them independently.", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 274, + 450, + 287 + ], + "spans": [ + { + "bbox": [ + 105, + 274, + 450, + 287 + ], + "score": 1.0, + "content": "Unless otherwise stated, we use nonoverlapping inference to report perplexity scores.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 107, + 298, + 504, + 343 + ], + "lines": [ + { + "bbox": [ + 105, + 297, + 505, + 312 + ], + "spans": [ + { + "bbox": [ + 105, + 297, + 505, + 312 + ], + "score": 1.0, + "content": "Extrapolation During Inference Formally, the functions that define a transformer layer are ag-", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 310, + 506, + 322 + ], + "spans": [ + { + "bbox": [ + 105, + 310, + 506, + 322 + ], + "score": 1.0, + "content": "nostic to input length;3 they map from some arbitrary, unfixed number of input vectors to the same", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 321, + 506, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 321, + 506, + 333 + ], + "score": 1.0, + "content": "number of output vectors. When transformers are applied to data that is inherently sequential, like", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 332, + 387, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 332, + 387, + 344 + ], + "score": 1.0, + "content": "text, positional information is injected into the inputs in various ways.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5 + }, + { + "type": "text", + "bbox": [ + 107, + 348, + 505, + 403 + ], + "lines": [ + { + "bbox": [ + 107, + 349, + 505, + 361 + ], + "spans": [ + { + "bbox": [ + 107, + 349, + 505, + 361 + ], + "score": 1.0, + "content": "Vaswani et al. (2017) discussed two options for embedding positions into vectors to be added to word", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 359, + 505, + 372 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 505, + 372 + ], + "score": 1.0, + "content": "embeddings: learning embeddings for specific positions and unlearned sinusoidal embeddings. They", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 369, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 105, + 369, + 505, + 385 + ], + "score": 1.0, + "content": "observed similar performance between these two but preferred the sinusoidal approach, which they", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 381, + 505, + 394 + ], + "spans": [ + { + "bbox": [ + 105, + 381, + 505, + 394 + ], + "score": 1.0, + "content": "argued might extrapolate to longer input sequences during inference. We find that this model cannot", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 391, + 332, + 405 + ], + "spans": [ + { + "bbox": [ + 105, + 391, + 316, + 405 + ], + "score": 1.0, + "content": "extrapolate to more than a few dozen tokens beyond", + "type": "text" + }, + { + "bbox": [ + 316, + 392, + 324, + 402 + ], + "score": 0.67, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 391, + 332, + 405 + ], + "score": 1.0, + "content": ". 4", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 106, + 416, + 505, + 515 + ], + "lines": [ + { + "bbox": [ + 106, + 417, + 505, + 429 + ], + "spans": [ + { + "bbox": [ + 106, + 417, + 505, + 429 + ], + "score": 1.0, + "content": "Experiment Setup We first test the extrapolation abilities of various position methods on the", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 426, + 505, + 440 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 505, + 440 + ], + "score": 1.0, + "content": "WikiText-103 corpus (Merity et al., 2016) using the transformer language model of Baevski & Auli", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 438, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 105, + 438, + 505, + 451 + ], + "score": 1.0, + "content": "(2018). We use this model because of its prominent role in recent language modeling develop-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 449, + 505, + 462 + ], + "spans": [ + { + "bbox": [ + 105, + 449, + 505, + 462 + ], + "score": 1.0, + "content": "ments (Khandelwal et al., 2020; Press et al., 2021). The training set is about 103 million tokens", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 461, + 505, + 473 + ], + "spans": [ + { + "bbox": [ + 106, + 461, + 505, + 473 + ], + "score": 1.0, + "content": "from English Wikipedia (half a gigabyte). The model has 16 transformer layers of dimension 1024,", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 471, + 505, + 483 + ], + "spans": [ + { + "bbox": [ + 106, + 471, + 505, + 483 + ], + "score": 1.0, + "content": "with 8 heads, and a feedforward inner dimension of 4096. This model ties the word embedding and", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 481, + 505, + 495 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 505, + 495 + ], + "score": 1.0, + "content": "softmax matrices (Press & Wolf, 2017; Inan et al., 2017). In our experiments, other than varying the", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 493, + 505, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 493, + 505, + 507 + ], + "score": 1.0, + "content": "position method and training subsequence length, we modify no other hyperparameters, including", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 504, + 325, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 504, + 325, + 516 + ], + "score": 1.0, + "content": "the random seed and number of training epochs (205).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 25 + }, + { + "type": "title", + "bbox": [ + 108, + 529, + 261, + 540 + ], + "lines": [ + { + "bbox": [ + 105, + 529, + 262, + 542 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 262, + 542 + ], + "score": 1.0, + "content": "2.2 MEASURING EXTRAPOLATION", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 550, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 105, + 549, + 505, + 563 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 481, + 563 + ], + "score": 1.0, + "content": "Sinusoidal Position Embeddings Sinusoidal position embeddings (Vaswani et al., 2017;", + "type": "text" + }, + { + "bbox": [ + 482, + 550, + 502, + 561 + ], + "score": 0.4, + "content": "\\ S 3 . 5 \\AA", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 549, + 505, + 563 + ], + "score": 1.0, + "content": ")", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 560, + 506, + 575 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 506, + 575 + ], + "score": 1.0, + "content": "are constant, non-learned vectors that are added to token embeddings on input to the first layer", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "score": 1.0, + "content": "of the transformer. They are frequently used in transformer language modeling (Baevski & Auli,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "2018; Lewis et al., 2021) and machine translation (Vaswani et al., 2017; Ott et al., 2018) models.", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 593, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 106, + 593, + 505, + 606 + ], + "score": 1.0, + "content": "We first consider the unmodified model of Baevski & Auli (2018), which uses sinusoidal position", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 605, + 505, + 617 + ], + "spans": [ + { + "bbox": [ + 106, + 606, + 222, + 617 + ], + "score": 1.0, + "content": "embeddings, and train it on", + "type": "text" + }, + { + "bbox": [ + 222, + 605, + 262, + 615 + ], + "score": 0.9, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 263, + 606, + 505, + 617 + ], + "score": 1.0, + "content": "tokens; we then run inference with it on the validation set", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 616, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 119, + 628 + ], + "score": 1.0, + "content": "on", + "type": "text" + }, + { + "bbox": [ + 120, + 616, + 146, + 627 + ], + "score": 0.91, + "content": "L + k", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 616, + 200, + 628 + ], + "score": 1.0, + "content": "tokens, with", + "type": "text" + }, + { + "bbox": [ + 200, + 617, + 208, + 626 + ], + "score": 0.77, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 616, + 506, + 628 + ], + "score": 1.0, + "content": "ranging from 0 to 15,000. Figure 1 (left) and the corresponding Table 2", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 626, + 506, + 641 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 393, + 641 + ], + "score": 1.0, + "content": "(in the appendix) show that while the model improves perplexity up to", + "type": "text" + }, + { + "bbox": [ + 393, + 627, + 425, + 637 + ], + "score": 0.9, + "content": "k = 2 0", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 626, + 506, + 641 + ], + "score": 1.0, + "content": ", performance stops", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 241, + 651 + ], + "score": 1.0, + "content": "improving and stays steady from", + "type": "text" + }, + { + "bbox": [ + 241, + 638, + 272, + 648 + ], + "score": 0.9, + "content": "k = 2 0", + "type": "inline_equation" + }, + { + "bbox": [ + 273, + 637, + 284, + 651 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 285, + 638, + 316, + 648 + ], + "score": 0.9, + "content": "k = 5 0", + "type": "inline_equation" + }, + { + "bbox": [ + 316, + 637, + 505, + 651 + ], + "score": 1.0, + "content": "and then begins degrading. Similar results are", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 649, + 505, + 661 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 244, + 661 + ], + "score": 1.0, + "content": "obtained for a model trained with", + "type": "text" + }, + { + "bbox": [ + 244, + 649, + 287, + 659 + ], + "score": 0.88, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 649, + 505, + 661 + ], + "score": 1.0, + "content": "tokens (Figure 1 (right) and Table 3 in the appendix).", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 659, + 466, + 673 + ], + "spans": [ + { + "bbox": [ + 106, + 659, + 231, + 673 + ], + "score": 1.0, + "content": "That model improves for up to", + "type": "text" + }, + { + "bbox": [ + 231, + 660, + 295, + 671 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d } = L + 5 0", + "type": "inline_equation" + }, + { + "bbox": [ + 296, + 659, + 466, + 673 + ], + "score": 1.0, + "content": "tokens, after which performance declines.", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 36 + } + ], + "page_idx": 2, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 106, + 680, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 118, + 679, + 505, + 693 + ], + "spans": [ + { + "bbox": [ + 118, + 679, + 505, + 693 + ], + "score": 1.0, + "content": "3These include the embedding lookup, feedforward sublayer, and softmax layer, which act independently", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 690, + 506, + 702 + ], + "spans": [ + { + "bbox": [ + 105, + 690, + 506, + 702 + ], + "score": 1.0, + "content": "on vector inputs, as well as the attention sublayers, whose parameters do not depend on input length (and which", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 700, + 339, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 700, + 339, + 713 + ], + "score": 1.0, + "content": "must handle variable-length inputs, e.g., due to causal masking).", + "type": "text" + } + ] + }, + { + "bbox": [ + 117, + 709, + 507, + 725 + ], + "spans": [ + { + "bbox": [ + 117, + 709, + 485, + 725 + ], + "score": 1.0, + "content": "4The learned positional embedding approach does not have a way to encode positions greater than", + "type": "text" + }, + { + "bbox": [ + 486, + 712, + 493, + 721 + ], + "score": 0.75, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 493, + 709, + 507, + 725 + ], + "score": 1.0, + "content": "; it", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 721, + 245, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 245, + 733 + ], + "score": 1.0, + "content": "therefore has no ability to extrapolate.", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "spans": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "score": 1.0, + "content": "3", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 111, + 82, + 503, + 153 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 111, + 82, + 503, + 153 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 111, + 82, + 503, + 153 + ], + "spans": [ + { + "bbox": [ + 111, + 82, + 503, + 153 + ], + "score": 0.898, + "type": "image", + "image_path": "9f29b550e905335c294f61b8464d4c694992982177b7482612f4886e33a397ed.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 111, + 82, + 503, + 105.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 111, + 105.66666666666667, + 503, + 129.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 111, + 129.33333333333334, + 503, + 153.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 164, + 505, + 231 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 164, + 505, + 176 + ], + "spans": [ + { + "bbox": [ + 105, + 164, + 505, + 176 + ], + "score": 1.0, + "content": "Figure 2: A comparison of batched training, inference speed and memory use of the sinusoidal,", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 174, + 505, + 187 + ], + "spans": [ + { + "bbox": [ + 105, + 174, + 505, + 187 + ], + "score": 1.0, + "content": "rotary, T5 bias, and our ALiBi position methods. The speed differences between our method and", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 185, + 506, + 199 + ], + "spans": [ + { + "bbox": [ + 105, + 185, + 210, + 199 + ], + "score": 1.0, + "content": "the sinusoidal are within", + "type": "text" + }, + { + "bbox": [ + 211, + 186, + 226, + 196 + ], + "score": 0.84, + "content": "1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 226, + 185, + 309, + 199 + ], + "score": 1.0, + "content": "during training and", + "type": "text" + }, + { + "bbox": [ + 309, + 186, + 324, + 197 + ], + "score": 0.85, + "content": "3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 185, + 506, + 199 + ], + "score": 1.0, + "content": "for inference, which is insignificant on our", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 197, + 505, + 209 + ], + "spans": [ + { + "bbox": [ + 105, + 197, + 505, + 209 + ], + "score": 1.0, + "content": "hardware. ALiBi uses 100MB of extra memory when training on input lengths 1024 and 3072 in", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 207, + 506, + 221 + ], + "spans": [ + { + "bbox": [ + 105, + 207, + 506, + 221 + ], + "score": 1.0, + "content": "this setting. Memory usage is lower in all approaches when training on 3072 tokens (compared to", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 218, + 505, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 218, + 505, + 232 + ], + "score": 1.0, + "content": "1024) since we break batches into multiple updates. See Table 1 in the appendix for exact numbers.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "text", + "bbox": [ + 107, + 252, + 505, + 286 + ], + "lines": [ + { + "bbox": [ + 106, + 252, + 505, + 266 + ], + "spans": [ + { + "bbox": [ + 106, + 252, + 416, + 266 + ], + "score": 1.0, + "content": "Nonoverlapping Inference To train on or evaluate a sequence longer than", + "type": "text" + }, + { + "bbox": [ + 417, + 253, + 425, + 262 + ], + "score": 0.75, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 252, + 505, + 266 + ], + "score": 1.0, + "content": "tokens, it is typical", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 263, + 505, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 263, + 227, + 276 + ], + "score": 1.0, + "content": "to segment the sequence into", + "type": "text" + }, + { + "bbox": [ + 227, + 264, + 235, + 273 + ], + "score": 0.68, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 235, + 263, + 505, + 276 + ], + "score": 1.0, + "content": "-length subsequences and train on or evaluate them independently.", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 274, + 450, + 287 + ], + "spans": [ + { + "bbox": [ + 105, + 274, + 450, + 287 + ], + "score": 1.0, + "content": "Unless otherwise stated, we use nonoverlapping inference to report perplexity scores.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 10, + "bbox_fs": [ + 105, + 252, + 505, + 287 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 298, + 504, + 343 + ], + "lines": [ + { + "bbox": [ + 105, + 297, + 505, + 312 + ], + "spans": [ + { + "bbox": [ + 105, + 297, + 505, + 312 + ], + "score": 1.0, + "content": "Extrapolation During Inference Formally, the functions that define a transformer layer are ag-", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 310, + 506, + 322 + ], + "spans": [ + { + "bbox": [ + 105, + 310, + 506, + 322 + ], + "score": 1.0, + "content": "nostic to input length;3 they map from some arbitrary, unfixed number of input vectors to the same", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 321, + 506, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 321, + 506, + 333 + ], + "score": 1.0, + "content": "number of output vectors. When transformers are applied to data that is inherently sequential, like", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 332, + 387, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 332, + 387, + 344 + ], + "score": 1.0, + "content": "text, positional information is injected into the inputs in various ways.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5, + "bbox_fs": [ + 105, + 297, + 506, + 344 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 348, + 505, + 403 + ], + "lines": [ + { + "bbox": [ + 107, + 349, + 505, + 361 + ], + "spans": [ + { + "bbox": [ + 107, + 349, + 505, + 361 + ], + "score": 1.0, + "content": "Vaswani et al. (2017) discussed two options for embedding positions into vectors to be added to word", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 359, + 505, + 372 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 505, + 372 + ], + "score": 1.0, + "content": "embeddings: learning embeddings for specific positions and unlearned sinusoidal embeddings. They", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 369, + 505, + 385 + ], + "spans": [ + { + "bbox": [ + 105, + 369, + 505, + 385 + ], + "score": 1.0, + "content": "observed similar performance between these two but preferred the sinusoidal approach, which they", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 381, + 505, + 394 + ], + "spans": [ + { + "bbox": [ + 105, + 381, + 505, + 394 + ], + "score": 1.0, + "content": "argued might extrapolate to longer input sequences during inference. We find that this model cannot", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 391, + 332, + 405 + ], + "spans": [ + { + "bbox": [ + 105, + 391, + 316, + 405 + ], + "score": 1.0, + "content": "extrapolate to more than a few dozen tokens beyond", + "type": "text" + }, + { + "bbox": [ + 316, + 392, + 324, + 402 + ], + "score": 0.67, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 391, + 332, + 405 + ], + "score": 1.0, + "content": ". 4", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 18, + "bbox_fs": [ + 105, + 349, + 505, + 405 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 416, + 505, + 515 + ], + "lines": [ + { + "bbox": [ + 106, + 417, + 505, + 429 + ], + "spans": [ + { + "bbox": [ + 106, + 417, + 505, + 429 + ], + "score": 1.0, + "content": "Experiment Setup We first test the extrapolation abilities of various position methods on the", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 426, + 505, + 440 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 505, + 440 + ], + "score": 1.0, + "content": "WikiText-103 corpus (Merity et al., 2016) using the transformer language model of Baevski & Auli", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 438, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 105, + 438, + 505, + 451 + ], + "score": 1.0, + "content": "(2018). We use this model because of its prominent role in recent language modeling develop-", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 449, + 505, + 462 + ], + "spans": [ + { + "bbox": [ + 105, + 449, + 505, + 462 + ], + "score": 1.0, + "content": "ments (Khandelwal et al., 2020; Press et al., 2021). The training set is about 103 million tokens", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 461, + 505, + 473 + ], + "spans": [ + { + "bbox": [ + 106, + 461, + 505, + 473 + ], + "score": 1.0, + "content": "from English Wikipedia (half a gigabyte). The model has 16 transformer layers of dimension 1024,", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 471, + 505, + 483 + ], + "spans": [ + { + "bbox": [ + 106, + 471, + 505, + 483 + ], + "score": 1.0, + "content": "with 8 heads, and a feedforward inner dimension of 4096. This model ties the word embedding and", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 481, + 505, + 495 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 505, + 495 + ], + "score": 1.0, + "content": "softmax matrices (Press & Wolf, 2017; Inan et al., 2017). In our experiments, other than varying the", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 493, + 505, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 493, + 505, + 507 + ], + "score": 1.0, + "content": "position method and training subsequence length, we modify no other hyperparameters, including", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 504, + 325, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 504, + 325, + 516 + ], + "score": 1.0, + "content": "the random seed and number of training epochs (205).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 417, + 505, + 516 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 529, + 261, + 540 + ], + "lines": [ + { + "bbox": [ + 105, + 529, + 262, + 542 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 262, + 542 + ], + "score": 1.0, + "content": "2.2 MEASURING EXTRAPOLATION", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 550, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 105, + 549, + 505, + 563 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 481, + 563 + ], + "score": 1.0, + "content": "Sinusoidal Position Embeddings Sinusoidal position embeddings (Vaswani et al., 2017;", + "type": "text" + }, + { + "bbox": [ + 482, + 550, + 502, + 561 + ], + "score": 0.4, + "content": "\\ S 3 . 5 \\AA", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 549, + 505, + 563 + ], + "score": 1.0, + "content": ")", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 560, + 506, + 575 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 506, + 575 + ], + "score": 1.0, + "content": "are constant, non-learned vectors that are added to token embeddings on input to the first layer", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 505, + 585 + ], + "score": 1.0, + "content": "of the transformer. They are frequently used in transformer language modeling (Baevski & Auli,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "2018; Lewis et al., 2021) and machine translation (Vaswani et al., 2017; Ott et al., 2018) models.", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 593, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 106, + 593, + 505, + 606 + ], + "score": 1.0, + "content": "We first consider the unmodified model of Baevski & Auli (2018), which uses sinusoidal position", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 605, + 505, + 617 + ], + "spans": [ + { + "bbox": [ + 106, + 606, + 222, + 617 + ], + "score": 1.0, + "content": "embeddings, and train it on", + "type": "text" + }, + { + "bbox": [ + 222, + 605, + 262, + 615 + ], + "score": 0.9, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 263, + 606, + 505, + 617 + ], + "score": 1.0, + "content": "tokens; we then run inference with it on the validation set", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 616, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 616, + 119, + 628 + ], + "score": 1.0, + "content": "on", + "type": "text" + }, + { + "bbox": [ + 120, + 616, + 146, + 627 + ], + "score": 0.91, + "content": "L + k", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 616, + 200, + 628 + ], + "score": 1.0, + "content": "tokens, with", + "type": "text" + }, + { + "bbox": [ + 200, + 617, + 208, + 626 + ], + "score": 0.77, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 616, + 506, + 628 + ], + "score": 1.0, + "content": "ranging from 0 to 15,000. Figure 1 (left) and the corresponding Table 2", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 626, + 506, + 641 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 393, + 641 + ], + "score": 1.0, + "content": "(in the appendix) show that while the model improves perplexity up to", + "type": "text" + }, + { + "bbox": [ + 393, + 627, + 425, + 637 + ], + "score": 0.9, + "content": "k = 2 0", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 626, + 506, + 641 + ], + "score": 1.0, + "content": ", performance stops", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 637, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 241, + 651 + ], + "score": 1.0, + "content": "improving and stays steady from", + "type": "text" + }, + { + "bbox": [ + 241, + 638, + 272, + 648 + ], + "score": 0.9, + "content": "k = 2 0", + "type": "inline_equation" + }, + { + "bbox": [ + 273, + 637, + 284, + 651 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 285, + 638, + 316, + 648 + ], + "score": 0.9, + "content": "k = 5 0", + "type": "inline_equation" + }, + { + "bbox": [ + 316, + 637, + 505, + 651 + ], + "score": 1.0, + "content": "and then begins degrading. Similar results are", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 649, + 505, + 661 + ], + "spans": [ + { + "bbox": [ + 105, + 649, + 244, + 661 + ], + "score": 1.0, + "content": "obtained for a model trained with", + "type": "text" + }, + { + "bbox": [ + 244, + 649, + 287, + 659 + ], + "score": 0.88, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 649, + 505, + 661 + ], + "score": 1.0, + "content": "tokens (Figure 1 (right) and Table 3 in the appendix).", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 659, + 466, + 673 + ], + "spans": [ + { + "bbox": [ + 106, + 659, + 231, + 673 + ], + "score": 1.0, + "content": "That model improves for up to", + "type": "text" + }, + { + "bbox": [ + 231, + 660, + 295, + 671 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d } = L + 5 0", + "type": "inline_equation" + }, + { + "bbox": [ + 296, + 659, + 466, + 673 + ], + "score": 1.0, + "content": "tokens, after which performance declines.", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 36, + "bbox_fs": [ + 105, + 549, + 506, + 673 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 504, + 127 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "score": 1.0, + "content": "Rotary Position Embeddings The rotary method was introduced by Su et al. (2021) and has", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "score": 1.0, + "content": "recently been popularized by the open source GPT-3 (Brown et al., 2020) implementation GPT-", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "J (Wang & Komatsuzaki, 2021). Instead of adding sinusoidal embeddings at the bottom of the", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 114, + 500, + 129 + ], + "spans": [ + { + "bbox": [ + 105, + 114, + 500, + 129 + ], + "score": 1.0, + "content": "transformer, they multiply the keys and queries of every attention layer by sinusoidal embeddings.", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5 + }, + { + "type": "text", + "bbox": [ + 107, + 132, + 505, + 209 + ], + "lines": [ + { + "bbox": [ + 105, + 131, + 505, + 145 + ], + "spans": [ + { + "bbox": [ + 105, + 131, + 505, + 145 + ], + "score": 1.0, + "content": "Unlike the sinusoidal or learned positional embedding approach, the rotary method injects position", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 143, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 143, + 505, + 156 + ], + "score": 1.0, + "content": "information into the model at every layer, not just at the initial one. In addition, it adds no position", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 153, + 506, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 153, + 506, + 167 + ], + "score": 1.0, + "content": "information to the values of the self-attention sublayer. The output of a self-attention sublayer is a", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "linearly transformed, weighted sum of the input value vectors; therefore, by not inserting position", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 505, + 189 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 505, + 189 + ], + "score": 1.0, + "content": "information into the values, the outputs of each transformer-layer contain no explicit position infor-", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "mation. We suspect that this segregation of position information may be beneficial for extrapolation,", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 199, + 368, + 210 + ], + "spans": [ + { + "bbox": [ + 106, + 199, + 368, + 210 + ], + "score": 1.0, + "content": "and we draw inspiration from it in the design of our method (§3).", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 107, + 215, + 505, + 259 + ], + "lines": [ + { + "bbox": [ + 105, + 213, + 505, + 228 + ], + "spans": [ + { + "bbox": [ + 105, + 213, + 505, + 228 + ], + "score": 1.0, + "content": "We apply the rotary position embedding method to our Baevski & Auli baseline.5 The perplexity", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 226, + 505, + 238 + ], + "spans": [ + { + "bbox": [ + 105, + 226, + 505, + 238 + ], + "score": 1.0, + "content": "results (Figure 1 and Appendix Tables 2 and 3) are better than the sinusoidal approach: the model", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 236, + 506, + 249 + ], + "spans": [ + { + "bbox": [ + 105, + 236, + 127, + 249 + ], + "score": 1.0, + "content": "with", + "type": "text" + }, + { + "bbox": [ + 127, + 237, + 165, + 248 + ], + "score": 0.87, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 236, + 169, + 249 + ], + "score": 0.0, + "content": "", + "type": "text" + }, + { + "bbox": [ + 169, + 237, + 213, + 248 + ], + "score": 0.81, + "content": "L = 1 0 2 4 )", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 236, + 343, + 249 + ], + "score": 1.0, + "content": ") improves perplexity with up to", + "type": "text" + }, + { + "bbox": [ + 343, + 237, + 380, + 248 + ], + "score": 0.87, + "content": "k = 2 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 384, + 237, + 421, + 248 + ], + "score": 0.79, + "content": "k = 1 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 421, + 236, + 506, + 249 + ], + "score": 1.0, + "content": ") more tokens than it", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 248, + 466, + 260 + ], + "spans": [ + { + "bbox": [ + 106, + 248, + 466, + 260 + ], + "score": 1.0, + "content": "saw during training, but this comes at the cost of slower training and inference (Figure 2).", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 12.5 + }, + { + "type": "text", + "bbox": [ + 107, + 283, + 505, + 436 + ], + "lines": [ + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "score": 1.0, + "content": "T5 Bias Though most models use trained or sinusoidal position embeddings, the T5 model of Raf-", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 293, + 505, + 307 + ], + "spans": [ + { + "bbox": [ + 105, + 293, + 505, + 307 + ], + "score": 1.0, + "content": "fel et al. (2020) uses a relative position method (Shaw et al., 2018; Huang et al., 2019) that adds no", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 104, + 303, + 506, + 319 + ], + "spans": [ + { + "bbox": [ + 104, + 303, + 506, + 319 + ], + "score": 1.0, + "content": "position information to word embeddings (as in the previous method). Instead, it modifies the way", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 104, + 314, + 506, + 329 + ], + "spans": [ + { + "bbox": [ + 104, + 314, + 506, + 329 + ], + "score": 1.0, + "content": "attention values are computed. We refer to this as the “T5 bias” method.6 To compute attention", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 327, + 505, + 340 + ], + "spans": [ + { + "bbox": [ + 106, + 327, + 505, + 340 + ], + "score": 1.0, + "content": "values in the unmodified transformer, we compute the dot product of every query with every rele-", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 338, + 505, + 350 + ], + "spans": [ + { + "bbox": [ + 106, + 338, + 505, + 350 + ], + "score": 1.0, + "content": "vant key and then softmax these attention values. In this method, we compute the attention values", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 349, + 506, + 362 + ], + "spans": [ + { + "bbox": [ + 105, + 349, + 506, + 362 + ], + "score": 1.0, + "content": "as before, but then we add a learned, shared bias to each query-key score that is dependent on just", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 359, + 505, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 505, + 373 + ], + "score": 1.0, + "content": "the distance between the query and key. Therefore, all query-key scores where the query and key", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 370, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 105, + 370, + 505, + 384 + ], + "score": 1.0, + "content": "distance are zero (i.e., the query and key represent the same token) get a specific learned bias, all", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 381, + 506, + 394 + ], + "spans": [ + { + "bbox": [ + 105, + 381, + 506, + 394 + ], + "score": 1.0, + "content": "scores where the query and key are one word away get a different learned bias, and so on, up to a", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 392, + 505, + 405 + ], + "spans": [ + { + "bbox": [ + 105, + 392, + 505, + 405 + ], + "score": 1.0, + "content": "certain point, from where multiple different distances share the same learned bias (which might be", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 403, + 506, + 416 + ], + "spans": [ + { + "bbox": [ + 105, + 403, + 506, + 416 + ], + "score": 1.0, + "content": "beneficial for extrapolation). As in the rotary method, the T5 bias injects position information into", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 413, + 505, + 428 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 505, + 428 + ], + "score": 1.0, + "content": "the model at every layer and integrates no explicit position information into the self-attention value", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 426, + 140, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 140, + 438 + ], + "score": 1.0, + "content": "vectors.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 21.5 + }, + { + "type": "text", + "bbox": [ + 108, + 442, + 505, + 476 + ], + "lines": [ + { + "bbox": [ + 105, + 441, + 505, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 505, + 455 + ], + "score": 1.0, + "content": "Raffel et al. (2020) propose that the T5 bias may allow extrapolation, but they did not report exper-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 453, + 505, + 465 + ], + "spans": [ + { + "bbox": [ + 105, + 453, + 505, + 465 + ], + "score": 1.0, + "content": "iments testing this. Here, we show that the T5 bias does allow language models to extrapolate. We", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 464, + 477, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 477, + 476 + ], + "score": 1.0, + "content": "do this by again modifying the Baevski & Auli model, this time to insert the T5 bias into it.7", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 481, + 505, + 580 + ], + "lines": [ + { + "bbox": [ + 106, + 482, + 505, + 493 + ], + "spans": [ + { + "bbox": [ + 106, + 482, + 505, + 493 + ], + "score": 1.0, + "content": "As Figure 1 shows, the T5 bias improves perplexity with longer sequences than the ones it was", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 492, + 505, + 504 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 169, + 504 + ], + "score": 1.0, + "content": "trained on, i.e.,", + "type": "text" + }, + { + "bbox": [ + 169, + 492, + 205, + 503 + ], + "score": 0.89, + "content": "k = 6 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 492, + 246, + 503 + ], + "score": 0.82, + "content": "k = 8 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 492, + 393, + 504 + ], + "score": 1.0, + "content": ") extra tokens for a model trained on", + "type": "text" + }, + { + "bbox": [ + 393, + 492, + 431, + 503 + ], + "score": 0.88, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 431, + 492, + 435, + 504 + ], + "score": 0.0, + "content": "", + "type": "text" + }, + { + "bbox": [ + 435, + 492, + 479, + 503 + ], + "score": 0.81, + "content": "L = 1 0 2 4 )", + "type": "inline_equation" + }, + { + "bbox": [ + 479, + 492, + 505, + 504 + ], + "score": 1.0, + "content": ") input", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 503, + 505, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 503, + 505, + 516 + ], + "score": 1.0, + "content": "tokens. Unfortunately, this impressive performance comes at a cost: training is at least twice as slow", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 513, + 505, + 528 + ], + "spans": [ + { + "bbox": [ + 105, + 513, + 505, + 528 + ], + "score": 1.0, + "content": "as with the sinusoidal model. Therefore, this model’s extrapolation ability provides no efficiency", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 525, + 504, + 537 + ], + "spans": [ + { + "bbox": [ + 106, + 525, + 504, + 537 + ], + "score": 1.0, + "content": "advantage. 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(2021): (https:", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 629, + 505, + 641 + ], + "spans": [ + { + "bbox": [ + 106, + 629, + 505, + 641 + ], + "score": 1.0, + "content": "//github.com/ZhuiyiTechnology/roformer). After we finished running our experiments with the", + "type": "text" + } + ] + }, + { + "bbox": [ + 104, + 638, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 104, + 638, + 505, + 651 + ], + "score": 1.0, + "content": "rotary method, we were informed that the runtime of the code linked above could be optimized, making it only", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 648, + 486, + 662 + ], + "spans": [ + { + "bbox": [ + 106, + 649, + 120, + 658 + ], + "score": 0.84, + "content": "2 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 120, + 648, + 486, + 662 + ], + "score": 1.0, + "content": "slower than the sinusoidal approach. This optimization would not change extrapolation performance.", + "type": "text" + } + ] + }, + { + "bbox": [ + 117, + 658, + 389, + 672 + ], + "spans": [ + { + "bbox": [ + 117, + 658, + 389, + 672 + ], + "score": 1.0, + "content": "6This method is similar to the one used in Parikh et al. (2016, Equation 7).", + "type": "text" + } + ] + }, + { + "bbox": [ + 118, + 668, + 505, + 683 + ], + "spans": [ + { + "bbox": [ + 118, + 668, + 505, + 683 + ], + "score": 1.0, + "content": "7Our T5 bias implementation is based on the one used in HuggingFace Transformers (Wolf et al., 2020),", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 680, + 337, + 692 + ], + "spans": [ + { + "bbox": [ + 106, + 680, + 337, + 692 + ], + "score": 1.0, + "content": "which in turn is based on the official Mesh Tensorflow T5 code.", + "type": "text" + } + ] + }, + { + "bbox": [ + 117, + 690, + 505, + 704 + ], + "spans": [ + { + "bbox": [ + 117, + 690, + 346, + 704 + ], + "score": 1.0, + "content": "8Narang et al. (2021) benchmarked the T5 bias as being just", + "type": "text" + }, + { + "bbox": [ + 347, + 691, + 367, + 701 + ], + "score": 0.84, + "content": "8 . 7 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 367, + 690, + 505, + 704 + ], + "score": 1.0, + "content": "slower than the sinusoidal approach;", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 700, + 505, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 700, + 505, + 713 + ], + "score": 1.0, + "content": "thus, while always incurring a runtime penalty, this method’s runtime could be faster depending on the choice", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 712, + 505, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 712, + 505, + 723 + ], + "score": 1.0, + "content": "of hardware and software frameworks used. Narang et al. used the Tensorflow T5 library running on TPUs,", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 721, + 328, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 721, + 328, + 734 + ], + "score": 1.0, + "content": "while we used the PyTorch Fairseq library running on GPUs.", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 752, + 308, + 759 + ], + "lines": [] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 504, + 127 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "score": 1.0, + "content": "Rotary Position Embeddings The rotary method was introduced by Su et al. (2021) and has", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "score": 1.0, + "content": "recently been popularized by the open source GPT-3 (Brown et al., 2020) implementation GPT-", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "J (Wang & Komatsuzaki, 2021). Instead of adding sinusoidal embeddings at the bottom of the", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 114, + 500, + 129 + ], + "spans": [ + { + "bbox": [ + 105, + 114, + 500, + 129 + ], + "score": 1.0, + "content": "transformer, they multiply the keys and queries of every attention layer by sinusoidal embeddings.", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5, + "bbox_fs": [ + 105, + 82, + 506, + 129 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 132, + 505, + 209 + ], + "lines": [ + { + "bbox": [ + 105, + 131, + 505, + 145 + ], + "spans": [ + { + "bbox": [ + 105, + 131, + 505, + 145 + ], + "score": 1.0, + "content": "Unlike the sinusoidal or learned positional embedding approach, the rotary method injects position", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 143, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 143, + 505, + 156 + ], + "score": 1.0, + "content": "information into the model at every layer, not just at the initial one. In addition, it adds no position", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 153, + 506, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 153, + 506, + 167 + ], + "score": 1.0, + "content": "information to the values of the self-attention sublayer. The output of a self-attention sublayer is a", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "linearly transformed, weighted sum of the input value vectors; therefore, by not inserting position", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 505, + 189 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 505, + 189 + ], + "score": 1.0, + "content": "information into the values, the outputs of each transformer-layer contain no explicit position infor-", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 505, + 200 + ], + "score": 1.0, + "content": "mation. We suspect that this segregation of position information may be beneficial for extrapolation,", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 199, + 368, + 210 + ], + "spans": [ + { + "bbox": [ + 106, + 199, + 368, + 210 + ], + "score": 1.0, + "content": "and we draw inspiration from it in the design of our method (§3).", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7, + "bbox_fs": [ + 105, + 131, + 506, + 210 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 215, + 505, + 259 + ], + "lines": [ + { + "bbox": [ + 105, + 213, + 505, + 228 + ], + "spans": [ + { + "bbox": [ + 105, + 213, + 505, + 228 + ], + "score": 1.0, + "content": "We apply the rotary position embedding method to our Baevski & Auli baseline.5 The perplexity", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 226, + 505, + 238 + ], + "spans": [ + { + "bbox": [ + 105, + 226, + 505, + 238 + ], + "score": 1.0, + "content": "results (Figure 1 and Appendix Tables 2 and 3) are better than the sinusoidal approach: the model", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 236, + 506, + 249 + ], + "spans": [ + { + "bbox": [ + 105, + 236, + 127, + 249 + ], + "score": 1.0, + "content": "with", + "type": "text" + }, + { + "bbox": [ + 127, + 237, + 165, + 248 + ], + "score": 0.87, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 236, + 169, + 249 + ], + "score": 0.0, + "content": "", + "type": "text" + }, + { + "bbox": [ + 169, + 237, + 213, + 248 + ], + "score": 0.81, + "content": "L = 1 0 2 4 )", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 236, + 343, + 249 + ], + "score": 1.0, + "content": ") improves perplexity with up to", + "type": "text" + }, + { + "bbox": [ + 343, + 237, + 380, + 248 + ], + "score": 0.87, + "content": "k = 2 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 384, + 237, + 421, + 248 + ], + "score": 0.79, + "content": "k = 1 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 421, + 236, + 506, + 249 + ], + "score": 1.0, + "content": ") more tokens than it", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 248, + 466, + 260 + ], + "spans": [ + { + "bbox": [ + 106, + 248, + 466, + 260 + ], + "score": 1.0, + "content": "saw during training, but this comes at the cost of slower training and inference (Figure 2).", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 12.5, + "bbox_fs": [ + 105, + 213, + 506, + 260 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 283, + 505, + 436 + ], + "lines": [ + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 505, + 295 + ], + "score": 1.0, + "content": "T5 Bias Though most models use trained or sinusoidal position embeddings, the T5 model of Raf-", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 293, + 505, + 307 + ], + "spans": [ + { + "bbox": [ + 105, + 293, + 505, + 307 + ], + "score": 1.0, + "content": "fel et al. (2020) uses a relative position method (Shaw et al., 2018; Huang et al., 2019) that adds no", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 104, + 303, + 506, + 319 + ], + "spans": [ + { + "bbox": [ + 104, + 303, + 506, + 319 + ], + "score": 1.0, + "content": "position information to word embeddings (as in the previous method). Instead, it modifies the way", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 104, + 314, + 506, + 329 + ], + "spans": [ + { + "bbox": [ + 104, + 314, + 506, + 329 + ], + "score": 1.0, + "content": "attention values are computed. We refer to this as the “T5 bias” method.6 To compute attention", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 327, + 505, + 340 + ], + "spans": [ + { + "bbox": [ + 106, + 327, + 505, + 340 + ], + "score": 1.0, + "content": "values in the unmodified transformer, we compute the dot product of every query with every rele-", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 338, + 505, + 350 + ], + "spans": [ + { + "bbox": [ + 106, + 338, + 505, + 350 + ], + "score": 1.0, + "content": "vant key and then softmax these attention values. In this method, we compute the attention values", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 349, + 506, + 362 + ], + "spans": [ + { + "bbox": [ + 105, + 349, + 506, + 362 + ], + "score": 1.0, + "content": "as before, but then we add a learned, shared bias to each query-key score that is dependent on just", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 359, + 505, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 359, + 505, + 373 + ], + "score": 1.0, + "content": "the distance between the query and key. Therefore, all query-key scores where the query and key", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 370, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 105, + 370, + 505, + 384 + ], + "score": 1.0, + "content": "distance are zero (i.e., the query and key represent the same token) get a specific learned bias, all", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 381, + 506, + 394 + ], + "spans": [ + { + "bbox": [ + 105, + 381, + 506, + 394 + ], + "score": 1.0, + "content": "scores where the query and key are one word away get a different learned bias, and so on, up to a", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 392, + 505, + 405 + ], + "spans": [ + { + "bbox": [ + 105, + 392, + 505, + 405 + ], + "score": 1.0, + "content": "certain point, from where multiple different distances share the same learned bias (which might be", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 403, + 506, + 416 + ], + "spans": [ + { + "bbox": [ + 105, + 403, + 506, + 416 + ], + "score": 1.0, + "content": "beneficial for extrapolation). As in the rotary method, the T5 bias injects position information into", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 413, + 505, + 428 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 505, + 428 + ], + "score": 1.0, + "content": "the model at every layer and integrates no explicit position information into the self-attention value", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 426, + 140, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 140, + 438 + ], + "score": 1.0, + "content": "vectors.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 21.5, + "bbox_fs": [ + 104, + 282, + 506, + 438 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 442, + 505, + 476 + ], + "lines": [ + { + "bbox": [ + 105, + 441, + 505, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 505, + 455 + ], + "score": 1.0, + "content": "Raffel et al. (2020) propose that the T5 bias may allow extrapolation, but they did not report exper-", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 453, + 505, + 465 + ], + "spans": [ + { + "bbox": [ + 105, + 453, + 505, + 465 + ], + "score": 1.0, + "content": "iments testing this. Here, we show that the T5 bias does allow language models to extrapolate. 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Figure 3 offers a visualization.", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 22 + }, + { + "type": "text", + "bbox": [ + 106, + 419, + 505, + 483 + ], + "lines": [ + { + "bbox": [ + 105, + 418, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 447, + 433 + ], + "score": 1.0, + "content": "For our models with 8 heads, the slopes that we used are the geometric sequence:", + "type": "text" + }, + { + "bbox": [ + 448, + 418, + 501, + 434 + ], + "score": 0.9, + "content": "{ \\frac { 1 } { 2 ^ { 1 } } } , { \\frac { 1 } { 2 ^ { 2 } } } , . . . , { \\frac { 1 } { 2 ^ { 8 } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 424, + 505, + 435 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 429, + 505, + 444 + ], + "spans": [ + { + "bbox": [ + 105, + 429, + 505, + 444 + ], + "score": 1.0, + "content": "For models that require 16 heads, we interpolate those 8 slopes by geometrically averaging every", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 441, + 501, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 384, + 455 + ], + "score": 1.0, + "content": "consecutive pair, resulting in the geometric sequence that starts at", + "type": "text" + }, + { + "bbox": [ + 384, + 441, + 398, + 457 + ], + "score": 0.91, + "content": "\\frac { 1 } { \\sqrt { 2 } }", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 442, + 487, + 454 + ], + "score": 1.0, + "content": "and has the ratio of", + "type": "text" + }, + { + "bbox": [ + 487, + 441, + 501, + 457 + ], + "score": 0.9, + "content": "\\frac { 1 } { \\sqrt { 2 } }", + "type": "inline_equation" + } + ], + "index": 25 + }, + { + "bbox": [ + 107, + 455, + 506, + 470 + ], + "spans": [ + { + "bbox": [ + 107, + 455, + 186, + 470 + ], + "score": 0.81, + "content": "\\textstyle { \\frac { 1 } { 2 ^ { 0 . 5 } } } , { \\frac { 1 } { 2 ^ { 1 } } } , { \\frac { 1 } { 2 ^ { 1 . 5 } } } , \\dotsc , { \\frac { 1 } { 2 ^ { 8 } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 187, + 456, + 251, + 470 + ], + "score": 1.0, + "content": ". In general, for", + "type": "text" + }, + { + "bbox": [ + 252, + 459, + 259, + 466 + ], + "score": 0.75, + "content": "n", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 456, + 506, + 470 + ], + "score": 1.0, + "content": "heads, our set of slopes is the geometric sequence that starts", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 469, + 281, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 471, + 116, + 483 + ], + "score": 1.0, + "content": "at", + "type": "text" + }, + { + "bbox": [ + 116, + 469, + 133, + 481 + ], + "score": 0.89, + "content": "2 ^ { \\frac { - 8 } { n } }", + "type": "inline_equation" + }, + { + "bbox": [ + 134, + 471, + 281, + 483 + ], + "score": 1.0, + "content": "and uses that same value as its ratio.", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 106, + 488, + 505, + 543 + ], + "lines": [ + { + "bbox": [ + 106, + 488, + 505, + 500 + ], + "spans": [ + { + "bbox": [ + 106, + 488, + 117, + 500 + ], + "score": 1.0, + "content": "In", + "type": "text" + }, + { + "bbox": [ + 118, + 488, + 129, + 499 + ], + "score": 0.75, + "content": "\\ S 4", + "type": "inline_equation" + }, + { + "bbox": [ + 129, + 488, + 505, + 500 + ], + "score": 1.0, + "content": ", we observe that this set of slopes works on a wide variety of text domains and model sizes.", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 498, + 505, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 505, + 511 + ], + "score": 1.0, + "content": "Therefore, we do not believe that it is necessary to tune these slope values every time a new model", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 510, + 505, + 522 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 505, + 522 + ], + "score": 1.0, + "content": "is trained on a new dataset. This makes our method similar to the sinusoidal approach, where the", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 520, + 505, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 505, + 534 + ], + "score": 1.0, + "content": "hyperparameters (the start and end of the geometric progression of wavelengths) were set once", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 531, + 505, + 544 + ], + "spans": [ + { + "bbox": [ + 105, + 531, + 505, + 544 + ], + "score": 1.0, + "content": "by Vaswani et al. 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The different", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 571, + 437, + 583 + ], + "spans": [ + { + "bbox": [ + 106, + 571, + 437, + 583 + ], + "score": 1.0, + "content": "heads increase their penalties at different rates, depending on the slope magnitude.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 106, + 587, + 505, + 654 + ], + "lines": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "score": 1.0, + "content": "We initially experimented with making the slopes trainable, but this did not yield strong extrapola-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 104, + 597, + 505, + 612 + ], + "spans": [ + { + "bbox": [ + 104, + 597, + 505, + 612 + ], + "score": 1.0, + "content": "tion results.11 A brief manual exploration of around ten slope sets led us to discover the set of slopes", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 609, + 505, + 622 + ], + "spans": [ + { + "bbox": [ + 105, + 609, + 505, + 622 + ], + "score": 1.0, + "content": "that we finally picked. 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Even randomly sampling from the exponential", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 642, + 433, + 655 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 433, + 655 + ], + "score": 1.0, + "content": "distribution worked well in some cases (although that method had high variance).", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 38.5 + }, + { + "type": "text", + "bbox": [ + 108, + 659, + 504, + 693 + ], + "lines": [ + { + "bbox": [ + 106, + 658, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 106, + 658, + 505, + 672 + ], + "score": 1.0, + "content": "Since ALiBi is a relative position method, we add position information at every layer to the keys", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 107, + 671, + 504, + 682 + ], + "spans": [ + { + "bbox": [ + 107, + 671, + 504, + 682 + ], + "score": 1.0, + "content": "and queries but not to the values, as is done in the T5 bias and rotary methods. 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In general, for", + "type": "text" + }, + { + "bbox": [ + 252, + 459, + 259, + 466 + ], + "score": 0.75, + "content": "n", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 456, + 506, + 470 + ], + "score": 1.0, + "content": "heads, our set of slopes is the geometric sequence that starts", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 469, + 281, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 471, + 116, + 483 + ], + "score": 1.0, + "content": "at", + "type": "text" + }, + { + "bbox": [ + 116, + 469, + 133, + 481 + ], + "score": 0.89, + "content": "2 ^ { \\frac { - 8 } { n } }", + "type": "inline_equation" + }, + { + "bbox": [ + 134, + 471, + 281, + 483 + ], + "score": 1.0, + "content": "and uses that same value as its ratio.", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 418, + 506, + 483 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 488, + 505, + 543 + ], + "lines": [ + { + "bbox": [ + 106, + 488, + 505, + 500 + ], + "spans": [ + { + "bbox": [ + 106, + 488, + 117, + 500 + ], + "score": 1.0, + "content": "In", + "type": "text" + }, + { + "bbox": [ + 118, + 488, + 129, + 499 + ], + "score": 0.75, + "content": "\\ S 4", + "type": "inline_equation" + }, + { + "bbox": [ + 129, + 488, + 505, + 500 + ], + "score": 1.0, + "content": ", we observe that this set of slopes works on a wide variety of text domains and model sizes.", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 498, + 505, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 505, + 511 + ], + "score": 1.0, + "content": "Therefore, we do not believe that it is necessary to tune these slope values every time a new model", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 510, + 505, + 522 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 505, + 522 + ], + "score": 1.0, + "content": "is trained on a new dataset. This makes our method similar to the sinusoidal approach, where the", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 520, + 505, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 505, + 534 + ], + "score": 1.0, + "content": "hyperparameters (the start and end of the geometric progression of wavelengths) were set once", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 531, + 505, + 544 + ], + "spans": [ + { + "bbox": [ + 105, + 531, + 505, + 544 + ], + "score": 1.0, + "content": "by Vaswani et al. (2017) and then reused in different models of different sizes on different datasets.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 30, + "bbox_fs": [ + 105, + 488, + 505, + 544 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 548, + 503, + 582 + ], + "lines": [ + { + "bbox": [ + 105, + 547, + 505, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 547, + 505, + 562 + ], + "score": 1.0, + "content": "ALiBi has an inductive bias towards recency; it penalizes attention scores between distant query-key", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 560, + 505, + 572 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 572 + ], + "score": 1.0, + "content": "pairs, with the penalty increasing as the distance between a key and a query grows. The different", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 571, + 437, + 583 + ], + "spans": [ + { + "bbox": [ + 106, + 571, + 437, + 583 + ], + "score": 1.0, + "content": "heads increase their penalties at different rates, depending on the slope magnitude.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 34, + "bbox_fs": [ + 105, + 547, + 505, + 583 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 587, + 505, + 654 + ], + "lines": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "score": 1.0, + "content": "We initially experimented with making the slopes trainable, but this did not yield strong extrapola-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 104, + 597, + 505, + 612 + ], + "spans": [ + { + "bbox": [ + 104, + 597, + 505, + 612 + ], + "score": 1.0, + "content": "tion results.11 A brief manual exploration of around ten slope sets led us to discover the set of slopes", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 609, + 505, + 622 + ], + "spans": [ + { + "bbox": [ + 105, + 609, + 505, + 622 + ], + "score": 1.0, + "content": "that we finally picked. Our main insight from this exploration is that the slope sets that work best are", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 621, + 505, + 633 + ], + "spans": [ + { + "bbox": [ + 106, + 621, + 205, + 633 + ], + "score": 1.0, + "content": "those with slopes in the", + "type": "text" + }, + { + "bbox": [ + 205, + 621, + 228, + 633 + ], + "score": 0.9, + "content": "( 0 , 1 )", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 621, + 505, + 633 + ], + "score": 1.0, + "content": "range, with the slopes’ density increasing as we get closer to 0. We", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 631, + 505, + 644 + ], + "spans": [ + { + "bbox": [ + 105, + 631, + 505, + 644 + ], + "score": 1.0, + "content": "also found our method to be robust to slope choice. Even randomly sampling from the exponential", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 642, + 433, + 655 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 433, + 655 + ], + "score": 1.0, + "content": "distribution worked well in some cases (although that method had high variance).", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 38.5, + "bbox_fs": [ + 104, + 587, + 505, + 655 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 659, + 504, + 693 + ], + "lines": [ + { + "bbox": [ + 106, + 658, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 106, + 658, + 505, + 672 + ], + "score": 1.0, + "content": "Since ALiBi is a relative position method, we add position information at every layer to the keys", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 107, + 671, + 504, + 682 + ], + "spans": [ + { + "bbox": [ + 107, + 671, + 504, + 682 + ], + "score": 1.0, + "content": "and queries but not to the values, as is done in the T5 bias and rotary methods. We hypothesize that", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 107, + 682, + 321, + 694 + ], + "spans": [ + { + "bbox": [ + 107, + 682, + 321, + 694 + ], + "score": 1.0, + "content": "these properties might be beneficial for extrapolation.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 43, + "bbox_fs": [ + 106, + 658, + 505, + 694 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 505, + 138 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 506, + 96 + ], + "score": 1.0, + "content": "Implementation. ALiBi is easy to implement, with all changes accomplished in a few lines of", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 505, + 107 + ], + "score": 1.0, + "content": "code. We implement it by modifying the mask matrix by adding the linear biases to it (in practice,", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 103, + 505, + 119 + ], + "spans": [ + { + "bbox": [ + 105, + 103, + 264, + 119 + ], + "score": 1.0, + "content": "when training a transformer LM, query", + "type": "text" + }, + { + "bbox": [ + 264, + 106, + 275, + 116 + ], + "score": 0.85, + "content": "\\mathbf { q } _ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 275, + 103, + 374, + 119 + ], + "score": 1.0, + "content": "attends only to keys 1 to", + "type": "text" + }, + { + "bbox": [ + 375, + 105, + 379, + 114 + ], + "score": 0.73, + "content": "i", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 103, + 505, + 119 + ], + "score": 1.0, + "content": "; this is implemented by adding", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "a mask matrix to the query-key dot product before the softmax operation is applied). This means", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 502, + 140 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 502, + 140 + ], + "score": 1.0, + "content": "that there is no runtime penalty when using our method since we add no operations to the network.", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2 + }, + { + "type": "text", + "bbox": [ + 107, + 143, + 505, + 210 + ], + "lines": [ + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "score": 1.0, + "content": "Compared to the sinusoidal model trained on the same input lengths, AliBi incurs a memory increase", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 477, + 167 + ], + "score": 1.0, + "content": "(up to 100MB in some of our experiments): in the unmodified transformer, the mask is of size", + "type": "text" + }, + { + "bbox": [ + 477, + 154, + 501, + 165 + ], + "score": 0.88, + "content": "L \\times L", + "type": "inline_equation" + }, + { + "bbox": [ + 501, + 154, + 505, + 167 + ], + "score": 1.0, + "content": ";", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 165, + 505, + 177 + ], + "spans": [ + { + "bbox": [ + 106, + 166, + 294, + 177 + ], + "score": 1.0, + "content": "when using ALiBi, the mask is a slightly larger", + "type": "text" + }, + { + "bbox": [ + 295, + 165, + 335, + 176 + ], + "score": 0.92, + "content": "n \\times L \\times L", + "type": "inline_equation" + }, + { + "bbox": [ + 335, + 166, + 365, + 177 + ], + "score": 1.0, + "content": "(where", + "type": "text" + }, + { + "bbox": [ + 365, + 167, + 372, + 175 + ], + "score": 0.77, + "content": "n", + "type": "inline_equation" + }, + { + "bbox": [ + 373, + 166, + 505, + 177 + ], + "score": 1.0, + "content": "is the number of heads) since the", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 175, + 505, + 189 + ], + "spans": [ + { + "bbox": [ + 105, + 175, + 505, + 189 + ], + "score": 1.0, + "content": "linear biases added for each head uses a different slope. But, as we show, ALiBi enables training on", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 186, + 506, + 201 + ], + "spans": [ + { + "bbox": [ + 105, + 186, + 506, + 201 + ], + "score": 1.0, + "content": "much smaller sequences while still achieving (and occasionally surpassing) results obtained using", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 198, + 461, + 211 + ], + "spans": [ + { + "bbox": [ + 105, + 198, + 461, + 211 + ], + "score": 1.0, + "content": "sinusoidal embeddings on longer sequences, which saves multiple gigabytes of memory.", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7.5 + }, + { + "type": "title", + "bbox": [ + 108, + 225, + 172, + 237 + ], + "lines": [ + { + "bbox": [ + 104, + 223, + 174, + 240 + ], + "spans": [ + { + "bbox": [ + 104, + 223, + 174, + 240 + ], + "score": 1.0, + "content": "4 RESULTS", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 11 + }, + { + "type": "text", + "bbox": [ + 107, + 249, + 505, + 338 + ], + "lines": [ + { + "bbox": [ + 106, + 249, + 505, + 262 + ], + "spans": [ + { + "bbox": [ + 106, + 249, + 505, + 262 + ], + "score": 1.0, + "content": "We first show that on WikiText103 ALiBi is efficient and enables training models with short input", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 261, + 505, + 273 + ], + "spans": [ + { + "bbox": [ + 105, + 261, + 505, + 273 + ], + "score": 1.0, + "content": "subsequences that outperform strong baselines even when the ALiBi models extrapolate to more than", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 272, + 505, + 283 + ], + "spans": [ + { + "bbox": [ + 106, + 272, + 505, + 283 + ], + "score": 1.0, + "content": "six times the number of tokens that they were trained on. We then take the same hyperparameters for", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 282, + 506, + 295 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 506, + 295 + ], + "score": 1.0, + "content": "our method (the set of slopes) that worked on WikiText-103 and show that – with no modification", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 294, + 505, + 306 + ], + "spans": [ + { + "bbox": [ + 105, + 294, + 505, + 306 + ], + "score": 1.0, + "content": "– they provide strong results on a dataset in a very different domain: books. Finally, we show that", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 305, + 505, + 317 + ], + "spans": [ + { + "bbox": [ + 105, + 305, + 505, + 317 + ], + "score": 1.0, + "content": "a 1.3B parameter model trained with AliBi on a much larger (461 GB) dataset with much more", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 316, + 504, + 328 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 504, + 328 + ], + "score": 1.0, + "content": "compute provides a superior alternative to the sinusoidal method since it achieves similar perplexity", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 327, + 459, + 339 + ], + "spans": [ + { + "bbox": [ + 105, + 327, + 459, + 339 + ], + "score": 1.0, + "content": "scores while running faster and using less memory (since it is trained on shorter inputs).", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 15.5 + }, + { + "type": "text", + "bbox": [ + 107, + 343, + 505, + 410 + ], + "lines": [ + { + "bbox": [ + 106, + 343, + 505, + 356 + ], + "spans": [ + { + "bbox": [ + 106, + 343, + 505, + 356 + ], + "score": 1.0, + "content": "While multiple alternatives to the position methods presented in Vaswani et al. (2017) have been", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 354, + 506, + 366 + ], + "spans": [ + { + "bbox": [ + 105, + 354, + 506, + 366 + ], + "score": 1.0, + "content": "proposed, few have been adopted in large (1B or more parameter) LMs since that setting is much", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 366, + 505, + 378 + ], + "spans": [ + { + "bbox": [ + 105, + 366, + 505, + 378 + ], + "score": 1.0, + "content": "more challenging than the smaller scale experiments. 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All of our models", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 602, + 505, + 614 + ], + "spans": [ + { + "bbox": [ + 106, + 602, + 505, + 614 + ], + "score": 1.0, + "content": "outperform the sinusoidal ones even when trained on fewer tokens. 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Figure 1 (and the corresponding Appendix Tables 2 and 3) more broadly explore our", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 275, + 505, + 287 + ], + "spans": [ + { + "bbox": [ + 105, + 275, + 505, + 287 + ], + "score": 1.0, + "content": "method vs. the other position methods. 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Even when unable to improve perplexity given longer sequences,", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 319, + 391, + 331 + ], + "spans": [ + { + "bbox": [ + 105, + 319, + 391, + 331 + ], + "score": 1.0, + "content": "ALiBi always maintains strong performance as more tokens are added.", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 17.5 + }, + { + "type": "text", + "bbox": [ + 107, + 335, + 505, + 435 + ], + "lines": [ + { + "bbox": [ + 106, + 336, + 505, + 348 + ], + "spans": [ + { + "bbox": [ + 106, + 336, + 505, + 348 + ], + "score": 1.0, + "content": "Appendix Table 6 shows that our results on the validation set also transfer to the test set of WikiText-", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 345, + 505, + 359 + ], + "spans": [ + { + "bbox": [ + 105, + 345, + 505, + 359 + ], + "score": 1.0, + "content": "103. 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Our results are similar to the ones obtained with staged train-", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "score": 1.0, + "content": "ing (Press et al., 2021) but fall short of results obtained by Routing Transformer (Roy et al., 2020)", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 411, + 506, + 426 + ], + "spans": [ + { + "bbox": [ + 105, + 411, + 506, + 426 + ], + "score": 1.0, + "content": "and kNN-LM (Khandelwal et al., 2020). 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Our models are able to both surpass the sinusoidal baseline when not extrapolating while also", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 485, + 336, + 497 + ], + "spans": [ + { + "bbox": [ + 106, + 485, + 336, + 497 + ], + "score": 1.0, + "content": "outperforming it when extrapolating to longer sequences.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 33 + }, + { + "type": "title", + "bbox": [ + 108, + 515, + 327, + 526 + ], + "lines": [ + { + "bbox": [ + 105, + 514, + 329, + 528 + ], + "spans": [ + { + "bbox": [ + 105, + 514, + 329, + 528 + ], + "score": 1.0, + "content": "4.2 RESULTS ON THE CC100+ROBERTA CORPUS", + "type": "text" + } + ], + "index": 36 + } + ], + "index": 36 + }, + { + "type": "text", + "bbox": [ + 107, + 538, + 505, + 582 + ], + "lines": [ + { + "bbox": [ + 106, + 538, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 106, + 538, + 506, + 550 + ], + "score": 1.0, + "content": "Our final set of experiments investigates whether ALiBi transfers to a larger model trained with a", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 549, + 505, + 561 + ], + "spans": [ + { + "bbox": [ + 106, + 549, + 505, + 561 + ], + "score": 1.0, + "content": "larger computational budget on a larger dataset than the ones we previously used. 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Figure 1 (and the corresponding Appendix Tables 2 and 3) more broadly explore our", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 275, + 505, + 287 + ], + "spans": [ + { + "bbox": [ + 105, + 275, + 505, + 287 + ], + "score": 1.0, + "content": "method vs. the other position methods. 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The methods used in those models are orthogonal to ours,", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 423, + 505, + 437 + ], + "spans": [ + { + "bbox": [ + 105, + 423, + 505, + 437 + ], + "score": 1.0, + "content": "and we hypothesize that combining them with ours might lead to even larger performance increases.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 26, + "bbox_fs": [ + 105, + 336, + 506, + 437 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 440, + 504, + 495 + ], + "lines": [ + { + "bbox": [ + 106, + 441, + 505, + 452 + ], + "spans": [ + { + "bbox": [ + 106, + 441, + 505, + 452 + ], + "score": 1.0, + "content": "After developing our method on WikiText-103, in Appendix Section A.3, we run one set of experi-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 450, + 505, + 464 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 464 + ], + "score": 1.0, + "content": "ments on a different domain (books) using a similar model architecture and without modifying any", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 461, + 505, + 475 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 505, + 475 + ], + "score": 1.0, + "content": "of the ALiBi hyperparameters (the slopes) and show that our results fully transfer to this new do-", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 473, + 506, + 486 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 506, + 486 + ], + "score": 1.0, + "content": "main. Our models are able to both surpass the sinusoidal baseline when not extrapolating while also", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 485, + 336, + 497 + ], + "spans": [ + { + "bbox": [ + 106, + 485, + 336, + 497 + ], + "score": 1.0, + "content": "outperforming it when extrapolating to longer sequences.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 33, + "bbox_fs": [ + 105, + 441, + 506, + 497 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 515, + 327, + 526 + ], + "lines": [ + { + "bbox": [ + 105, + 514, + 329, + 528 + ], + "spans": [ + { + "bbox": [ + 105, + 514, + 329, + 528 + ], + "score": 1.0, + "content": "4.2 RESULTS ON THE CC100+ROBERTA CORPUS", + "type": "text" + } + ], + "index": 36 + } + ], + "index": 36 + }, + { + "type": "text", + "bbox": [ + 107, + 538, + 505, + 582 + ], + "lines": [ + { + "bbox": [ + 106, + 538, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 106, + 538, + 506, + 550 + ], + "score": 1.0, + "content": "Our final set of experiments investigates whether ALiBi transfers to a larger model trained with a", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 549, + 505, + 561 + ], + "spans": [ + { + "bbox": [ + 106, + 549, + 505, + 561 + ], + "score": 1.0, + "content": "larger computational budget on a larger dataset than the ones we previously used. We show that our", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "score": 1.0, + "content": "method achieves strong results in this more challenging setting, obtaining similar performance to the", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 572, + 500, + 583 + ], + "spans": [ + { + "bbox": [ + 106, + 572, + 500, + 583 + ], + "score": 1.0, + "content": "sinusoidal baseline while using significantly less memory, since we train on shorter subsequences.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 38.5, + "bbox_fs": [ + 105, + 538, + 506, + 583 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 587, + 505, + 654 + ], + "lines": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "score": 1.0, + "content": "The dataset we choose is a combination of the datasets used to train the RoBERTa (Liu et al., 2019)", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 599, + 505, + 612 + ], + "spans": [ + { + "bbox": [ + 105, + 599, + 505, + 612 + ], + "score": 1.0, + "content": "implementation of BERT (Devlin et al., 2019) and the English part of the CC-100 corpus intro-", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 608, + 505, + 623 + ], + "spans": [ + { + "bbox": [ + 105, + 608, + 505, + 623 + ], + "score": 1.0, + "content": "duced in Conneau et al. (2020), for a total of 461 GB. The RoBERTa training corpus—i.e., the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 621, + 505, + 634 + ], + "spans": [ + { + "bbox": [ + 105, + 621, + 505, + 634 + ], + "score": 1.0, + "content": "Toronto Book Corpus (Zhu et al., 2015), English Wikipedia, CC-News (Nagel, 2016), OpenWeb-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 631, + 506, + 645 + ], + "spans": [ + { + "bbox": [ + 105, + 631, + 506, + 645 + ], + "score": 1.0, + "content": "Text (Gokaslan & Cohen, 2019) and Stories (Trinh & Le, 2018))—is 161 gigabytes, and the English", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 642, + 448, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 448, + 656 + ], + "score": 1.0, + "content": "part of the CC-100 corpus is 300 gigabytes. The validation set contains 649K tokens.", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 43.5, + "bbox_fs": [ + 105, + 587, + 506, + 656 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 660, + 505, + 693 + ], + "lines": [ + { + "bbox": [ + 107, + 660, + 504, + 671 + ], + "spans": [ + { + "bbox": [ + 107, + 660, + 504, + 671 + ], + "score": 1.0, + "content": "Our models for this dataset have 25 transformer layers with 16 heads and a dimension of 2048, with", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 671, + 505, + 682 + ], + "spans": [ + { + "bbox": [ + 106, + 671, + 505, + 682 + ], + "score": 1.0, + "content": "an 8192 hidden dimension of the feedforward sublayers. These models have 1.3B parameters. We", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 682, + 403, + 694 + ], + "spans": [ + { + "bbox": [ + 106, + 682, + 270, + 694 + ], + "score": 1.0, + "content": "train our models for one epoch, which is", + "type": "text" + }, + { + "bbox": [ + 270, + 682, + 287, + 692 + ], + "score": 0.57, + "content": "5 0 \\mathrm { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 682, + 403, + 694 + ], + "score": 1.0, + "content": "updates on 128 V100 GPUs.", + "type": "text" + } + ], + "index": 49 + } + ], + "index": 48, + "bbox_fs": [ + 106, + 660, + 505, + 694 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 699, + 504, + 731 + ], + "lines": [ + { + "bbox": [ + 105, + 698, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 352, + 712 + ], + "score": 1.0, + "content": "In Figure 5 (left), we compare the validation perplexity for", + "type": "text" + }, + { + "bbox": [ + 352, + 699, + 407, + 710 + ], + "score": 0.9, + "content": "L _ { \\nu a l i d } = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 407, + 698, + 506, + 712 + ], + "score": 1.0, + "content": "throughout the training", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 710, + 505, + 721 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 276, + 721 + ], + "score": 1.0, + "content": "process for an ALiBi model trained with", + "type": "text" + }, + { + "bbox": [ + 276, + 710, + 311, + 720 + ], + "score": 0.89, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 312, + 710, + 505, + 721 + ], + "score": 1.0, + "content": "compared to the sinusoidal model trained with", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 107, + 720, + 506, + 732 + ], + "spans": [ + { + "bbox": [ + 107, + 721, + 147, + 731 + ], + "score": 0.9, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 720, + 374, + 732 + ], + "score": 1.0, + "content": ". Since our model is trained on shorter sequences, it is", + "type": "text" + }, + { + "bbox": [ + 374, + 721, + 389, + 731 + ], + "score": 0.85, + "content": "7 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 389, + 720, + 506, + 732 + ], + "score": 1.0, + "content": "faster and uses 1.6 GB less", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 289, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 105, + 289, + 506, + 303 + ], + "score": 1.0, + "content": "memory. We halt training of the sinusoidal baseline when our model reaches the end of its training", + "type": "text", + "cross_page": true + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 301, + 505, + 313 + ], + "spans": [ + { + "bbox": [ + 106, + 301, + 505, + 313 + ], + "score": 1.0, + "content": "(one epoch). At that time, our model is just 0.06 perplexity away from the baseline even though it", + "type": "text", + "cross_page": true + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 312, + 505, + 325 + ], + "spans": [ + { + "bbox": [ + 106, + 312, + 505, + 325 + ], + "score": 1.0, + "content": "was trained on sequences that are half the length of those the baseline used and requires less memory.", + "type": "text", + "cross_page": true + } + ], + "index": 9 + } + ], + "index": 51, + "bbox_fs": [ + 105, + 698, + 506, + 732 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 127, + 81, + 482, + 213 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 127, + 81, + 482, + 213 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 127, + 81, + 482, + 213 + ], + "spans": [ + { + "bbox": [ + 127, + 81, + 482, + 213 + ], + "score": 0.97, + "type": "image", + "image_path": "62e1ddb45dd45ac9aad501c22f605e26e185a1d9f475f7db8b3e49274186cebf.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 127, + 81, + 482, + 125.0 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 127, + 125.0, + 482, + 169.0 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 127, + 169.0, + 482, + 213.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 224, + 505, + 269 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 225, + 505, + 236 + ], + "spans": [ + { + "bbox": [ + 106, + 225, + 505, + 236 + ], + "score": 1.0, + "content": "Figure 5: On the left (right), a 1.3B-parameter ALiBi model trained on 512 (1024) and evaluated on", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 235, + 505, + 248 + ], + "spans": [ + { + "bbox": [ + 106, + 235, + 505, + 248 + ], + "score": 1.0, + "content": "1024 (2048) tokens during training, compared to the sinusoidal baseline trained on 1024 (2048) to-", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 104, + 246, + 505, + 260 + ], + "spans": [ + { + "bbox": [ + 104, + 246, + 373, + 260 + ], + "score": 1.0, + "content": "kens. The ALiBi models obtain strong results even though they use", + "type": "text" + }, + { + "bbox": [ + 373, + 246, + 410, + 257 + ], + "score": 0.67, + "content": "6 \\% - 1 1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 410, + 246, + 505, + 260 + ], + "score": 1.0, + "content": "less memory since they", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 258, + 504, + 270 + ], + "spans": [ + { + "bbox": [ + 105, + 258, + 504, + 270 + ], + "score": 1.0, + "content": "train on shorter sequences. Appendix Table 11 shows memory use and end-of-training perplexities.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4.5 + } + ], + "index": 2.75 + }, + { + "type": "text", + "bbox": [ + 108, + 289, + 504, + 324 + ], + "lines": [ + { + "bbox": [ + 105, + 289, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 105, + 289, + 506, + 303 + ], + "score": 1.0, + "content": "memory. 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Our model maintains a lead", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 362, + 505, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 505, + 375 + ], + "score": 1.0, + "content": "in perplexity over the sinusoidal model during the entire training process. By sampling five evenly", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 372, + 506, + 386 + ], + "spans": [ + { + "bbox": [ + 105, + 372, + 374, + 386 + ], + "score": 1.0, + "content": "distributed points across the training process, we compute that our", + "type": "text" + }, + { + "bbox": [ + 374, + 373, + 413, + 383 + ], + "score": 0.88, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 413, + 372, + 506, + 386 + ], + "score": 1.0, + "content": "model reaches a given", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 384, + 398, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 384, + 223, + 396 + ], + "score": 1.0, + "content": "perplexity value, on average,", + "type": "text" + }, + { + "bbox": [ + 224, + 384, + 243, + 394 + ], + "score": 0.86, + "content": "11 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 244, + 384, + 398, + 396 + ], + "score": 1.0, + "content": "faster than the sinusoidal model does.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 12.5 + }, + { + "type": "text", + "bbox": [ + 108, + 401, + 504, + 434 + ], + "lines": [ + { + "bbox": [ + 105, + 400, + 505, + 414 + ], + "spans": [ + { + "bbox": [ + 105, + 400, + 505, + 414 + ], + "score": 1.0, + "content": "Since our models in these comparisons use much less memory, they allow for stacking more layers,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 412, + 505, + 424 + ], + "spans": [ + { + "bbox": [ + 106, + 412, + 505, + 424 + ], + "score": 1.0, + "content": "which would further improve performance (with negligible, if any, runtime cost). 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When performing inference on subsequences of length", + "type": "text" + }, + { + "bbox": [ + 385, + 122, + 398, + 132 + ], + "score": 0.73, + "content": "2 L", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 121, + 506, + 134 + ], + "score": 1.0, + "content": ", half of the subsequences", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "score": 1.0, + "content": "the model consumes are as long as the examples seen during training. When inference is performed", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 142, + 506, + 157 + ], + "spans": [ + { + "bbox": [ + 105, + 142, + 215, + 157 + ], + "score": 1.0, + "content": "on subsequences of length", + "type": "text" + }, + { + "bbox": [ + 215, + 144, + 246, + 154 + ], + "score": 0.9, + "content": "2 L + 1", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 142, + 506, + 157 + ], + "score": 1.0, + "content": "or longer, less than half of the predictions the model makes are", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 451, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 451, + 167 + ], + "score": 1.0, + "content": "on subsequences of lengths seen during training, and that might degrade performance.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4 + }, + { + "type": "text", + "bbox": [ + 106, + 171, + 504, + 193 + ], + "lines": [ + { + "bbox": [ + 106, + 170, + 505, + 184 + ], + "spans": [ + { + "bbox": [ + 106, + 170, + 505, + 184 + ], + "score": 1.0, + "content": "The sinusoidal model cannot extrapolate at all in this setting, with its performance degrading for", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 181, + 492, + 195 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 141, + 195 + ], + "score": 1.0, + "content": "both the", + "type": "text" + }, + { + "bbox": [ + 141, + 182, + 175, + 192 + ], + "score": 0.9, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 176, + 181, + 373, + 195 + ], + "score": 1.0, + "content": "and 1024 models as soon as one token more than", + "type": "text" + }, + { + "bbox": [ + 374, + 183, + 382, + 192 + ], + "score": 0.8, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 382, + 181, + 492, + 195 + ], + "score": 1.0, + "content": "is added during evaluation.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 7.5 + }, + { + "type": "text", + "bbox": [ + 108, + 199, + 503, + 232 + ], + "lines": [ + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "score": 1.0, + "content": "In Appendix B, we find that ALiBi’s edge over sinusoidal embeddings is largely explained by its", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 210, + 505, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 505, + 222 + ], + "score": 1.0, + "content": "improved avoidance of the early token curse. We posit that future work building on ALiBi might", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 221, + 380, + 234 + ], + "spans": [ + { + "bbox": [ + 106, + 221, + 380, + 234 + ], + "score": 1.0, + "content": "achieve further gains by more efficiently exploiting longer histories.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 10 + }, + { + "type": "title", + "bbox": [ + 108, + 254, + 210, + 267 + ], + "lines": [ + { + "bbox": [ + 105, + 254, + 213, + 269 + ], + "spans": [ + { + "bbox": [ + 105, + 254, + 213, + 269 + ], + "score": 1.0, + "content": "5 RELATED WORK", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 107, + 284, + 505, + 394 + ], + "lines": [ + { + "bbox": [ + 105, + 284, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 105, + 284, + 505, + 297 + ], + "score": 1.0, + "content": "In parallel with our work, Wennberg & Henter (2021) introduce a relative position method that,", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 294, + 505, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 294, + 505, + 308 + ], + "score": 1.0, + "content": "like our method, adds a bias to attention scores that is a function of the distance between the key", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 306, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 306, + 506, + 318 + ], + "score": 1.0, + "content": "and query elements. Unlike our ALiBi method, which uses a non-learned linear function, their", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 316, + 505, + 329 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 505, + 329 + ], + "score": 1.0, + "content": "method uses a radial-basis function, with multiple trainable parameters (in our experiments, this led", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 328, + 505, + 340 + ], + "spans": [ + { + "bbox": [ + 106, + 328, + 505, + 340 + ], + "score": 1.0, + "content": "to a slight decrease in runtime). In addition, they present experiments on text classification, not", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 339, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 339, + 506, + 352 + ], + "score": 1.0, + "content": "on language modeling. They do not explore extrapolation. The Distance Aware Transformer (Wu", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 104, + 348, + 505, + 363 + ], + "spans": [ + { + "bbox": [ + 104, + 348, + 505, + 363 + ], + "score": 1.0, + "content": "et al., 2021) multiplies attention scores by a bias that is a function of the distance between the key", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 360, + 505, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 505, + 374 + ], + "score": 1.0, + "content": "and query. This function uses a different, learned parameter in every head. They show results only", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 372, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 106, + 372, + 505, + 384 + ], + "score": 1.0, + "content": "on text classification. In our experiments (not presented), multiplying attention scores by the bias", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 382, + 330, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 382, + 330, + 396 + ], + "score": 1.0, + "content": "(instead of adding, as in ALiBi) degraded performance.", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 17.5 + }, + { + "type": "text", + "bbox": [ + 107, + 399, + 505, + 477 + ], + "lines": [ + { + "bbox": [ + 105, + 399, + 506, + 413 + ], + "spans": [ + { + "bbox": [ + 105, + 399, + 506, + 413 + ], + "score": 1.0, + "content": "Transformer-XL (Dai et al., 2019) presented a language model that uses a cache and can attend to", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 410, + 506, + 424 + ], + "spans": [ + { + "bbox": [ + 105, + 410, + 506, + 424 + ], + "score": 1.0, + "content": "more tokens during inference than it was trained on (by increasing the length of the cache). However,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 422, + 505, + 434 + ], + "spans": [ + { + "bbox": [ + 105, + 422, + 374, + 434 + ], + "score": 1.0, + "content": "this work presents results only where output length is limited to the", + "type": "text" + }, + { + "bbox": [ + 374, + 422, + 383, + 432 + ], + "score": 0.68, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 422, + 505, + 434 + ], + "score": 1.0, + "content": "(the training length), and their", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 433, + 505, + 445 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 505, + 445 + ], + "score": 1.0, + "content": "relative position method is very slow (Press et al., 2021). The Longformer (Beltagy et al., 2020)", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "score": 1.0, + "content": "adapts models trained on shorter sequences to document-level tasks. However, to achieve this they", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 454, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 454, + 506, + 468 + ], + "score": 1.0, + "content": "had to partially train their models on longer sequences. Our ALiBi method enables extrapolation", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 465, + 317, + 479 + ], + "spans": [ + { + "bbox": [ + 106, + 465, + 317, + 479 + ], + "score": 1.0, + "content": "without any additional training on longer sequences.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 26 + }, + { + "type": "text", + "bbox": [ + 107, + 482, + 505, + 570 + ], + "lines": [ + { + "bbox": [ + 105, + 481, + 505, + 494 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 505, + 494 + ], + "score": 1.0, + "content": "To our knowledge, extrapolation has not been previously explored in transformer language model-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 493, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 106, + 493, + 505, + 505 + ], + "score": 1.0, + "content": "ing, but it has been investigated previously and concurrently with transformers on other tasks, such", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "score": 1.0, + "content": "as machine translation (Rosendahl et al., 2019; Neishi & Yoshinaga, 2019; Newman et al., 2020;", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 515, + 505, + 528 + ], + "spans": [ + { + "bbox": [ + 106, + 515, + 505, + 528 + ], + "score": 1.0, + "content": "Kiyono et al., 2021), sequence-to-sequence models trained on an artificial dataset (Hupkes et al.,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 525, + 506, + 539 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 506, + 539 + ], + "score": 1.0, + "content": "2020), pretrained sequence-to-sequence models tested on arithmetic tasks (Nogueira et al., 2021,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 537, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 537, + 506, + 550 + ], + "score": 1.0, + "content": "Appendix C), models trained with reinforcement learning (Lampinen et al., 2021), image, speech", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 548, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 505, + 560 + ], + "score": 1.0, + "content": "recognition, and machine translation models (Likhomanenko et al., 2021), and protein structure", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 559, + 296, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 559, + 296, + 571 + ], + "score": 1.0, + "content": "prediction (Jumper et al., 2021, Appendix 1.5).", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 33.5 + }, + { + "type": "title", + "bbox": [ + 107, + 593, + 195, + 605 + ], + "lines": [ + { + "bbox": [ + 105, + 591, + 197, + 609 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 197, + 609 + ], + "score": 1.0, + "content": "6 CONCLUSION", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 38 + }, + { + "type": "text", + "bbox": [ + 106, + 621, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 620, + 505, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 620, + 505, + 635 + ], + "score": 1.0, + "content": "We showed that the sinusoidal position embedding approach does not enable transformers to extrap-", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "olate to inputs longer than the ones they were trained on. We then established that extrapolation", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "in transformers can be enabled by just changing the position method. We showed that our ALiBi", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 506, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 506, + 668 + ], + "score": 1.0, + "content": "method offers an extremely simple replacement for existing position approaches and allow models", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 665, + 505, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 679 + ], + "score": 1.0, + "content": "to extrapolate. In addition, when not extrapolating, our method achieves either better perplexity", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "score": 1.0, + "content": "than the sinusoidal method (in models smaller than 1B parameters, trained on less data) or similar", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "perplexity (in larger, billion parameter models trained on much more data). ALiBi is simple to im-", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 699, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 505, + 712 + ], + "score": 1.0, + "content": "plement and does not slow down runtime or require extra parameters (but does occasionally require", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 104, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 104, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "a negligible amount of extra memory). Using our method, we sped up the training of a 1.3 billion", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 721, + 427, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 721, + 427, + 733 + ], + "score": 1.0, + "content": "parameter model evaluated on the same input sequence length as GPT-3 (2048).", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 43.5 + } + ], + "page_idx": 8, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "score": 1.0, + "content": "9", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 504, + 105 + ], + "lines": [ + { + "bbox": [ + 106, + 81, + 505, + 96 + ], + "spans": [ + { + "bbox": [ + 106, + 81, + 191, + 96 + ], + "score": 1.0, + "content": "1012 tokens, and the", + "type": "text" + }, + { + "bbox": [ + 192, + 83, + 231, + 93 + ], + "score": 0.88, + "content": "L = 1 0 2 4", + "type": "inline_equation" + }, + { + "bbox": [ + 231, + 81, + 398, + 96 + ], + "score": 1.0, + "content": "model (that obtains 9.16 perplexity when", + "type": "text" + }, + { + "bbox": [ + 399, + 83, + 453, + 93 + ], + "score": 0.89, + "content": "L _ { \\nu a l i d } = 1 0 2 4 )", + "type": "inline_equation" + }, + { + "bbox": [ + 454, + 81, + 505, + 96 + ], + "score": 1.0, + "content": "achieves its", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 93, + 312, + 106 + ], + "spans": [ + { + "bbox": [ + 106, + 93, + 312, + 106 + ], + "score": 1.0, + "content": "best score (8.9) when extrapolating to 2024 tokens.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5, + "bbox_fs": [ + 106, + 81, + 505, + 106 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 110, + 504, + 165 + ], + "lines": [ + { + "bbox": [ + 106, + 111, + 504, + 123 + ], + "spans": [ + { + "bbox": [ + 106, + 111, + 496, + 123 + ], + "score": 1.0, + "content": "One possible explanation is that the subsequences the model observes during training are up to", + "type": "text" + }, + { + "bbox": [ + 496, + 111, + 504, + 121 + ], + "score": 0.7, + "content": "L", + "type": "inline_equation" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 121, + 506, + 134 + ], + "spans": [ + { + "bbox": [ + 105, + 121, + 385, + 134 + ], + "score": 1.0, + "content": "tokens long. When performing inference on subsequences of length", + "type": "text" + }, + { + "bbox": [ + 385, + 122, + 398, + 132 + ], + "score": 0.73, + "content": "2 L", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 121, + 506, + 134 + ], + "score": 1.0, + "content": ", half of the subsequences", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 505, + 144 + ], + "score": 1.0, + "content": "the model consumes are as long as the examples seen during training. When inference is performed", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 142, + 506, + 157 + ], + "spans": [ + { + "bbox": [ + 105, + 142, + 215, + 157 + ], + "score": 1.0, + "content": "on subsequences of length", + "type": "text" + }, + { + "bbox": [ + 215, + 144, + 246, + 154 + ], + "score": 0.9, + "content": "2 L + 1", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 142, + 506, + 157 + ], + "score": 1.0, + "content": "or longer, less than half of the predictions the model makes are", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 451, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 451, + 167 + ], + "score": 1.0, + "content": "on subsequences of lengths seen during training, and that might degrade performance.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4, + "bbox_fs": [ + 105, + 111, + 506, + 167 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 171, + 504, + 193 + ], + "lines": [ + { + "bbox": [ + 106, + 170, + 505, + 184 + ], + "spans": [ + { + "bbox": [ + 106, + 170, + 505, + 184 + ], + "score": 1.0, + "content": "The sinusoidal model cannot extrapolate at all in this setting, with its performance degrading for", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 181, + 492, + 195 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 141, + 195 + ], + "score": 1.0, + "content": "both the", + "type": "text" + }, + { + "bbox": [ + 141, + 182, + 175, + 192 + ], + "score": 0.9, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 176, + 181, + 373, + 195 + ], + "score": 1.0, + "content": "and 1024 models as soon as one token more than", + "type": "text" + }, + { + "bbox": [ + 374, + 183, + 382, + 192 + ], + "score": 0.8, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 382, + 181, + 492, + 195 + ], + "score": 1.0, + "content": "is added during evaluation.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 7.5, + "bbox_fs": [ + 105, + 170, + 505, + 195 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 199, + 503, + 232 + ], + "lines": [ + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "score": 1.0, + "content": "In Appendix B, we find that ALiBi’s edge over sinusoidal embeddings is largely explained by its", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 210, + 505, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 505, + 222 + ], + "score": 1.0, + "content": "improved avoidance of the early token curse. We posit that future work building on ALiBi might", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 221, + 380, + 234 + ], + "spans": [ + { + "bbox": [ + 106, + 221, + 380, + 234 + ], + "score": 1.0, + "content": "achieve further gains by more efficiently exploiting longer histories.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 10, + "bbox_fs": [ + 105, + 199, + 505, + 234 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 254, + 210, + 267 + ], + "lines": [ + { + "bbox": [ + 105, + 254, + 213, + 269 + ], + "spans": [ + { + "bbox": [ + 105, + 254, + 213, + 269 + ], + "score": 1.0, + "content": "5 RELATED WORK", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 107, + 284, + 505, + 394 + ], + "lines": [ + { + "bbox": [ + 105, + 284, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 105, + 284, + 505, + 297 + ], + "score": 1.0, + "content": "In parallel with our work, Wennberg & Henter (2021) introduce a relative position method that,", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 294, + 505, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 294, + 505, + 308 + ], + "score": 1.0, + "content": "like our method, adds a bias to attention scores that is a function of the distance between the key", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 306, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 306, + 506, + 318 + ], + "score": 1.0, + "content": "and query elements. Unlike our ALiBi method, which uses a non-learned linear function, their", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 316, + 505, + 329 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 505, + 329 + ], + "score": 1.0, + "content": "method uses a radial-basis function, with multiple trainable parameters (in our experiments, this led", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 328, + 505, + 340 + ], + "spans": [ + { + "bbox": [ + 106, + 328, + 505, + 340 + ], + "score": 1.0, + "content": "to a slight decrease in runtime). In addition, they present experiments on text classification, not", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 339, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 339, + 506, + 352 + ], + "score": 1.0, + "content": "on language modeling. They do not explore extrapolation. The Distance Aware Transformer (Wu", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 104, + 348, + 505, + 363 + ], + "spans": [ + { + "bbox": [ + 104, + 348, + 505, + 363 + ], + "score": 1.0, + "content": "et al., 2021) multiplies attention scores by a bias that is a function of the distance between the key", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 360, + 505, + 374 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 505, + 374 + ], + "score": 1.0, + "content": "and query. This function uses a different, learned parameter in every head. They show results only", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 372, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 106, + 372, + 505, + 384 + ], + "score": 1.0, + "content": "on text classification. In our experiments (not presented), multiplying attention scores by the bias", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 382, + 330, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 382, + 330, + 396 + ], + "score": 1.0, + "content": "(instead of adding, as in ALiBi) degraded performance.", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 17.5, + "bbox_fs": [ + 104, + 284, + 506, + 396 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 399, + 505, + 477 + ], + "lines": [ + { + "bbox": [ + 105, + 399, + 506, + 413 + ], + "spans": [ + { + "bbox": [ + 105, + 399, + 506, + 413 + ], + "score": 1.0, + "content": "Transformer-XL (Dai et al., 2019) presented a language model that uses a cache and can attend to", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 410, + 506, + 424 + ], + "spans": [ + { + "bbox": [ + 105, + 410, + 506, + 424 + ], + "score": 1.0, + "content": "more tokens during inference than it was trained on (by increasing the length of the cache). However,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 422, + 505, + 434 + ], + "spans": [ + { + "bbox": [ + 105, + 422, + 374, + 434 + ], + "score": 1.0, + "content": "this work presents results only where output length is limited to the", + "type": "text" + }, + { + "bbox": [ + 374, + 422, + 383, + 432 + ], + "score": 0.68, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 422, + 505, + 434 + ], + "score": 1.0, + "content": "(the training length), and their", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 433, + 505, + 445 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 505, + 445 + ], + "score": 1.0, + "content": "relative position method is very slow (Press et al., 2021). The Longformer (Beltagy et al., 2020)", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 457 + ], + "score": 1.0, + "content": "adapts models trained on shorter sequences to document-level tasks. However, to achieve this they", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 454, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 454, + 506, + 468 + ], + "score": 1.0, + "content": "had to partially train their models on longer sequences. Our ALiBi method enables extrapolation", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 465, + 317, + 479 + ], + "spans": [ + { + "bbox": [ + 106, + 465, + 317, + 479 + ], + "score": 1.0, + "content": "without any additional training on longer sequences.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 26, + "bbox_fs": [ + 105, + 399, + 506, + 479 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 482, + 505, + 570 + ], + "lines": [ + { + "bbox": [ + 105, + 481, + 505, + 494 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 505, + 494 + ], + "score": 1.0, + "content": "To our knowledge, extrapolation has not been previously explored in transformer language model-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 493, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 106, + 493, + 505, + 505 + ], + "score": 1.0, + "content": "ing, but it has been investigated previously and concurrently with transformers on other tasks, such", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "score": 1.0, + "content": "as machine translation (Rosendahl et al., 2019; Neishi & Yoshinaga, 2019; Newman et al., 2020;", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 515, + 505, + 528 + ], + "spans": [ + { + "bbox": [ + 106, + 515, + 505, + 528 + ], + "score": 1.0, + "content": "Kiyono et al., 2021), sequence-to-sequence models trained on an artificial dataset (Hupkes et al.,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 525, + 506, + 539 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 506, + 539 + ], + "score": 1.0, + "content": "2020), pretrained sequence-to-sequence models tested on arithmetic tasks (Nogueira et al., 2021,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 537, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 537, + 506, + 550 + ], + "score": 1.0, + "content": "Appendix C), models trained with reinforcement learning (Lampinen et al., 2021), image, speech", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 548, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 505, + 560 + ], + "score": 1.0, + "content": "recognition, and machine translation models (Likhomanenko et al., 2021), and protein structure", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 559, + 296, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 559, + 296, + 571 + ], + "score": 1.0, + "content": "prediction (Jumper et al., 2021, Appendix 1.5).", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 33.5, + "bbox_fs": [ + 105, + 481, + 506, + 571 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 593, + 195, + 605 + ], + "lines": [ + { + "bbox": [ + 105, + 591, + 197, + 609 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 197, + 609 + ], + "score": 1.0, + "content": "6 CONCLUSION", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 38 + }, + { + "type": "text", + "bbox": [ + 106, + 621, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 620, + 505, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 620, + 505, + 635 + ], + "score": 1.0, + "content": "We showed that the sinusoidal position embedding approach does not enable transformers to extrap-", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "olate to inputs longer than the ones they were trained on. We then established that extrapolation", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "in transformers can be enabled by just changing the position method. We showed that our ALiBi", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 506, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 506, + 668 + ], + "score": 1.0, + "content": "method offers an extremely simple replacement for existing position approaches and allow models", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 665, + 505, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 679 + ], + "score": 1.0, + "content": "to extrapolate. 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Position MethodTrain LengthSpeed (↑)Memory (↓)
TrainEval.
Sinusoidal51228.5k82.1k15.3 GB
102426.0k77.8k19.2 GB
307215.3k42.4k15.1 GB
Rotary51220.0k43.4k17.8 GB
102417.7k39.4k22.8 GB
307211.5k29.5k17.8 GB
T5 Bias51214.4k21.8k16.9 GB
102413.0k20.2k20.9 GB
30724.3k4.9k15.9 GB
ALiBi51228.3k85.8k15.3 GB
102425.8k76.4k19.3 GB
307215.5k42.2k15.2 GB
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SinusoidalRotaryT5 BiasALiBi
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SinusoidalRotaryT5 BiasALiBi
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SinusoidalRotaryT5 BiasALiBi
InputsPPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
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SinusoidalRotaryT5 BiasALiBi
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InputsSinusoidalRotaryT5BiasALiBi
PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
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InputsSinusoidalRotaryT5BiasALiBi
PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)PPL (↓)WPS (↑)
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ALiBiEvaluation Length
Train Length641282565121024153620483072
6428.4624.7022.8822.0921.7321.6321.5921.53
128123.9821.7020.6720.3620.2920.3120.28
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30721====-117.60
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Rotary*11-20.0719.331118.57
T5 Bias*==119.6518.801=18.01
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All our models trained on 512 or more tokens achieve", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 304, + 505, + 317 + ], + "spans": [ + { + "bbox": [ + 105, + 304, + 429, + 317 + ], + "score": 1.0, + "content": "better perplexity than the sinusoidal model even though all of them (except the", + "type": "text" + }, + { + "bbox": [ + 429, + 304, + 470, + 315 + ], + "score": 0.89, + "content": "L = 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 470, + 304, + 505, + 317 + ], + "score": 1.0, + "content": ") require", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 315, + 230, + 327 + ], + "spans": [ + { + "bbox": [ + 105, + 315, + 230, + 327 + ], + "score": 1.0, + "content": "less time and memory to train.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5 + } + ], + "index": 9.75 + }, + { + "type": "text", + "bbox": [ + 106, + 347, + 505, + 414 + ], + "lines": [ + { + "bbox": [ + 106, + 348, + 505, + 360 + ], + "spans": [ + { + "bbox": [ + 106, + 348, + 505, + 360 + ], + "score": 1.0, + "content": "Figure 8 depicts a cross section of Figure 4, showing our models with different train lengths and", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 358, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 358, + 269, + 371 + ], + "score": 1.0, + "content": "the sinusoidal baseline, all evaluated on", + "type": "text" + }, + { + "bbox": [ + 269, + 359, + 323, + 370 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } = 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 323, + 358, + 506, + 371 + ], + "score": 1.0, + "content": "tokens. We observe that all our models with", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 369, + 506, + 383 + ], + "spans": [ + { + "bbox": [ + 106, + 370, + 177, + 381 + ], + "score": 0.91, + "content": "5 1 2 \\leq L < 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 178, + 369, + 379, + 383 + ], + "score": 1.0, + "content": "are faster to train than the sinusoidal model with", + "type": "text" + }, + { + "bbox": [ + 380, + 370, + 419, + 380 + ], + "score": 0.89, + "content": "L = 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 420, + 369, + 506, + 383 + ], + "score": 1.0, + "content": ", but they all achieve", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 380, + 506, + 393 + ], + "spans": [ + { + "bbox": [ + 105, + 380, + 365, + 393 + ], + "score": 1.0, + "content": "greater perplexity scores on the validation set. Our model with", + "type": "text" + }, + { + "bbox": [ + 366, + 381, + 406, + 391 + ], + "score": 0.89, + "content": "L = 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 406, + 380, + 506, + 393 + ], + "score": 1.0, + "content": "trains just as fast as the", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 391, + 506, + 404 + ], + "spans": [ + { + "bbox": [ + 105, + 391, + 506, + 404 + ], + "score": 1.0, + "content": "sinusoidal one but bests its score by more than one perplexity point; (the standard deviation for the", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 402, + 286, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 402, + 212, + 415 + ], + "score": 1.0, + "content": "the sinusoidal model with", + "type": "text" + }, + { + "bbox": [ + 212, + 403, + 250, + 413 + ], + "score": 0.9, + "content": "L = 3 0 7 2", + "type": "inline_equation" + }, + { + "bbox": [ + 251, + 402, + 286, + 415 + ], + "score": 1.0, + "content": "is 0.24).", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 18.5, + "bbox_fs": [ + 105, + 348, + 506, + 415 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 419, + 504, + 453 + ], + "lines": [ + { + "bbox": [ + 105, + 419, + 506, + 432 + ], + "spans": [ + { + "bbox": [ + 105, + 419, + 467, + 432 + ], + "score": 1.0, + "content": "Table 5 shows the perplexity values obtained when 8 different ALiBi models, trained on", + "type": "text" + }, + { + "bbox": [ + 468, + 420, + 476, + 429 + ], + "score": 0.74, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 476, + 419, + 506, + 432 + ], + "score": 1.0, + "content": "values", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 430, + 506, + 443 + ], + "spans": [ + { + "bbox": [ + 105, + 430, + 265, + 443 + ], + "score": 1.0, + "content": "between 64 and 3072, extrapolating to", + "type": "text" + }, + { + "bbox": [ + 266, + 431, + 288, + 442 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 289, + 430, + 506, + 443 + ], + "score": 1.0, + "content": "values longer than the ones they were trained on. In", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 442, + 465, + 454 + ], + "spans": [ + { + "bbox": [ + 106, + 442, + 421, + 454 + ], + "score": 1.0, + "content": "addition, we present results for the sinusoidal, rotary and T5 bias models, with", + "type": "text" + }, + { + "bbox": [ + 421, + 442, + 461, + 452 + ], + "score": 0.93, + "content": "L _ { \\nu a l i d } = L", + "type": "inline_equation" + }, + { + "bbox": [ + 461, + 442, + 465, + 454 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 23, + "bbox_fs": [ + 105, + 419, + 506, + 454 + ] + }, + { + "type": "table", + "bbox": [ + 137, + 518, + 475, + 681 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 469, + 506, + 504 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "score": 1.0, + "content": "Table 5: Perplexity when ALiBi extrapolates on the WikiText-103 development set. ∗For results we", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 481, + 505, + 493 + ], + "spans": [ + { + "bbox": [ + 106, + 481, + 321, + 493 + ], + "score": 1.0, + "content": "present for the sinusoidal, rotary and T5 bias models,", + "type": "text" + }, + { + "bbox": [ + 321, + 481, + 362, + 492 + ], + "score": 0.91, + "content": "L = L _ { v a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 362, + 481, + 505, + 493 + ], + "score": 1.0, + "content": "(so we do not test the extrapolation", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 492, + 239, + 504 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 239, + 504 + ], + "score": 1.0, + "content": "abilities of those baselines here).", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 26 + }, + { + "type": "table_body", + "bbox": [ + 137, + 518, + 475, + 681 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 137, + 518, + 475, + 681 + ], + "spans": [ + { + "bbox": [ + 137, + 518, + 475, + 681 + ], + "score": 0.982, + "html": "
ALiBiEvaluation Length
Train Length641282565121024153620483072
6428.4624.7022.8822.0921.7321.6321.5921.53
128123.9821.7020.6720.3620.2920.3120.28
2561121.2919.8919.2919.1319.1019.03
512--19.7318.8118.5018.4818.40
1024=-18.6618.2018.0517.96
1536===18.1217.9017.72
2048===17.9117.64
30721====-117.60
Sinusoidal*28.0323.8121.4520.0519.3419.0518.8718.67
Rotary*11-20.0719.331118.57
T5 Bias*==119.6518.801=18.01
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ModelParam.↓TrainInference
Speed↑Speed ↑Valid ↓Test↓
Sinusoidal, L = 3072247M15.3k13.6k18.6719.38
Rotary,L = 3072247M11.5k12.2k18.5719.28
T5 Bias,L = 3072247M4.3k7.3k18.0118.73
L = 512,Lvalid = 3072247M28.3k13.6k18.4019.08
A L=3072,Lvalid =3072247M15.5k13.6k17.6018.30
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ModelParam.↓Valid↓Test↓
Adaptive Inputs (Baevski & Auli, 2018)247M17.9718.70
Transformer-XL (Dai et al., 2019)257M118.3
Shortformer (Press et al.,2021)247M17.4718.15
Sandwich Transformer (Press et al., 2020)247M117.96
Staged Training (Press et al.,2021)247M17.56
Compressive Transformer (Rae et al., 2020)329M17.1
Routing Transformer (Roy et al., 2020)=15.8
kNN-LM (Khandelwal et al., 2020)247M15.8115.79
Sinusoidal, L = 3072247M17.9518.67
Rotary,L = 3072247M17.9818.72
T5 Bias,L = 3072247M17.3718.12
L = 512,Lyalid = 3072247M18.3019.01
L = 3072,Lvalid = 3072247M16.9717.66
", + "type": "table", + "image_path": "0bd91b63ce4703aa872d8ff65c4a443fd070ffa7f726c8265da5e790e9ab1d6d.jpg" + } + ] + } + ], + "index": 10, + "virtual_lines": [ + { + "bbox": [ + 154, + 300, + 457, + 361.0 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 154, + 361.0, + 457, + 422.0 + ], + "spans": [], + "index": 10 + }, + { + "bbox": [ + 154, + 422.0, + 457, + 483.0 + ], + "spans": [], + "index": 11 + } + ] + } + ], + "index": 10 + }, + { + "type": "title", + "bbox": [ + 107, + 510, + 318, + 522 + ], + "lines": [ + { + "bbox": [ + 105, + 509, + 319, + 523 + ], + "spans": [ + { + "bbox": [ + 105, + 509, + 319, + 523 + ], + "score": 1.0, + "content": "A.3 RESULTS ON THE TORONTO BOOK CORPUS", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 107, + 532, + 504, + 565 + ], + "lines": [ + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "spans": [ + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "score": 1.0, + "content": "To ensure that our results are not specific to the WikiText-103 corpus, we next apply our model and", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 543, + 505, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 543, + 505, + 555 + ], + "score": 1.0, + "content": "the baselines to a different domain while using a similar model architecture and the same ALiBi", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 554, + 298, + 567 + ], + "spans": [ + { + "bbox": [ + 106, + 554, + 298, + 567 + ], + "score": 1.0, + "content": "slopes as those used in the previous subsection.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 14 + }, + { + "type": "text", + "bbox": [ + 107, + 571, + 505, + 615 + ], + "lines": [ + { + "bbox": [ + 105, + 570, + 505, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 570, + 505, + 584 + ], + "score": 1.0, + "content": "We emphasize that our set of slopes was chosen by running experiments on the WikiText-103 corpus,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 583, + 505, + 594 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 505, + 594 + ], + "score": 1.0, + "content": "and here we apply that set of slopes to a model trained on a very different text domain. Throughout", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 593, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 505, + 606 + ], + "score": 1.0, + "content": "the entire process of developing this method, we ran only one set of experiments on this domain", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 605, + 278, + 617 + ], + "spans": [ + { + "bbox": [ + 106, + 605, + 278, + 617 + ], + "score": 1.0, + "content": "using the previously selected set of slopes.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 17.5 + }, + { + "type": "text", + "bbox": [ + 107, + 621, + 505, + 654 + ], + "lines": [ + { + "bbox": [ + 105, + 620, + 506, + 633 + ], + "spans": [ + { + "bbox": [ + 105, + 620, + 506, + 633 + ], + "score": 1.0, + "content": "Specifically, we use the Toronto BooksCorpus (Zhu et al., 2015), which has been used to train", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 631, + 506, + 644 + ], + "spans": [ + { + "bbox": [ + 105, + 631, + 506, + 644 + ], + "score": 1.0, + "content": "BERT (Devlin et al., 2019) (in conjuction with the English Wikipedia). The corpus is about 700M", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 643, + 176, + 654 + ], + "spans": [ + { + "bbox": [ + 106, + 643, + 176, + 654 + ], + "score": 1.0, + "content": "tokens (2.9 GB).", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 108, + 659, + 504, + 704 + ], + "lines": [ + { + "bbox": [ + 106, + 660, + 506, + 672 + ], + "spans": [ + { + "bbox": [ + 106, + 660, + 506, + 672 + ], + "score": 1.0, + "content": "We use the same train/validation/test split as Khandelwal et al. (2020) and their tokenization, which", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 670, + 506, + 684 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 506, + 684 + ], + "score": 1.0, + "content": "uses BERT’s vocabulary of 29K byte-pair encodings. Since the vocabulary is much smaller than", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 681, + 505, + 694 + ], + "spans": [ + { + "bbox": [ + 106, + 681, + 505, + 694 + ], + "score": 1.0, + "content": "WikiText-103’s, we replace the adaptive word embedding and softmax of Baevski & Auli (2018)", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 693, + 460, + 705 + ], + "spans": [ + { + "bbox": [ + 106, + 693, + 460, + 705 + ], + "score": 1.0, + "content": "with a tied word embedding and softmax matrix (Press & Wolf, 2017; Inan et al., 2017).", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 24.5 + }, + { + "type": "text", + "bbox": [ + 107, + 709, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "Our results in Figure 9 (and Table 8) replicate our success on the WikiText-103 dataset. Our model", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 720, + 506, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 456, + 733 + ], + "score": 1.0, + "content": "surpasses the sinusoidal baseline when trained on the same amount of input tokens", + "type": "text" + }, + { + "bbox": [ + 457, + 721, + 471, + 731 + ], + "score": 0.5, + "content": "( L )", + "type": "inline_equation" + }, + { + "bbox": [ + 471, + 720, + 506, + 733 + ], + "score": 1.0, + "content": "and, in", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 27.5 + } + ], + "page_idx": 19, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 751, + 311, + 760 + ], + "lines": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "spans": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 14, + "width": 15 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 144, + 116, + 466, + 224 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 106, + 80, + 505, + 103 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 79, + 505, + 92 + ], + "spans": [ + { + "bbox": [ + 106, + 79, + 505, + 92 + ], + "score": 1.0, + "content": "Table 6: Test perplexity and runtime on WikiText-103 for two of our ALiBi models and models that", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 91, + 296, + 103 + ], + "spans": [ + { + "bbox": [ + 106, + 91, + 296, + 103 + ], + "score": 1.0, + "content": "use the sinusoidal, rotary and T5 bias methods.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "table_body", + "bbox": [ + 144, + 116, + 466, + 224 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 144, + 116, + 466, + 224 + ], + "spans": [ + { + "bbox": [ + 144, + 116, + 466, + 224 + ], + "score": 0.982, + "html": "
ModelParam.↓TrainInference
Speed↑Speed ↑Valid ↓Test↓
Sinusoidal, L = 3072247M15.3k13.6k18.6719.38
Rotary,L = 3072247M11.5k12.2k18.5719.28
T5 Bias,L = 3072247M4.3k7.3k18.0118.73
L = 512,Lvalid = 3072247M28.3k13.6k18.4019.08
A L=3072,Lvalid =3072247M15.5k13.6k17.6018.30
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ModelParam.↓Valid↓Test↓
Adaptive Inputs (Baevski & Auli, 2018)247M17.9718.70
Transformer-XL (Dai et al., 2019)257M118.3
Shortformer (Press et al.,2021)247M17.4718.15
Sandwich Transformer (Press et al., 2020)247M117.96
Staged Training (Press et al.,2021)247M17.56
Compressive Transformer (Rae et al., 2020)329M17.1
Routing Transformer (Roy et al., 2020)=15.8
kNN-LM (Khandelwal et al., 2020)247M15.8115.79
Sinusoidal, L = 3072247M17.9518.67
Rotary,L = 3072247M17.9818.72
T5 Bias,L = 3072247M17.3718.12
L = 512,Lyalid = 3072247M18.3019.01
L = 3072,Lvalid = 3072247M16.9717.66
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Train Length 512Evaluation Length 1024 3072
51214.2913.6413.55
1024113.8613.52
30721113.15
Sinusoidal*14.8014.7314.46
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ModelParam.↓Valid ↓Test↓
Sinusoidal,L = 3072247M14.4611.67
B Ltrain =512,Lvalid =3072247M13.5510.98
A Ltrain =3072,Lvalid=3072247M13.1510.73
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Train Length 512Evaluation Length 1024 3072
51214.2913.6413.55
1024113.8613.52
30721113.15
Sinusoidal*14.8014.7314.46
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ModelParam.↓Valid ↓Test↓
Sinusoidal,L = 3072247M14.4611.67
B Ltrain =512,Lvalid =3072247M13.5510.98
A Ltrain =3072,Lvalid=3072247M13.1510.73
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ModelParam.↓Valid ↓Test↓
kNN-LM (Khandelwal et al., 2020)247M14.2010.89
Shortformer (Press et al.,2021)247M13.4010.88
Sandwich (Press et al., 2020)247M=10.83
Staged Training (Press et al., 2021)247M12.8010.48
Sinusoidal,L = 3072247M14.0611.40
L =512,Lyalid = 3072247M13.7611.11
L= 3072,Lalid = 3072247M12.7010.40
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TrainingValid PPL↓
Memory↓UpdatesHours↓Lvalid = 1024Lvalid = 2048
Sinusoidal, Ltrain = 102426.2 GB46.7k5.5k9.241
ALiBi, Ltrain = 51224.6 GB50.0k5.5k9.301
Sinusoidal, Ltrain = 204829.3 GB44.2k5.9k19.01
ALiBi,Ltrain = 102426.2 GB50.0k5.9k8.92
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TrainingValid PPL ↓
Memory↓UpdatesHours←Lvalid =512 Lvalid =1024 Lvalid=2048
Sinusoidal, Ltrain = 512 ALiBi,Ltrain = 51224.6 GB50.0k5.5k9.7137.05105.42
24.6 GB50.0k5.5k9.799.309.54
Sinusoidal, Ltrain = 1024 ALiBi,Ltrain = 102426.2 GB50.0k5.9k19.1548.85
26.2 GB50.0k5.9k=9.168.92
Sinusoidal, Ltrain = 2048 ALiBi,Ltrain = 204829.3 GB50.0k6.7k-8.83
29.4 GB50.0k6.7k18.84
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ModelParam.↓Valid ↓Test↓
kNN-LM (Khandelwal et al., 2020)247M14.2010.89
Shortformer (Press et al.,2021)247M13.4010.88
Sandwich (Press et al., 2020)247M=10.83
Staged Training (Press et al., 2021)247M12.8010.48
Sinusoidal,L = 3072247M14.0611.40
L =512,Lyalid = 3072247M13.7611.11
L= 3072,Lalid = 3072247M12.7010.40
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TrainingValid PPL↓
Memory↓UpdatesHours↓Lvalid = 1024Lvalid = 2048
Sinusoidal, Ltrain = 102426.2 GB46.7k5.5k9.241
ALiBi, Ltrain = 51224.6 GB50.0k5.5k9.301
Sinusoidal, Ltrain = 204829.3 GB44.2k5.9k19.01
ALiBi,Ltrain = 102426.2 GB50.0k5.9k8.92
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TrainingValid PPL ↓
Memory↓UpdatesHours←Lvalid =512 Lvalid =1024 Lvalid=2048
Sinusoidal, Ltrain = 512 ALiBi,Ltrain = 51224.6 GB50.0k5.5k9.7137.05105.42
24.6 GB50.0k5.5k9.799.309.54
Sinusoidal, Ltrain = 1024 ALiBi,Ltrain = 102426.2 GB50.0k5.9k19.1548.85
26.2 GB50.0k5.9k=9.168.92
Sinusoidal, Ltrain = 2048 ALiBi,Ltrain = 204829.3 GB50.0k6.7k-8.83
29.4 GB50.0k6.7k18.84
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Figure 10 is a visualization of the nonoverlapping and sliding", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 406, + 235, + 418 + ], + "spans": [ + { + "bbox": [ + 106, + 406, + 235, + 418 + ], + "score": 1.0, + "content": "window evaluation approaches.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 16.5 + }, + { + "type": "text", + "bbox": [ + 108, + 422, + 502, + 444 + ], + "lines": [ + { + "bbox": [ + 106, + 422, + 504, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 422, + 504, + 435 + ], + "score": 1.0, + "content": "We use sliding window inference as a tool to analyze our models, but we note that it is normally", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 433, + 305, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 305, + 446 + ], + "score": 1.0, + "content": "prohibitively slow in practice (Press et al., 2021).", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 21.5 + }, + { + "type": "text", + "bbox": [ + 107, + 459, + 505, + 525 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 505, + 473 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 473 + ], + "score": 1.0, + "content": "Early Token Curse Splitting an evaluation set into subsequences means that predictions occuring", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "score": 1.0, + "content": "early in each subsequence cannot access many previous context tokens (appearing at the end of the", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 480, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 104, + 480, + 506, + 494 + ], + "score": 1.0, + "content": "previous subsequence). The result, referred to as the early token curse (Press et al., 2021), increases", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 492, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 105, + 492, + 505, + 505 + ], + "score": 1.0, + "content": "(i.e., degrades) perplexity scores. A workaround is to evaluate the model using a sliding window,", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 502, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 502, + 506, + 516 + ], + "score": 1.0, + "content": "giving each prediction more context. 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Figure 10 is a visualization of the nonoverlapping and sliding", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 406, + 235, + 418 + ], + "spans": [ + { + "bbox": [ + 106, + 406, + 235, + 418 + ], + "score": 1.0, + "content": "window evaluation approaches.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 16.5, + "bbox_fs": [ + 105, + 328, + 506, + 418 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 422, + 502, + 444 + ], + "lines": [ + { + "bbox": [ + 106, + 422, + 504, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 422, + 504, + 435 + ], + "score": 1.0, + "content": "We use sliding window inference as a tool to analyze our models, but we note that it is normally", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 433, + 305, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 305, + 446 + ], + "score": 1.0, + "content": "prohibitively slow in practice (Press et al., 2021).", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 21.5, + "bbox_fs": [ + 105, + 422, + 504, + 446 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 459, + 505, + 525 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 505, + 473 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 473 + ], + "score": 1.0, + "content": "Early Token Curse Splitting an evaluation set into subsequences means that predictions occuring", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "score": 1.0, + "content": "early in each subsequence cannot access many previous context tokens (appearing at the end of the", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 480, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 104, + 480, + 506, + 494 + ], + "score": 1.0, + "content": "previous subsequence). The result, referred to as the early token curse (Press et al., 2021), increases", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 492, + 505, + 505 + ], + "spans": [ + { + "bbox": [ + 105, + 492, + 505, + 505 + ], + "score": 1.0, + "content": "(i.e., degrades) perplexity scores. A workaround is to evaluate the model using a sliding window,", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 502, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 502, + 506, + 516 + ], + "score": 1.0, + "content": "giving each prediction more context. This solution is slow since it requires many more forward", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 515, + 190, + 524 + ], + "spans": [ + { + "bbox": [ + 105, + 515, + 190, + 524 + ], + "score": 1.0, + "content": "passes of the model.", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 25.5, + "bbox_fs": [ + 104, + 457, + 506, + 524 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 541, + 362, + 551 + ], + "lines": [ + { + "bbox": [ + 106, + 540, + 363, + 552 + ], + "spans": [ + { + "bbox": [ + 106, + 540, + 363, + 552 + ], + "score": 1.0, + "content": "B.2 EXTRAPOLATION REDUCES THE EARLY TOKEN CURSE", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 29 + }, + { + "type": "text", + "bbox": [ + 108, + 561, + 505, + 595 + ], + "lines": [ + { + "bbox": [ + 106, + 561, + 505, + 574 + ], + "spans": [ + { + "bbox": [ + 106, + 561, + 505, + 574 + ], + "score": 1.0, + "content": "We presented results showing that our ALiBi method (and, to a lesser extent, the T5 bias) allows", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 572, + 505, + 585 + ], + "spans": [ + { + "bbox": [ + 106, + 572, + 505, + 585 + ], + "score": 1.0, + "content": "LMs to extrapolate during inference. Two reasons could explain why these methods enable LMs to", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 584, + 342, + 596 + ], + "spans": [ + { + "bbox": [ + 106, + 584, + 342, + 596 + ], + "score": 1.0, + "content": "achieve better perplexity given longer input subsequences:", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 31, + "bbox_fs": [ + 106, + 561, + 505, + 596 + ] + }, + { + "type": "text", + "bbox": [ + 130, + 605, + 506, + 710 + ], + "lines": [ + { + "bbox": [ + 130, + 605, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 130, + 605, + 505, + 618 + ], + "score": 1.0, + "content": "1. Performance improves because the models can use longer contexts to make more accurate", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 141, + 616, + 506, + 629 + ], + "spans": [ + { + "bbox": [ + 141, + 616, + 506, + 629 + ], + "score": 1.0, + "content": "predictions. For example, the average article length in the WikiText-103 corpus is about", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 141, + 626, + 505, + 641 + ], + "spans": [ + { + "bbox": [ + 141, + 626, + 334, + 641 + ], + "score": 1.0, + "content": "3600 tokens; therefore, if a model trained on", + "type": "text" + }, + { + "bbox": [ + 334, + 627, + 376, + 637 + ], + "score": 0.9, + "content": "L \\ = \\ 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 376, + 626, + 471, + 641 + ], + "score": 1.0, + "content": "tokens extrapolates to", + "type": "text" + }, + { + "bbox": [ + 472, + 627, + 505, + 639 + ], + "score": 0.9, + "content": "L _ { \\nu a l i d } =", + "type": "inline_equation" + } + ], + "index": 35 + }, + { + "bbox": [ + 141, + 638, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 141, + 638, + 505, + 651 + ], + "score": 1.0, + "content": "3072 tokens during inference and achieves better results, that might be because it can spot", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 141, + 650, + 336, + 662 + ], + "spans": [ + { + "bbox": [ + 141, + 650, + 336, + 662 + ], + "score": 1.0, + "content": "patterns occurring across more than 512 tokens.", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 128, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 128, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "2. Performance improves because longer input sequences mean the early token curse is re-", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 141, + 676, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 141, + 676, + 470, + 690 + ], + "score": 1.0, + "content": "duced. For example, during nonoverlapping evaluation on sequences of length", + "type": "text" + }, + { + "bbox": [ + 470, + 677, + 505, + 688 + ], + "score": 0.93, + "content": "L _ { \\nu a l i d } =", + "type": "inline_equation" + } + ], + "index": 39 + }, + { + "bbox": [ + 142, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 142, + 687, + 168, + 700 + ], + "score": 1.0, + "content": "1000,", + "type": "text" + }, + { + "bbox": [ + 168, + 687, + 187, + 698 + ], + "score": 0.85, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 188, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "of predictions have 100 tokens of context or less. If we rerun nonoverlapping", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 141, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 141, + 699, + 264, + 711 + ], + "score": 1.0, + "content": "evaluation on that model with", + "type": "text" + }, + { + "bbox": [ + 264, + 699, + 320, + 710 + ], + "score": 0.9, + "content": "L _ { \\nu a l i d } = 2 0 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 699, + 392, + 711 + ], + "score": 1.0, + "content": "tokens, now only", + "type": "text" + }, + { + "bbox": [ + 392, + 699, + 407, + 709 + ], + "score": 0.85, + "content": "5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 407, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "of predictions have 100", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 142, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 142, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "tokens of context or less. So, by simply being able to handle longer sequences, a model can", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 141, + 93, + 423, + 106 + ], + "spans": [ + { + "bbox": [ + 141, + 93, + 423, + 106 + ], + "score": 1.0, + "content": "substantially reduce the early token curse and improve performance.13", + "type": "text", + "cross_page": true + } + ], + "index": 1 + } + ], + "index": 37, + "bbox_fs": [ + 128, + 605, + 506, + 711 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 141, + 82, + 503, + 105 + ], + "lines": [ + { + "bbox": [ + 142, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 142, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "tokens of context or less. So, by simply being able to handle longer sequences, a model can", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 141, + 93, + 423, + 106 + ], + "spans": [ + { + "bbox": [ + 141, + 93, + 423, + 106 + ], + "score": 1.0, + "content": "substantially reduce the early token curse and improve performance.13", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "text", + "bbox": [ + 107, + 114, + 505, + 169 + ], + "lines": [ + { + "bbox": [ + 106, + 114, + 505, + 127 + ], + "spans": [ + { + "bbox": [ + 106, + 114, + 505, + 127 + ], + "score": 1.0, + "content": "To better understand what might be occurring, we re-evaluate the development set of WikiText-103", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 124, + 506, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 124, + 305, + 138 + ], + "score": 1.0, + "content": "with our models and the sinusoidal baseline with", + "type": "text" + }, + { + "bbox": [ + 306, + 126, + 343, + 136 + ], + "score": 0.59, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 124, + 506, + 138 + ], + "score": 1.0, + "content": ", 1024, 3072. However, this time we use", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 136, + 505, + 149 + ], + "spans": [ + { + "bbox": [ + 106, + 136, + 280, + 149 + ], + "score": 1.0, + "content": "sliding window evaluation with a stride of", + "type": "text" + }, + { + "bbox": [ + 281, + 137, + 308, + 147 + ], + "score": 0.9, + "content": "S = 1", + "type": "inline_equation" + }, + { + "bbox": [ + 309, + 136, + 505, + 149 + ], + "score": 1.0, + "content": ", meaning that we move the sliding window just", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 147, + 506, + 160 + ], + "spans": [ + { + "bbox": [ + 105, + 147, + 506, + 160 + ], + "score": 1.0, + "content": "one token after every inference pass, giving each prediction the maximum number of context tokens", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 158, + 201, + 170 + ], + "spans": [ + { + "bbox": [ + 105, + 158, + 201, + 170 + ], + "score": 1.0, + "content": "that the model can use.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4 + }, + { + "type": "image", + "bbox": [ + 157, + 180, + 452, + 334 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 157, + 180, + 452, + 334 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 157, + 180, + 452, + 334 + ], + "spans": [ + { + "bbox": [ + 157, + 180, + 452, + 334 + ], + "score": 0.968, + "type": "image", + "image_path": "5f91f6bdf10f91e9df60fe8a82792a8da3426e81d9d9493ba58fb5c39b32bcae.jpg" + } + ] + } + ], + "index": 8, + "virtual_lines": [ + { + "bbox": [ + 157, + 180, + 452, + 231.33333333333334 + ], + "spans": [], + "index": 7 + }, + { + "bbox": [ + 157, + 231.33333333333334, + 452, + 282.6666666666667 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 157, + 282.6666666666667, + 452, + 334.0 + ], + "spans": [], + "index": 9 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 349, + 505, + 427 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 350, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 350, + 505, + 362 + ], + "score": 1.0, + "content": "Figure 11: ALiBi models evaluated on different input lengths on WikiText-103 with sliding window", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 361, + 506, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 361, + 199, + 373 + ], + "score": 1.0, + "content": "evaluation (with stride", + "type": "text" + }, + { + "bbox": [ + 199, + 361, + 228, + 371 + ], + "score": 0.89, + "content": "S = 1 { \\dot { } }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 361, + 506, + 373 + ], + "score": 1.0, + "content": "). Unlike results shown in Figure 4, where performance improves in", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 372, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 105, + 372, + 505, + 384 + ], + "score": 1.0, + "content": "each of our models as we increase the validation sequence length, here performance stays relatively", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 382, + 506, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 382, + 183, + 396 + ], + "score": 1.0, + "content": "flat as we increase", + "type": "text" + }, + { + "bbox": [ + 183, + 383, + 206, + 394 + ], + "score": 0.88, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 206, + 382, + 445, + 396 + ], + "score": 1.0, + "content": ". This might mean that ALiBi increases performance when", + "type": "text" + }, + { + "bbox": [ + 446, + 383, + 488, + 394 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 488, + 382, + 506, + 396 + ], + "score": 1.0, + "content": "not", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 393, + 505, + 405 + ], + "spans": [ + { + "bbox": [ + 106, + 393, + 505, + 405 + ], + "score": 1.0, + "content": "because it uses longer contexts, but because fewer tokens suffer from the early token curse. Note that", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 104, + 404, + 506, + 418 + ], + "spans": [ + { + "bbox": [ + 104, + 404, + 128, + 418 + ], + "score": 1.0, + "content": "as in", + "type": "text" + }, + { + "bbox": [ + 128, + 405, + 140, + 416 + ], + "score": 0.8, + "content": "\\ S 2", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 404, + 361, + 418 + ], + "score": 1.0, + "content": ", the perplexity of the sinusoidal model explodes when", + "type": "text" + }, + { + "bbox": [ + 361, + 405, + 404, + 416 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 404, + 506, + 418 + ], + "score": 1.0, + "content": "even when using sliding", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 416, + 186, + 427 + ], + "spans": [ + { + "bbox": [ + 106, + 416, + 186, + 427 + ], + "score": 1.0, + "content": "window evaluation.", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 13 + } + ], + "index": 10.5 + }, + { + "type": "text", + "bbox": [ + 108, + 441, + 502, + 453 + ], + "lines": [ + { + "bbox": [ + 106, + 440, + 504, + 455 + ], + "spans": [ + { + "bbox": [ + 106, + 440, + 504, + 455 + ], + "score": 1.0, + "content": "The results are shown in Figure 11 and in the corresponding Tables 13 (sinusoidal) and 15 (ALiBi).", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 17 + }, + { + "type": "text", + "bbox": [ + 108, + 458, + 504, + 492 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 505, + 472 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 291, + 472 + ], + "score": 1.0, + "content": "Unsurprisingly, for the sinusoidal model, as in", + "type": "text" + }, + { + "bbox": [ + 291, + 459, + 302, + 470 + ], + "score": 0.81, + "content": "\\ S 2", + "type": "inline_equation" + }, + { + "bbox": [ + 302, + 457, + 348, + 472 + ], + "score": 1.0, + "content": ", increasing", + "type": "text" + }, + { + "bbox": [ + 349, + 459, + 371, + 470 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 372, + 457, + 505, + 472 + ], + "score": 1.0, + "content": "causes an explosion in perplexity", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "score": 1.0, + "content": "even when using sliding window evaluation. Our ALiBi models cannot improve perplexity when", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 480, + 482, + 494 + ], + "spans": [ + { + "bbox": [ + 106, + 480, + 416, + 494 + ], + "score": 1.0, + "content": "looking at longer sequences in this setting, but they keep perplexity flat when", + "type": "text" + }, + { + "bbox": [ + 416, + 481, + 439, + 492 + ], + "score": 0.9, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 480, + 482, + 494 + ], + "score": 1.0, + "content": "increases.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 19 + }, + { + "type": "text", + "bbox": [ + 107, + 497, + 505, + 563 + ], + "lines": [ + { + "bbox": [ + 105, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 105, + 497, + 402, + 510 + ], + "score": 1.0, + "content": "This leads us to believe that our perplexity improvement when increasing", + "type": "text" + }, + { + "bbox": [ + 402, + 498, + 425, + 509 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "and using nonover-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 509, + 505, + 521 + ], + "spans": [ + { + "bbox": [ + 105, + 509, + 505, + 521 + ], + "score": 1.0, + "content": "lapping evaluation is caused by explanation 2, not explanation 1. Because sliding window evaluation", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 520, + 505, + 532 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 505, + 532 + ], + "score": 1.0, + "content": "provides long context windows for every prediction made, it curtails the early token curse. In this", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 531, + 505, + 543 + ], + "spans": [ + { + "bbox": [ + 105, + 531, + 301, + 543 + ], + "score": 1.0, + "content": "setting, ALiBi’s performance remains flat when", + "type": "text" + }, + { + "bbox": [ + 301, + 531, + 324, + 542 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 531, + 505, + 543 + ], + "score": 1.0, + "content": "increases, leading us to hypothesize that the", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 541, + 505, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 541, + 221, + 554 + ], + "score": 1.0, + "content": "gains seen while increasing", + "type": "text" + }, + { + "bbox": [ + 221, + 542, + 244, + 552 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 244, + 541, + 256, + 554 + ], + "score": 1.0, + "content": "in", + "type": "text" + }, + { + "bbox": [ + 256, + 542, + 268, + 552 + ], + "score": 0.64, + "content": "\\ S 4", + "type": "inline_equation" + }, + { + "bbox": [ + 268, + 541, + 370, + 554 + ], + "score": 1.0, + "content": "were the result of larger", + "type": "text" + }, + { + "bbox": [ + 370, + 542, + 393, + 552 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 541, + 505, + 554 + ], + "score": 1.0, + "content": "values mitigating the early", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 552, + 157, + 564 + ], + "spans": [ + { + "bbox": [ + 106, + 552, + 157, + 564 + ], + "score": 1.0, + "content": "token curse.", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 23.5 + }, + { + "type": "text", + "bbox": [ + 107, + 569, + 504, + 591 + ], + "lines": [ + { + "bbox": [ + 106, + 569, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 569, + 505, + 582 + ], + "score": 1.0, + "content": "Our ALiBi results mirror what occurs in the model using the T5 bias: when using sliding window", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 581, + 483, + 592 + ], + "spans": [ + { + "bbox": [ + 106, + 581, + 483, + 592 + ], + "score": 1.0, + "content": "evaluation, perplexity remains relatively flat when evaluating longer sequences (see Table 14).", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 27.5 + }, + { + "type": "text", + "bbox": [ + 105, + 596, + 503, + 620 + ], + "lines": [ + { + "bbox": [ + 105, + 596, + 505, + 610 + ], + "spans": [ + { + "bbox": [ + 105, + 596, + 232, + 610 + ], + "score": 1.0, + "content": "Our analysis reveals that when", + "type": "text" + }, + { + "bbox": [ + 232, + 597, + 275, + 608 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 596, + 505, + 610 + ], + "score": 1.0, + "content": ", ALiBi might not be using contexts longer than the ones", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 609, + 470, + 620 + ], + "spans": [ + { + "bbox": [ + 106, + 609, + 470, + 620 + ], + "score": 1.0, + "content": "it was trained on. This highlights a research direction that could be pursued in future work.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29.5 + }, + { + "type": "text", + "bbox": [ + 106, + 624, + 505, + 691 + ], + "lines": [ + { + "bbox": [ + 105, + 624, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 105, + 624, + 327, + 638 + ], + "score": 1.0, + "content": "These findings do not lessen the value of ALiBi. When", + "type": "text" + }, + { + "bbox": [ + 327, + 625, + 366, + 636 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } = L", + "type": "inline_equation" + }, + { + "bbox": [ + 367, + 624, + 505, + 638 + ], + "score": 1.0, + "content": ", ALiBi achieves either superior or", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 635, + 505, + 649 + ], + "spans": [ + { + "bbox": [ + 105, + 635, + 505, + 649 + ], + "score": 1.0, + "content": "similar results to the sinusoidal method and other alternatives even though it is simpler and requires", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 647, + 506, + 660 + ], + "spans": [ + { + "bbox": [ + 105, + 647, + 272, + 660 + ], + "score": 1.0, + "content": "no learned parameters. When evaluating", + "type": "text" + }, + { + "bbox": [ + 272, + 647, + 316, + 658 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 317, + 647, + 506, + 660 + ], + "score": 1.0, + "content": "tokens, even if ALiBi does not attend to more", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 657, + 505, + 671 + ], + "spans": [ + { + "bbox": [ + 105, + 657, + 127, + 671 + ], + "score": 1.0, + "content": "than", + "type": "text" + }, + { + "bbox": [ + 127, + 658, + 135, + 668 + ], + "score": 0.72, + "content": "L", + "type": "inline_equation" + }, + { + "bbox": [ + 136, + 657, + 505, + 671 + ], + "score": 1.0, + "content": "tokens, it yields better results than the other alternatives that can be used in this case, i.e.,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 670, + 505, + 681 + ], + "spans": [ + { + "bbox": [ + 106, + 670, + 505, + 681 + ], + "score": 1.0, + "content": "standard nonoverlapping inference (which is cheap, but does not perform as well) and the more", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 680, + 331, + 692 + ], + "spans": [ + { + "bbox": [ + 105, + 680, + 331, + 692 + ], + "score": 1.0, + "content": "accurate sliding window approach (which is very slow).", + "type": "text" + } + ], + "index": 36 + } + ], + "index": 33.5 + } + ], + "page_idx": 23, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 106, + 712, + 506, + 732 + ], + "lines": [ + { + "bbox": [ + 114, + 708, + 506, + 725 + ], + "spans": [ + { + "bbox": [ + 114, + 708, + 506, + 725 + ], + "score": 1.0, + "content": "13100 tokens is an arbitrary small number used here to represent a short history context, i.e., one in which", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 721, + 330, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 330, + 732 + ], + "score": 1.0, + "content": "making predictions for the next output token would be harder.", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 751, + 311, + 760 + ], + "lines": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "spans": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 14, + "width": 15 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 141, + 82, + 503, + 105 + ], + "lines": [], + "index": 0.5, + "bbox_fs": [ + 141, + 82, + 505, + 106 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 107, + 114, + 505, + 169 + ], + "lines": [ + { + "bbox": [ + 106, + 114, + 505, + 127 + ], + "spans": [ + { + "bbox": [ + 106, + 114, + 505, + 127 + ], + "score": 1.0, + "content": "To better understand what might be occurring, we re-evaluate the development set of WikiText-103", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 124, + 506, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 124, + 305, + 138 + ], + "score": 1.0, + "content": "with our models and the sinusoidal baseline with", + "type": "text" + }, + { + "bbox": [ + 306, + 126, + 343, + 136 + ], + "score": 0.59, + "content": "L = 5 1 2", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 124, + 506, + 138 + ], + "score": 1.0, + "content": ", 1024, 3072. However, this time we use", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 136, + 505, + 149 + ], + "spans": [ + { + "bbox": [ + 106, + 136, + 280, + 149 + ], + "score": 1.0, + "content": "sliding window evaluation with a stride of", + "type": "text" + }, + { + "bbox": [ + 281, + 137, + 308, + 147 + ], + "score": 0.9, + "content": "S = 1", + "type": "inline_equation" + }, + { + "bbox": [ + 309, + 136, + 505, + 149 + ], + "score": 1.0, + "content": ", meaning that we move the sliding window just", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 147, + 506, + 160 + ], + "spans": [ + { + "bbox": [ + 105, + 147, + 506, + 160 + ], + "score": 1.0, + "content": "one token after every inference pass, giving each prediction the maximum number of context tokens", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 158, + 201, + 170 + ], + "spans": [ + { + "bbox": [ + 105, + 158, + 201, + 170 + ], + "score": 1.0, + "content": "that the model can use.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4, + "bbox_fs": [ + 105, + 114, + 506, + 170 + ] + }, + { + "type": "image", + "bbox": [ + 157, + 180, + 452, + 334 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 157, + 180, + 452, + 334 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 157, + 180, + 452, + 334 + ], + "spans": [ + { + "bbox": [ + 157, + 180, + 452, + 334 + ], + "score": 0.968, + "type": "image", + "image_path": "5f91f6bdf10f91e9df60fe8a82792a8da3426e81d9d9493ba58fb5c39b32bcae.jpg" + } + ] + } + ], + "index": 8, + "virtual_lines": [ + { + "bbox": [ + 157, + 180, + 452, + 231.33333333333334 + ], + "spans": [], + "index": 7 + }, + { + "bbox": [ + 157, + 231.33333333333334, + 452, + 282.6666666666667 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 157, + 282.6666666666667, + 452, + 334.0 + ], + "spans": [], + "index": 9 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 349, + 505, + 427 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 350, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 350, + 505, + 362 + ], + "score": 1.0, + "content": "Figure 11: ALiBi models evaluated on different input lengths on WikiText-103 with sliding window", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 361, + 506, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 361, + 199, + 373 + ], + "score": 1.0, + "content": "evaluation (with stride", + "type": "text" + }, + { + "bbox": [ + 199, + 361, + 228, + 371 + ], + "score": 0.89, + "content": "S = 1 { \\dot { } }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 361, + 506, + 373 + ], + "score": 1.0, + "content": "). Unlike results shown in Figure 4, where performance improves in", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 372, + 505, + 384 + ], + "spans": [ + { + "bbox": [ + 105, + 372, + 505, + 384 + ], + "score": 1.0, + "content": "each of our models as we increase the validation sequence length, here performance stays relatively", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 382, + 506, + 396 + ], + "spans": [ + { + "bbox": [ + 105, + 382, + 183, + 396 + ], + "score": 1.0, + "content": "flat as we increase", + "type": "text" + }, + { + "bbox": [ + 183, + 383, + 206, + 394 + ], + "score": 0.88, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 206, + 382, + 445, + 396 + ], + "score": 1.0, + "content": ". This might mean that ALiBi increases performance when", + "type": "text" + }, + { + "bbox": [ + 446, + 383, + 488, + 394 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 488, + 382, + 506, + 396 + ], + "score": 1.0, + "content": "not", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 393, + 505, + 405 + ], + "spans": [ + { + "bbox": [ + 106, + 393, + 505, + 405 + ], + "score": 1.0, + "content": "because it uses longer contexts, but because fewer tokens suffer from the early token curse. Note that", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 104, + 404, + 506, + 418 + ], + "spans": [ + { + "bbox": [ + 104, + 404, + 128, + 418 + ], + "score": 1.0, + "content": "as in", + "type": "text" + }, + { + "bbox": [ + 128, + 405, + 140, + 416 + ], + "score": 0.8, + "content": "\\ S 2", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 404, + 361, + 418 + ], + "score": 1.0, + "content": ", the perplexity of the sinusoidal model explodes when", + "type": "text" + }, + { + "bbox": [ + 361, + 405, + 404, + 416 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } > L", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 404, + 506, + 418 + ], + "score": 1.0, + "content": "even when using sliding", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 416, + 186, + 427 + ], + "spans": [ + { + "bbox": [ + 106, + 416, + 186, + 427 + ], + "score": 1.0, + "content": "window evaluation.", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 13 + } + ], + "index": 10.5 + }, + { + "type": "text", + "bbox": [ + 108, + 441, + 502, + 453 + ], + "lines": [ + { + "bbox": [ + 106, + 440, + 504, + 455 + ], + "spans": [ + { + "bbox": [ + 106, + 440, + 504, + 455 + ], + "score": 1.0, + "content": "The results are shown in Figure 11 and in the corresponding Tables 13 (sinusoidal) and 15 (ALiBi).", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 17, + "bbox_fs": [ + 106, + 440, + 504, + 455 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 458, + 504, + 492 + ], + "lines": [ + { + "bbox": [ + 105, + 457, + 505, + 472 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 291, + 472 + ], + "score": 1.0, + "content": "Unsurprisingly, for the sinusoidal model, as in", + "type": "text" + }, + { + "bbox": [ + 291, + 459, + 302, + 470 + ], + "score": 0.81, + "content": "\\ S 2", + "type": "inline_equation" + }, + { + "bbox": [ + 302, + 457, + 348, + 472 + ], + "score": 1.0, + "content": ", increasing", + "type": "text" + }, + { + "bbox": [ + 349, + 459, + 371, + 470 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 372, + 457, + 505, + 472 + ], + "score": 1.0, + "content": "causes an explosion in perplexity", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 505, + 482 + ], + "score": 1.0, + "content": "even when using sliding window evaluation. Our ALiBi models cannot improve perplexity when", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 480, + 482, + 494 + ], + "spans": [ + { + "bbox": [ + 106, + 480, + 416, + 494 + ], + "score": 1.0, + "content": "looking at longer sequences in this setting, but they keep perplexity flat when", + "type": "text" + }, + { + "bbox": [ + 416, + 481, + 439, + 492 + ], + "score": 0.9, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 480, + 482, + 494 + ], + "score": 1.0, + "content": "increases.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 19, + "bbox_fs": [ + 105, + 457, + 505, + 494 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 497, + 505, + 563 + ], + "lines": [ + { + "bbox": [ + 105, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 105, + 497, + 402, + 510 + ], + "score": 1.0, + "content": "This leads us to believe that our perplexity improvement when increasing", + "type": "text" + }, + { + "bbox": [ + 402, + 498, + 425, + 509 + ], + "score": 0.91, + "content": "L _ { \\nu a l i d }", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "and using nonover-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 509, + 505, + 521 + ], + "spans": [ + { + "bbox": [ + 105, + 509, + 505, + 521 + ], + "score": 1.0, + "content": "lapping evaluation is caused by explanation 2, not explanation 1. Because sliding window evaluation", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 520, + 505, + 532 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 505, + 532 + ], + "score": 1.0, + "content": "provides long context windows for every prediction made, it curtails the early token curse. 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This highlights a research direction that could be pursued in future work.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29.5, + "bbox_fs": [ + 105, + 596, + 505, + 620 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 624, + 505, + 691 + ], + "lines": [ + { + "bbox": [ + 105, + 624, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 105, + 624, + 327, + 638 + ], + "score": 1.0, + "content": "These findings do not lessen the value of ALiBi. When", + "type": "text" + }, + { + "bbox": [ + 327, + 625, + 366, + 636 + ], + "score": 0.92, + "content": "L _ { \\nu a l i d } = L", + "type": "inline_equation" + }, + { + "bbox": [ + 367, + 624, + 505, + 638 + ], + "score": 1.0, + "content": ", ALiBi achieves either superior or", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 635, + 505, + 649 + ], + "spans": [ + { + "bbox": [ + 105, + 635, + 505, + 649 + ], + "score": 1.0, + "content": "similar results to the sinusoidal method and other alternatives even though it is simpler and requires", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 647, + 506, + 660 + ], + "spans": [ + { + "bbox": [ + 105, + 647, + 272, + 660 + ], + "score": 1.0, + "content": "no learned parameters. 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Our approach yields", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 141, + 420, + 470, + 431 + ], + "spans": [ + { + "bbox": [ + 141, + 420, + 470, + 431 + ], + "score": 1.0, + "content": "strong improvements over previous state-of-the-art techniques, both in terms of", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 141, + 430, + 470, + 442 + ], + "spans": [ + { + "bbox": [ + 141, + 431, + 390, + 442 + ], + "score": 1.0, + "content": "supervised learning performance on benchmark datasets (up to", + "type": "text" + }, + { + "bbox": [ + 391, + 430, + 415, + 442 + ], + "score": 0.86, + "content": "\\uparrow 7 \\% )", + "type": "inline_equation" + }, + { + "bbox": [ + 415, + 431, + 470, + 442 + ], + "score": 1.0, + "content": "), and transfer", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 141, + 441, + 470, + 453 + ], + "spans": [ + { + "bbox": [ + 141, + 441, + 470, + 453 + ], + "score": 1.0, + "content": "learning performance on downstream remote sensing tasks, including land cover", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 142, + 452, + 469, + 464 + ], + "spans": [ + { + "bbox": [ + 142, + 452, + 220, + 464 + ], + "score": 1.0, + "content": "classification (up to", + "type": "text" + }, + { + "bbox": [ + 220, + 452, + 249, + 464 + ], + "score": 0.89, + "content": "\\uparrow 1 4 \\% )", + "type": "inline_equation" + }, + { + "bbox": [ + 250, + 452, + 469, + 464 + ], + "score": 1.0, + "content": "and semantic segmentation. Code and data are available", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 141, + 463, + 459, + 475 + ], + "spans": [ + { + "bbox": [ + 141, + 463, + 459, + 475 + ], + "score": 1.0, + "content": "on the project website: https://sustainlab-group.github.io/SatMAE/", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 17, + "bbox_fs": [ + 141, + 310, + 470, + 475 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 492, + 190, + 506 + ], + "lines": [ + { + "bbox": [ + 105, + 491, + 192, + 509 + ], + "spans": [ + { + "bbox": [ + 105, + 491, + 192, + 509 + ], + "score": 1.0, + "content": "1 Introduction", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 106, + 518, + 505, + 671 + ], + "lines": [ + { + "bbox": [ + 105, + 515, + 506, + 531 + ], + "spans": [ + { + "bbox": [ + 105, + 515, + 506, + 531 + ], + "score": 1.0, + "content": "In recent years, self-supervised learning techniques have quickly become the norm for pre-training", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 104, + 525, + 506, + 542 + ], + "spans": [ + { + "bbox": [ + 104, + 525, + 506, + 542 + ], + "score": 1.0, + "content": "models on large-scale natural image datasets [1, 2, 3, 4, 5, 6, 7, 8], and have demonstrated strong", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 104, + 538, + 505, + 552 + ], + "spans": [ + { + "bbox": [ + 104, + 538, + 493, + 552 + ], + "score": 1.0, + "content": "performance on downstream tasks including image classification [3, 4, 9, 10], image segmentation", + "type": "text" + }, + { + "bbox": [ + 493, + 539, + 505, + 550 + ], + "score": 0.52, + "content": "\\bar { \\bigtriangledown } ,", + "type": "inline_equation" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 549, + 506, + 563 + ], + "spans": [ + { + "bbox": [ + 104, + 549, + 471, + 563 + ], + "score": 1.0, + "content": "11], representation learning [12, 13, 14], image compression [12, 15], image reconstruction", + "type": "text" + }, + { + "bbox": [ + 472, + 550, + 484, + 561 + ], + "score": 0.53, + "content": "\\mathbb { n }", + "type": "inline_equation" + }, + { + "bbox": [ + 485, + 549, + 506, + 563 + ], + "score": 1.0, + "content": ", and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 104, + 560, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 104, + 560, + 176, + 574 + ], + "score": 1.0, + "content": "image generation", + "type": "text" + }, + { + "bbox": [ + 176, + 561, + 193, + 573 + ], + "score": 0.34, + "content": "[ \\overline { { 1 6 } } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 560, + 506, + 574 + ], + "score": 1.0, + "content": ". 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We show", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 391, + 505, + 408 + ], + "spans": [ + { + "bbox": [ + 105, + 391, + 505, + 408 + ], + "score": 1.0, + "content": "that introducing a positional encoding for the temporal/spectral dimension and independently masking", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 404, + 505, + 417 + ], + "spans": [ + { + "bbox": [ + 106, + 404, + 505, + 417 + ], + "score": 1.0, + "content": "patches across the temporal/spectral dimension benefits pre-training, allowing the model to learn", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 415, + 507, + 428 + ], + "spans": [ + { + "bbox": [ + 106, + 415, + 507, + 428 + ], + "score": 1.0, + "content": "representations of the data that are more conducive to finetuning. 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As seen in figure", + "type": "text" + }, + { + "bbox": [ + 197, + 561, + 207, + 575 + ], + "score": 0.74, + "content": "{ \\bar { 3 } } ,", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 561, + 486, + 576 + ], + "score": 1.0, + "content": "there are different ways to mask a temporal series of satellite images.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 42.5, + "bbox_fs": [ + 106, + 550, + 505, + 576 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 587, + 504, + 610 + ], + "lines": [ + { + "bbox": [ + 107, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 107, + 587, + 505, + 600 + ], + "score": 1.0, + "content": "Consistent Masking Each image is “patchified” separately, but the masked regions are consistent", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 597, + 473, + 611 + ], + "spans": [ + { + "bbox": [ + 106, + 597, + 381, + 611 + ], + "score": 1.0, + "content": "across all images (fig. 3a). This approach is also used in VideoMAE", + "type": "text" + }, + { + "bbox": [ + 381, + 597, + 399, + 609 + ], + "score": 0.28, + "content": "\\pmb { \\Vert 5 4 \\Vert }", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 597, + 473, + 611 + ], + "score": 1.0, + "content": ", with video input.", + "type": "text" + } + ], + "index": 45 + } + ], + "index": 44.5, + "bbox_fs": [ + 106, + 587, + 505, + 611 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 623, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 106, + 624, + 505, + 636 + ], + "spans": [ + { + "bbox": [ + 106, + 624, + 505, + 636 + ], + "score": 1.0, + "content": "Independent Masking Each image is “patchified” separately, and masked regions may not be the", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 635, + 506, + 646 + ], + "spans": [ + { + "bbox": [ + 106, + 635, + 285, + 646 + ], + "score": 1.0, + "content": "same across every image. Instead, a fraction", + "type": "text" + }, + { + "bbox": [ + 285, + 636, + 299, + 646 + ], + "score": 0.87, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 299, + 635, + 506, + 646 + ], + "score": 1.0, + "content": "of the full sequence of all patch tokens are masked.", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 645, + 506, + 658 + ], + "spans": [ + { + "bbox": [ + 106, + 645, + 446, + 658 + ], + "score": 1.0, + "content": "Another variant is to independently mask the regions of each image, but keep the ratio", + "type": "text" + }, + { + "bbox": [ + 447, + 646, + 461, + 657 + ], + "score": 0.87, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 461, + 645, + 506, + 658 + ], + "score": 1.0, + "content": "of masked", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 655, + 506, + 669 + ], + "spans": [ + { + "bbox": [ + 105, + 655, + 506, + 669 + ], + "score": 1.0, + "content": "regions fixed per image. Both variants are equivalent in expectation. Effectively, the model may look", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 667, + 506, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 667, + 506, + 680 + ], + "score": 1.0, + "content": "at unmasked values of a region that is masked in one image but not in others. This setting may lead to", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 677, + 505, + 691 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 505, + 691 + ], + "score": 1.0, + "content": "an easier task for video data since the model can “cheat” and exploit temporal redundancy in videos", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 688, + 506, + 702 + ], + "spans": [ + { + "bbox": [ + 106, + 688, + 506, + 702 + ], + "score": 1.0, + "content": "with high framerates [54]. However, we argue that this form of “cheating” is less feasible in temporal", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 699, + 506, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 713 + ], + "score": 1.0, + "content": "satellite imagery, given the strong impact of seasonal variation and changing human activity over", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 711, + 504, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 711, + 504, + 723 + ], + "score": 1.0, + "content": "periods of time and the much larger time deltas between temporally consecutive images (see fig. 3a).", + "type": "text" + } + ], + "index": 54 + } + ], + "index": 50, + "bbox_fs": [ + 105, + 624, + 506, + 723 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 123, + 72, + 486, + 240 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 123, + 72, + 486, + 240 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 123, + 72, + 486, + 240 + ], + "spans": [ + { + "bbox": [ + 123, + 72, + 486, + 240 + ], + "score": 0.965, + "type": "image", + "image_path": "d608cfc2e0783e553d8c8494f39903170d00a320f6eb1394aa05d96ed583a8e8.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 123, + 72, + 486, + 128.0 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 123, + 128.0, + 486, + 184.0 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 123, + 184.0, + 486, + 240.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 246, + 506, + 308 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 247, + 504, + 258 + ], + "spans": [ + { + "bbox": [ + 106, + 247, + 504, + 258 + ], + "score": 1.0, + "content": "Figure 3: 3a Temporal masking: For images in a timeseries, we can choose to keep a patch fully visible or fully", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 257, + 505, + 268 + ], + "spans": [ + { + "bbox": [ + 106, + 257, + 505, + 268 + ], + "score": 1.0, + "content": "masked across time (consistent masking), or independently mask all patches (independent masking). In both", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 267, + 506, + 279 + ], + "spans": [ + { + "bbox": [ + 105, + 267, + 167, + 279 + ], + "score": 1.0, + "content": "cases, a fraction", + "type": "text" + }, + { + "bbox": [ + 167, + 268, + 180, + 277 + ], + "score": 0.86, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 267, + 278, + 279 + ], + "score": 1.0, + "content": "patches are masked. Here,", + "type": "text" + }, + { + "bbox": [ + 279, + 267, + 303, + 276 + ], + "score": 0.88, + "content": "T = 3", + "type": "inline_equation" + }, + { + "bbox": [ + 303, + 267, + 506, + 279 + ], + "score": 1.0, + "content": ", and the leftmost column orders the temporal sequence", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 277, + 506, + 289 + ], + "spans": [ + { + "bbox": [ + 105, + 277, + 506, + 289 + ], + "score": 1.0, + "content": "according to the timestamp features. For example, “y-12, m-12, h-15” is 12 years from the minimum year (2002),", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 287, + 506, + 299 + ], + "spans": [ + { + "bbox": [ + 105, + 287, + 506, + 299 + ], + "score": 1.0, + "content": "the zero-indexed month 2, and the 15th hour of the day; i.e., roughly 2014, March, 15:00. 3b Spectral Masking:", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 296, + 456, + 309 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 456, + 309 + ], + "score": 1.0, + "content": "The same masking strategies are adapted to groups of the 13 spectral bands in Sentinel-2 images.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "text", + "bbox": [ + 107, + 328, + 505, + 372 + ], + "lines": [ + { + "bbox": [ + 105, + 327, + 506, + 342 + ], + "spans": [ + { + "bbox": [ + 105, + 327, + 201, + 342 + ], + "score": 1.0, + "content": "Independent Masking", + "type": "text" + }, + { + "bbox": [ + 202, + 330, + 210, + 338 + ], + "score": 0.74, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 327, + 506, + 342 + ], + "score": 1.0, + "content": "Inconsistent Cropping During data pre-processing, we can crop square", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 106, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "regions for input inconsistently so that images in the same temporal sequence may be spatially-", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "score": 1.0, + "content": "unaligned. This strategy may help the model learn better representations as it may learn to align", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 362, + 376, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 376, + 373 + ], + "score": 1.0, + "content": "images in the sequence across the spatial and temporal dimensions.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 10.5 + }, + { + "type": "title", + "bbox": [ + 107, + 385, + 232, + 397 + ], + "lines": [ + { + "bbox": [ + 106, + 384, + 232, + 398 + ], + "spans": [ + { + "bbox": [ + 106, + 384, + 232, + 398 + ], + "score": 1.0, + "content": "4.2 Multi-spectral SatMAE", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 107, + 404, + 505, + 450 + ], + "lines": [ + { + "bbox": [ + 104, + 402, + 508, + 419 + ], + "spans": [ + { + "bbox": [ + 104, + 402, + 253, + 419 + ], + "score": 1.0, + "content": "While MAE does operate on images", + "type": "text" + }, + { + "bbox": [ + 254, + 404, + 314, + 416 + ], + "score": 0.92, + "content": "I \\in \\mathbb { R } ^ { C \\times H \\times W }", + "type": "inline_equation" + }, + { + "bbox": [ + 314, + 402, + 349, + 419 + ], + "score": 1.0, + "content": ", usually", + "type": "text" + }, + { + "bbox": [ + 349, + 406, + 377, + 416 + ], + "score": 0.9, + "content": "C = 3", + "type": "inline_equation" + }, + { + "bbox": [ + 378, + 402, + 508, + 419 + ], + "score": 1.0, + "content": "for RGB images. Satellite data,", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 415, + 506, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 415, + 506, + 429 + ], + "score": 1.0, + "content": "on the other hand, can often have multiple spectral bands. For example, Sentinel-2 imagery has", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 107, + 426, + 503, + 440 + ], + "spans": [ + { + "bbox": [ + 107, + 427, + 139, + 437 + ], + "score": 0.88, + "content": "C = 1 3", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 426, + 178, + 440 + ], + "score": 1.0, + "content": "bands of", + "type": "text" + }, + { + "bbox": [ + 178, + 427, + 197, + 438 + ], + "score": 0.36, + "content": "1 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 198, + 426, + 200, + 440 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 201, + 427, + 221, + 438 + ], + "score": 0.29, + "content": "2 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 221, + 426, + 239, + 440 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 239, + 428, + 259, + 438 + ], + "score": 0.68, + "content": "6 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 426, + 503, + 440 + ], + "score": 1.0, + "content": "spatial resolution, each of different wavelengths (see A.2.2)", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 437, + 500, + 451 + ], + "spans": [ + { + "bbox": [ + 105, + 437, + 500, + 451 + ], + "score": 1.0, + "content": "Below, we discuss and later experimentally compare various ways to encode spectral information.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 15.5 + }, + { + "type": "text", + "bbox": [ + 107, + 461, + 502, + 486 + ], + "lines": [ + { + "bbox": [ + 105, + 459, + 506, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 459, + 288, + 477 + ], + "score": 1.0, + "content": "Stack Channels The sequence of patches", + "type": "text" + }, + { + "bbox": [ + 289, + 461, + 347, + 473 + ], + "score": 0.93, + "content": "S \\in \\mathbb { R } ^ { L \\times P ^ { 2 } C }", + "type": "inline_equation" + }, + { + "bbox": [ + 348, + 459, + 506, + 477 + ], + "score": 1.0, + "content": "is embedded to a sequence of tokens", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 107, + 471, + 488, + 487 + ], + "spans": [ + { + "bbox": [ + 107, + 473, + 155, + 484 + ], + "score": 0.91, + "content": "S ^ { \\prime } \\in \\mathbb { R } ^ { L \\times D }", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 471, + 453, + 487 + ], + "score": 1.0, + "content": ", thus treating the multi-band image as is. We denote this method SatMAE", + "type": "text" + }, + { + "bbox": [ + 453, + 475, + 460, + 484 + ], + "score": 0.43, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 460, + 471, + 488, + 487 + ], + "score": 1.0, + "content": "Stack.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 18.5 + }, + { + "type": "text", + "bbox": [ + 107, + 496, + 505, + 541 + ], + "lines": [ + { + "bbox": [ + 106, + 496, + 506, + 509 + ], + "spans": [ + { + "bbox": [ + 106, + 496, + 506, + 509 + ], + "score": 1.0, + "content": "Group Channels There are limitations to naively stacking the spectral information, especially that", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 508, + 505, + 520 + ], + "spans": [ + { + "bbox": [ + 105, + 508, + 505, + 520 + ], + "score": 1.0, + "content": "a single convolutional patch embedding may be insufficient to fully capture fine-grained information", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 519, + 506, + 531 + ], + "spans": [ + { + "bbox": [ + 105, + 519, + 506, + 531 + ], + "score": 1.0, + "content": "present in multiple bands of different wavelengths and spatial resolution. We would like the model to", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 529, + 466, + 543 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 466, + 543 + ], + "score": 1.0, + "content": "preserve information about the different bands through the encoding and decoding stages.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 21.5 + }, + { + "type": "text", + "bbox": [ + 106, + 546, + 505, + 643 + ], + "lines": [ + { + "bbox": [ + 105, + 544, + 506, + 559 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 439, + 559 + ], + "score": 1.0, + "content": "To address this limitation, we propose grouping subsets of spectral bands. Given", + "type": "text" + }, + { + "bbox": [ + 439, + 547, + 448, + 556 + ], + "score": 0.79, + "content": "C", + "type": "inline_equation" + }, + { + "bbox": [ + 449, + 544, + 506, + 559 + ], + "score": 1.0, + "content": "channels, we", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 555, + 506, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 129, + 571 + ], + "score": 1.0, + "content": "form", + "type": "text" + }, + { + "bbox": [ + 129, + 558, + 138, + 567 + ], + "score": 0.8, + "content": "G", + "type": "inline_equation" + }, + { + "bbox": [ + 138, + 555, + 170, + 571 + ], + "score": 1.0, + "content": "groups", + "type": "text" + }, + { + "bbox": [ + 170, + 559, + 227, + 569 + ], + "score": 0.89, + "content": "g _ { 1 } , g _ { 2 } , \\dotsc , g _ { G }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 555, + 268, + 571 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 268, + 558, + 370, + 568 + ], + "score": 0.89, + "content": "g _ { 1 } + g _ { 2 } + \\cdot \\cdot \\cdot + g _ { G } = C", + "type": "inline_equation" + }, + { + "bbox": [ + 371, + 555, + 506, + 571 + ], + "score": 1.0, + "content": ". This is analogous to slicing the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 104, + 565, + 507, + 582 + ], + "spans": [ + { + "bbox": [ + 104, + 565, + 134, + 582 + ], + "score": 1.0, + "content": "image", + "type": "text" + }, + { + "bbox": [ + 134, + 569, + 141, + 578 + ], + "score": 0.74, + "content": "I", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 565, + 318, + 582 + ], + "score": 1.0, + "content": "in the channel dimension, creating images", + "type": "text" + }, + { + "bbox": [ + 318, + 569, + 361, + 579 + ], + "score": 0.9, + "content": "I _ { 1 } , \\ldots , I _ { G }", + "type": "inline_equation" + }, + { + "bbox": [ + 361, + 565, + 393, + 582 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 393, + 567, + 460, + 580 + ], + "score": 0.92, + "content": "I _ { j } \\in \\mathbb { R } ^ { g _ { j } \\times H \\times W }", + "type": "inline_equation" + }, + { + "bbox": [ + 460, + 565, + 507, + 582 + ], + "score": 1.0, + "content": ". We use a", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 104, + 579, + 506, + 595 + ], + "spans": [ + { + "bbox": [ + 104, + 579, + 216, + 595 + ], + "score": 1.0, + "content": "separate patch embedding", + "type": "text" + }, + { + "bbox": [ + 216, + 579, + 297, + 594 + ], + "score": 0.93, + "content": "f _ { p _ { j } } : \\mathbb { R } ^ { P ^ { 2 } g _ { j } } \\mapsto \\mathbb { R } ^ { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 298, + 579, + 362, + 595 + ], + "score": 1.0, + "content": "for each group", + "type": "text" + }, + { + "bbox": [ + 363, + 582, + 369, + 593 + ], + "score": 0.8, + "content": "j", + "type": "inline_equation" + }, + { + "bbox": [ + 369, + 579, + 506, + 595 + ], + "score": 1.0, + "content": ", thus allowing the model to best", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 592, + 506, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 592, + 489, + 606 + ], + "score": 1.0, + "content": "represent each possibly different group of channels as token embeddings. Therefore, each group", + "type": "text" + }, + { + "bbox": [ + 489, + 594, + 495, + 604 + ], + "score": 0.83, + "content": "j", + "type": "inline_equation" + }, + { + "bbox": [ + 495, + 592, + 506, + 606 + ], + "score": 1.0, + "content": "is", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 601, + 506, + 620 + ], + "spans": [ + { + "bbox": [ + 104, + 601, + 178, + 620 + ], + "score": 1.0, + "content": "first resized from", + "type": "text" + }, + { + "bbox": [ + 179, + 604, + 244, + 618 + ], + "score": 0.92, + "content": "I _ { j } \\in \\mathbb { R } ^ { g _ { j } \\times H \\times W }", + "type": "inline_equation" + }, + { + "bbox": [ + 244, + 601, + 256, + 620 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 256, + 603, + 317, + 617 + ], + "score": 0.92, + "content": "\\overline { { S } } _ { j } \\in \\mathbb { R } ^ { L \\times P ^ { 2 } g _ { j } }", + "type": "inline_equation" + }, + { + "bbox": [ + 317, + 601, + 479, + 620 + ], + "score": 1.0, + "content": ", and then each patch is embedded with", + "type": "text" + }, + { + "bbox": [ + 479, + 606, + 493, + 618 + ], + "score": 0.9, + "content": "f _ { p _ { j } }", + "type": "inline_equation" + }, + { + "bbox": [ + 493, + 601, + 506, + 620 + ], + "score": 1.0, + "content": "to", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 104, + 615, + 506, + 633 + ], + "spans": [ + { + "bbox": [ + 104, + 615, + 271, + 633 + ], + "score": 1.0, + "content": "produce a sequence of embedded tokens", + "type": "text" + }, + { + "bbox": [ + 272, + 618, + 321, + 631 + ], + "score": 0.86, + "content": "S _ { j } ^ { \\prime } \\in \\mathbb { R } ^ { L \\times D }", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 615, + 387, + 633 + ], + "score": 1.0, + "content": ". 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In both", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 267, + 506, + 279 + ], + "spans": [ + { + "bbox": [ + 105, + 267, + 167, + 279 + ], + "score": 1.0, + "content": "cases, a fraction", + "type": "text" + }, + { + "bbox": [ + 167, + 268, + 180, + 277 + ], + "score": 0.86, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 267, + 278, + 279 + ], + "score": 1.0, + "content": "patches are masked. Here,", + "type": "text" + }, + { + "bbox": [ + 279, + 267, + 303, + 276 + ], + "score": 0.88, + "content": "T = 3", + "type": "inline_equation" + }, + { + "bbox": [ + 303, + 267, + 506, + 279 + ], + "score": 1.0, + "content": ", and the leftmost column orders the temporal sequence", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 277, + 506, + 289 + ], + "spans": [ + { + "bbox": [ + 105, + 277, + 506, + 289 + ], + "score": 1.0, + "content": "according to the timestamp features. For example, “y-12, m-12, h-15” is 12 years from the minimum year (2002),", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 287, + 506, + 299 + ], + "spans": [ + { + "bbox": [ + 105, + 287, + 506, + 299 + ], + "score": 1.0, + "content": "the zero-indexed month 2, and the 15th hour of the day; i.e., roughly 2014, March, 15:00. 3b Spectral Masking:", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 296, + 456, + 309 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 456, + 309 + ], + "score": 1.0, + "content": "The same masking strategies are adapted to groups of the 13 spectral bands in Sentinel-2 images.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "text", + "bbox": [ + 107, + 328, + 505, + 372 + ], + "lines": [ + { + "bbox": [ + 105, + 327, + 506, + 342 + ], + "spans": [ + { + "bbox": [ + 105, + 327, + 201, + 342 + ], + "score": 1.0, + "content": "Independent Masking", + "type": "text" + }, + { + "bbox": [ + 202, + 330, + 210, + 338 + ], + "score": 0.74, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 327, + 506, + 342 + ], + "score": 1.0, + "content": "Inconsistent Cropping During data pre-processing, we can crop square", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 106, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "regions for input inconsistently so that images in the same temporal sequence may be spatially-", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "score": 1.0, + "content": "unaligned. This strategy may help the model learn better representations as it may learn to align", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 362, + 376, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 376, + 373 + ], + "score": 1.0, + "content": "images in the sequence across the spatial and temporal dimensions.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 10.5, + "bbox_fs": [ + 105, + 327, + 506, + 373 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 385, + 232, + 397 + ], + "lines": [ + { + "bbox": [ + 106, + 384, + 232, + 398 + ], + "spans": [ + { + "bbox": [ + 106, + 384, + 232, + 398 + ], + "score": 1.0, + "content": "4.2 Multi-spectral SatMAE", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 107, + 404, + 505, + 450 + ], + "lines": [ + { + "bbox": [ + 104, + 402, + 508, + 419 + ], + "spans": [ + { + "bbox": [ + 104, + 402, + 253, + 419 + ], + "score": 1.0, + "content": "While MAE does operate on images", + "type": "text" + }, + { + "bbox": [ + 254, + 404, + 314, + 416 + ], + "score": 0.92, + "content": "I \\in \\mathbb { R } ^ { C \\times H \\times W }", + "type": "inline_equation" + }, + { + "bbox": [ + 314, + 402, + 349, + 419 + ], + "score": 1.0, + "content": ", usually", + "type": "text" + }, + { + "bbox": [ + 349, + 406, + 377, + 416 + ], + "score": 0.9, + "content": "C = 3", + "type": "inline_equation" + }, + { + "bbox": [ + 378, + 402, + 508, + 419 + ], + "score": 1.0, + "content": "for RGB images. Satellite data,", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 415, + 506, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 415, + 506, + 429 + ], + "score": 1.0, + "content": "on the other hand, can often have multiple spectral bands. For example, Sentinel-2 imagery has", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 107, + 426, + 503, + 440 + ], + "spans": [ + { + "bbox": [ + 107, + 427, + 139, + 437 + ], + "score": 0.88, + "content": "C = 1 3", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 426, + 178, + 440 + ], + "score": 1.0, + "content": "bands of", + "type": "text" + }, + { + "bbox": [ + 178, + 427, + 197, + 438 + ], + "score": 0.36, + "content": "1 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 198, + 426, + 200, + 440 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 201, + 427, + 221, + 438 + ], + "score": 0.29, + "content": "2 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 221, + 426, + 239, + 440 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 239, + 428, + 259, + 438 + ], + "score": 0.68, + "content": "6 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 259, + 426, + 503, + 440 + ], + "score": 1.0, + "content": "spatial resolution, each of different wavelengths (see A.2.2)", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 437, + 500, + 451 + ], + "spans": [ + { + "bbox": [ + 105, + 437, + 500, + 451 + ], + "score": 1.0, + "content": "Below, we discuss and later experimentally compare various ways to encode spectral information.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 15.5, + "bbox_fs": [ + 104, + 402, + 508, + 451 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 461, + 502, + 486 + ], + "lines": [ + { + "bbox": [ + 105, + 459, + 506, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 459, + 288, + 477 + ], + "score": 1.0, + "content": "Stack Channels The sequence of patches", + "type": "text" + }, + { + "bbox": [ + 289, + 461, + 347, + 473 + ], + "score": 0.93, + "content": "S \\in \\mathbb { R } ^ { L \\times P ^ { 2 } C }", + "type": "inline_equation" + }, + { + "bbox": [ + 348, + 459, + 506, + 477 + ], + "score": 1.0, + "content": "is embedded to a sequence of tokens", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 107, + 471, + 488, + 487 + ], + "spans": [ + { + "bbox": [ + 107, + 473, + 155, + 484 + ], + "score": 0.91, + "content": "S ^ { \\prime } \\in \\mathbb { R } ^ { L \\times D }", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 471, + 453, + 487 + ], + "score": 1.0, + "content": ", thus treating the multi-band image as is. We denote this method SatMAE", + "type": "text" + }, + { + "bbox": [ + 453, + 475, + 460, + 484 + ], + "score": 0.43, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 460, + 471, + 488, + 487 + ], + "score": 1.0, + "content": "Stack.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 18.5, + "bbox_fs": [ + 105, + 459, + 506, + 487 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 496, + 505, + 541 + ], + "lines": [ + { + "bbox": [ + 106, + 496, + 506, + 509 + ], + "spans": [ + { + "bbox": [ + 106, + 496, + 506, + 509 + ], + "score": 1.0, + "content": "Group Channels There are limitations to naively stacking the spectral information, especially that", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 508, + 505, + 520 + ], + "spans": [ + { + "bbox": [ + 105, + 508, + 505, + 520 + ], + "score": 1.0, + "content": "a single convolutional patch embedding may be insufficient to fully capture fine-grained information", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 519, + 506, + 531 + ], + "spans": [ + { + "bbox": [ + 105, + 519, + 506, + 531 + ], + "score": 1.0, + "content": "present in multiple bands of different wavelengths and spatial resolution. We would like the model to", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 529, + 466, + 543 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 466, + 543 + ], + "score": 1.0, + "content": "preserve information about the different bands through the encoding and decoding stages.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 21.5, + "bbox_fs": [ + 105, + 496, + 506, + 543 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 546, + 505, + 643 + ], + "lines": [ + { + "bbox": [ + 105, + 544, + 506, + 559 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 439, + 559 + ], + "score": 1.0, + "content": "To address this limitation, we propose grouping subsets of spectral bands. Given", + "type": "text" + }, + { + "bbox": [ + 439, + 547, + 448, + 556 + ], + "score": 0.79, + "content": "C", + "type": "inline_equation" + }, + { + "bbox": [ + 449, + 544, + 506, + 559 + ], + "score": 1.0, + "content": "channels, we", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 555, + 506, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 129, + 571 + ], + "score": 1.0, + "content": "form", + "type": "text" + }, + { + "bbox": [ + 129, + 558, + 138, + 567 + ], + "score": 0.8, + "content": "G", + "type": "inline_equation" + }, + { + "bbox": [ + 138, + 555, + 170, + 571 + ], + "score": 1.0, + "content": "groups", + "type": "text" + }, + { + "bbox": [ + 170, + 559, + 227, + 569 + ], + "score": 0.89, + "content": "g _ { 1 } , g _ { 2 } , \\dotsc , g _ { G }", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 555, + 268, + 571 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 268, + 558, + 370, + 568 + ], + "score": 0.89, + "content": "g _ { 1 } + g _ { 2 } + \\cdot \\cdot \\cdot + g _ { G } = C", + "type": "inline_equation" + }, + { + "bbox": [ + 371, + 555, + 506, + 571 + ], + "score": 1.0, + "content": ". 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MethodBackboneFrozen/Finetune
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Sup.*ViT-Large-/62.48
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SatMAEViT-Large65.94/77.84
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Fol-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 313, + 435, + 506, + 449 + ], + "spans": [ + { + "bbox": [ + 313, + 435, + 346, + 449 + ], + "score": 1.0, + "content": "lowing", + "type": "text" + }, + { + "bbox": [ + 346, + 436, + 364, + 448 + ], + "score": 0.62, + "content": "\\bar { \\big [ } \\bar { 3 4 } \\bar { \\big ] }", + "type": "inline_equation" + }, + { + "bbox": [ + 365, + 435, + 506, + 449 + ], + "score": 1.0, + "content": ", we report both the performance", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 313, + 447, + 505, + 460 + ], + "spans": [ + { + "bbox": [ + 313, + 447, + 505, + 460 + ], + "score": 1.0, + "content": "of linear probing and finetuning setting. Table", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 314, + 458, + 507, + 470 + ], + "spans": [ + { + "bbox": [ + 314, + 458, + 507, + 470 + ], + "score": 1.0, + "content": "1 shows that compared to the previous state-", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 313, + 470, + 506, + 481 + ], + "spans": [ + { + "bbox": [ + 313, + 470, + 506, + 481 + ], + "score": 1.0, + "content": "of-the-art self-supervised method using a con-", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 313, + 479, + 506, + 493 + ], + "spans": [ + { + "bbox": [ + 313, + 479, + 506, + 493 + ], + "score": 1.0, + "content": "trastive momentum encoding approach [34, 3],", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 314, + 491, + 505, + 502 + ], + "spans": [ + { + "bbox": [ + 314, + 491, + 411, + 502 + ], + "score": 1.0, + "content": "our SatMAE achieved a", + "type": "text" + }, + { + "bbox": [ + 412, + 492, + 439, + 502 + ], + "score": 0.87, + "content": "6 . 2 9 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 491, + 505, + 502 + ], + "score": 1.0, + "content": "improvement in", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 313, + 502, + 506, + 513 + ], + "spans": [ + { + "bbox": [ + 313, + 502, + 506, + 513 + ], + "score": 1.0, + "content": "top 1 classification accuracy. Interestingly, with-", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 313, + 513, + 506, + 524 + ], + "spans": [ + { + "bbox": [ + 313, + 513, + 506, + 524 + ], + "score": 1.0, + "content": "out SatMAE pre-training the ViT-large model", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 313, + 523, + 506, + 536 + ], + "spans": [ + { + "bbox": [ + 313, + 523, + 385, + 536 + ], + "score": 1.0, + "content": "could only reach", + "type": "text" + }, + { + "bbox": [ + 386, + 524, + 419, + 534 + ], + "score": 0.88, + "content": "6 2 . 4 8 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 523, + 506, + 536 + ], + "score": 1.0, + "content": "at convergence after", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 314, + 534, + 505, + 547 + ], + "spans": [ + { + "bbox": [ + 314, + 534, + 471, + 547 + ], + "score": 1.0, + "content": "50 epochs of finetuning compared to", + "type": "text" + }, + { + "bbox": [ + 472, + 535, + 505, + 545 + ], + "score": 0.89, + "content": "6 9 . 0 5 \\%", + "type": "inline_equation" + } + ], + "index": 46 + }, + { + "bbox": [ + 314, + 546, + 506, + 557 + ], + "spans": [ + { + "bbox": [ + 314, + 546, + 506, + 557 + ], + "score": 1.0, + "content": "achieved by training a ResNet-50 model from", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 313, + 556, + 507, + 568 + ], + "spans": [ + { + "bbox": [ + 313, + 556, + 464, + 568 + ], + "score": 1.0, + "content": "scratch. 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Naively stacking the image sequences in the channel", + "type": "text" + } + ], + "index": 58 + }, + { + "bbox": [ + 106, + 700, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 506, + 712 + ], + "score": 1.0, + "content": "dimension performs even worse than the non-temporal SatMAE. Again, SatMAE pre-training is", + "type": "text" + } + ], + "index": 59 + }, + { + "bbox": [ + 106, + 711, + 425, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 711, + 425, + 723 + ], + "score": 1.0, + "content": "crucial for ViT to outperform ResNet50. 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This positional encoding is added to", + "type": "text" + }, + { + "bbox": [ + 317, + 84, + 327, + 93 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 83, + 506, + 96 + ], + "score": 1.0, + "content": "before inputting it to the encoder. 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MethodBackboneFrozen/Finetune
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We also outperform", + "type": "text" + } + ], + "index": 56 + }, + { + "bbox": [ + 106, + 678, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 678, + 261, + 690 + ], + "score": 1.0, + "content": "UTAE [48], a SITS state-of-the-art, by", + "type": "text" + }, + { + "bbox": [ + 261, + 678, + 279, + 689 + ], + "score": 0.85, + "content": "18 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 280, + 678, + 505, + 690 + ], + "score": 1.0, + "content": ". We can observe from rows 5-8 that this gain is not from", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 105, + 687, + 505, + 702 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 702 + ], + "score": 1.0, + "content": "the larger model to handle sequences of data. Naively stacking the image sequences in the channel", + "type": "text" + } + ], + "index": 58 + }, + { + "bbox": [ + 106, + 700, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 506, + 712 + ], + "score": 1.0, + "content": "dimension performs even worse than the non-temporal SatMAE. Again, SatMAE pre-training is", + "type": "text" + } + ], + "index": 59 + }, + { + "bbox": [ + 106, + 711, + 425, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 711, + 425, + 723 + ], + "score": 1.0, + "content": "crucial for ViT to outperform ResNet50. Training details are in appendix A.3.2.", + "type": "text" + } + ], + "index": 60 + } + ], + "index": 56.5, + "bbox_fs": [ + 105, + 635, + 506, + 723 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 109, + 80, + 300, + 190 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 109, + 80, + 300, + 190 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 80, + 300, + 190 + ], + "spans": [ + { + "bbox": [ + 109, + 80, + 300, + 190 + ], + "score": 0.981, + "html": "
MethodBackboneTop Acc. (1/5)
Sup.*ResNet5073.24/-
SeCo [5ResNet5066.80/-
GASSL [34]ResNet5074.11/-
UTAE [48]U-Net61.59/86.45
Sup.*ViT-Large61.89/84.23
SatMAE+StackViT-Large75.85/88.68
MAE+Test Aug.ViT-Large78.90/93.31
MAE|ViT-Large76.78/92.01
SatMAEViT-Large81.49/93.26
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MethodBackboneTop Acc. (1/5)
Sup. Learning*ResNet15249.12/75.73
Sup. LearningtResNet15254.46/78.99
MoCo-v3ViT-Base50.45/76.37
MoCo-v3+GroupViT-Base51.33/75.68
SatMAE+Group*ViT-Large53.03/77.14
SatMAE+GrouptViT-Large51.61/77.26
SatMAE+GrouptViT-Large47.57/72.26
SatMAE+GroupSViT-Large49.49/76.30
SatMAE+StackViT-Large57.37/81.63
SatMAE+Group+IMViT-Large59.30/82.81
SatMAE+Group+IMViT-Large61.48/85.17
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Temp. Enc.Indep. Mask.Cons. Crop.Test Aug.Top 1 Acc.
78.07
78.45
79.90
79.69
81.49
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Back.Group Strat.Indp. Mask.Spec. Enc.Top 1 Acc.
BaseX59.11
LargeX58.87
LargeX57.76
LargeH57.78
LargeR58.76
LargeX59.30
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Further ablations on mask ratio", + "type": "text" + }, + { + "bbox": [ + 342, + 492, + 356, + 502 + ], + "score": 0.86, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 356, + 491, + 414, + 503 + ], + "score": 1.0, + "content": "and patch size", + "type": "text" + }, + { + "bbox": [ + 415, + 491, + 424, + 501 + ], + "score": 0.79, + "content": "P", + "type": "inline_equation" + }, + { + "bbox": [ + 424, + 491, + 506, + 503 + ], + "score": 1.0, + "content": "are in appendix A.4.", + "type": "text" + } + ], + "index": 59 + } + ], + "index": 56.5 + }, + { + "type": "title", + "bbox": [ + 108, + 515, + 264, + 527 + ], + "lines": [ + { + "bbox": [ + 105, + 513, + 266, + 530 + ], + "spans": [ + { + "bbox": [ + 105, + 513, + 266, + 530 + ], + "score": 1.0, + "content": "5.4 fMoW Sentinel (Multi-spectral)", + "type": "text" + } + ], + "index": 60 + } + ], + "index": 60 + }, + { + "type": "text", + "bbox": [ + 106, + 534, + 506, + 645 + ], + "lines": [ + { + "bbox": [ + 106, + 535, + 506, + 546 + ], + "spans": [ + { + "bbox": [ + 106, + 535, + 506, + 546 + ], + "score": 1.0, + "content": "In this section, we pre-train and finetune SatMAE on the image classification task of the fMoW-", + "type": "text" + } + ], + "index": 61 + }, + { + "bbox": [ + 106, + 545, + 506, + 558 + ], + "spans": [ + { + "bbox": [ + 106, + 545, + 265, + 558 + ], + "score": 1.0, + "content": "Sentinel dataset. We pre-train SatMAE", + "type": "text" + }, + { + "bbox": [ + 266, + 547, + 272, + 555 + ], + "score": 0.3, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 272, + 545, + 294, + 558 + ], + "score": 1.0, + "content": "Stack", + "type": "text" + }, + { + "bbox": [ + 294, + 546, + 311, + 558 + ], + "score": 0.59, + "content": "4 . 2", + "type": "inline_equation" + }, + { + "bbox": [ + 312, + 545, + 506, + 558 + ], + "score": 1.0, + "content": "and investigate SatMAE+Group+CM 4.1.2 and", + "type": "text" + } + ], + "index": 62 + }, + { + "bbox": [ + 106, + 556, + 506, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 556, + 216, + 569 + ], + "score": 0.46, + "content": "\\mathrm { S a t M A E + G r o u p + I M \\bar { 4 } . 1 . 2 } ,", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 556, + 506, + 570 + ], + "score": 1.0, + "content": "(see 4.2, 4.2). The full models are then finetuned on the fMoW-Sentinel", + "type": "text" + } + ], + "index": 63 + }, + { + "bbox": [ + 106, + 568, + 506, + 580 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 506, + 580 + ], + "score": 1.0, + "content": "image classification task. For comparison, we also finetune the ResNet-152 model [61] from scratch", + "type": "text" + } + ], + "index": 64 + }, + { + "bbox": [ + 106, + 578, + 506, + 590 + ], + "spans": [ + { + "bbox": [ + 106, + 578, + 506, + 590 + ], + "score": 1.0, + "content": "and from a supervised ImageNet initialization. We pick the largest model, ResNet-152, for fairer", + "type": "text" + } + ], + "index": 65 + }, + { + "bbox": [ + 105, + 589, + 506, + 602 + ], + "spans": [ + { + "bbox": [ + 105, + 589, + 506, + 602 + ], + "score": 1.0, + "content": "comparison with ViTs. We also include MoCo-v3 [62, 3], a popular SSL method. Given the", + "type": "text" + } + ], + "index": 66 + }, + { + "bbox": [ + 105, + 600, + 507, + 613 + ], + "spans": [ + { + "bbox": [ + 105, + 600, + 507, + 613 + ], + "score": 1.0, + "content": "differences in applying RGB-image augmentations to satellite imagery, we implement two versions:", + "type": "text" + } + ], + "index": 67 + }, + { + "bbox": [ + 105, + 611, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 611, + 506, + 624 + ], + "score": 1.0, + "content": "(i) MoCo-v3: we apply all of the same augmentations, except random grayscale and solarize, to", + "type": "text" + } + ], + "index": 68 + }, + { + "bbox": [ + 105, + 621, + 506, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 621, + 506, + 635 + ], + "score": 1.0, + "content": "create 2 views of the 10-channel image. (ii) MoCo-v3+Group: we split the 10 bands into two groups", + "type": "text" + } + ], + "index": 69 + }, + { + "bbox": [ + 105, + 633, + 507, + 647 + ], + "spans": [ + { + "bbox": [ + 105, + 633, + 160, + 647 + ], + "score": 1.0, + "content": "suggested by", + "type": "text" + }, + { + "bbox": [ + 160, + 633, + 173, + 645 + ], + "score": 0.47, + "content": "\\pmb { \\mathbb { D } } \\mathbf { l }", + "type": "inline_equation" + }, + { + "bbox": [ + 173, + 633, + 507, + 647 + ], + "score": 1.0, + "content": ", and apply augmentations to each to create a positive pair of two 5-channel images.", + "type": "text" + } + ], + "index": 70 + } + ], + "index": 65.5 + }, + { + "type": "text", + "bbox": [ + 107, + 655, + 505, + 723 + ], + "lines": [ + { + "bbox": [ + 105, + 654, + 505, + 669 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 669 + ], + "score": 1.0, + "content": "Model configuration As not all of the 13 Sentinel-2 bands may be useful, in our experiments we", + "type": "text" + } + ], + "index": 71 + }, + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 406, + 680 + ], + "score": 1.0, + "content": "drop bands B1, B9 and B10, which correspond to a spatial resolution of", + "type": "text" + }, + { + "bbox": [ + 407, + 667, + 426, + 678 + ], + "score": 0.48, + "content": "6 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 666, + 506, + 680 + ], + "score": 1.0, + "content": ". Of the remaining", + "type": "text" + } + ], + "index": 72 + }, + { + "bbox": [ + 105, + 677, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 275, + 690 + ], + "score": 1.0, + "content": "10 bands, we form three groups: (i) RGB", + "type": "text" + }, + { + "bbox": [ + 276, + 680, + 282, + 687 + ], + "score": 0.42, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 677, + 506, + 690 + ], + "score": 1.0, + "content": "NIR: B2, B3, B4, B8 (ii) Red Edge: B5, B6, B7, B8A", + "type": "text" + } + ], + "index": 73 + }, + { + "bbox": [ + 105, + 688, + 505, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 505, + 701 + ], + "score": 1.0, + "content": "(iii) SWIR: B11, B12. We choose this grouping to ensure each group has bands of the same spatial", + "type": "text" + } + ], + "index": 74 + }, + { + "bbox": [ + 105, + 699, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 700, + 310, + 712 + ], + "score": 1.0, + "content": "resolution and similar wavelength (see A.2.2, A.6)", + "type": "text" + }, + { + "bbox": [ + 312, + 699, + 417, + 712 + ], + "score": 1.0, + "content": "Only the last row of table", + "type": "text" + }, + { + "bbox": [ + 417, + 699, + 427, + 712 + ], + "score": 0.51, + "content": "\\textcircled { 3 }", + "type": "inline_equation" + }, + { + "bbox": [ + 428, + 699, + 505, + 712 + ], + "score": 1.0, + "content": "includes additional", + "type": "text" + } + ], + "index": 75 + }, + { + "bbox": [ + 105, + 710, + 506, + 724 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 309, + 724 + ], + "score": 1.0, + "content": "data augmentations used during finetuning as in [1]", + "type": "text" + }, + { + "bbox": [ + 313, + 710, + 506, + 723 + ], + "score": 1.0, + "content": "See A.3.3 for pre-training and finetuning details.", + "type": "text" + } + ], + "index": 76 + } + ], + "index": 73.5 + } + ], + "page_idx": 6, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 302, + 741, + 309, + 750 + ], + "lines": [ + { + "bbox": [ + 302, + 741, + 309, + 752 + ], + "spans": [ + { + "bbox": [ + 302, + 741, + 309, + 752 + ], + "score": 1.0, + "content": "7", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 109, + 80, + 300, + 190 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 109, + 80, + 300, + 190 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 80, + 300, + 190 + ], + "spans": [ + { + "bbox": [ + 109, + 80, + 300, + 190 + ], + "score": 0.981, + "html": "
MethodBackboneTop Acc. (1/5)
Sup.*ResNet5073.24/-
SeCo [5ResNet5066.80/-
GASSL [34]ResNet5074.11/-
UTAE [48]U-Net61.59/86.45
Sup.*ViT-Large61.89/84.23
SatMAE+StackViT-Large75.85/88.68
MAE+Test Aug.ViT-Large78.90/93.31
MAE|ViT-Large76.78/92.01
SatMAEViT-Large81.49/93.26
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MethodBackboneTop Acc. (1/5)
Sup. Learning*ResNet15249.12/75.73
Sup. LearningtResNet15254.46/78.99
MoCo-v3ViT-Base50.45/76.37
MoCo-v3+GroupViT-Base51.33/75.68
SatMAE+Group*ViT-Large53.03/77.14
SatMAE+GrouptViT-Large51.61/77.26
SatMAE+GrouptViT-Large47.57/72.26
SatMAE+GroupSViT-Large49.49/76.30
SatMAE+StackViT-Large57.37/81.63
SatMAE+Group+IMViT-Large59.30/82.81
SatMAE+Group+IMViT-Large61.48/85.17
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Temp. Enc.Indep. Mask.Cons. Crop.Test Aug.Top 1 Acc.
78.07
78.45
79.90
79.69
81.49
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Back.Group Strat.Indp. Mask.Spec. Enc.Top 1 Acc.
BaseX59.11
LargeX58.87
LargeX57.76
LargeH57.78
LargeR58.76
LargeX59.30
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The first column denotes using ViT-", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 305, + 368, + 504, + 382 + ], + "spans": [ + { + "bbox": [ + 305, + 368, + 504, + 382 + ], + "score": 1.0, + "content": "Base or ViT-Large. The second column is the grouping", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 306, + 379, + 504, + 392 + ], + "spans": [ + { + "bbox": [ + 306, + 379, + 504, + 392 + ], + "score": 1.0, + "content": "strategy (see 5.4). The third column denotes indepen-", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 306, + 390, + 503, + 401 + ], + "spans": [ + { + "bbox": [ + 306, + 390, + 503, + 401 + ], + "score": 1.0, + "content": "dent or consistent masking. The last column is whether", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 304, + 399, + 444, + 412 + ], + "spans": [ + { + "bbox": [ + 304, + 399, + 444, + 412 + ], + "score": 1.0, + "content": "the spectral group encoding 3 is used.", + "type": "text" + } + ], + "index": 53 + } + ], + "index": 50.5 + } + ], + "index": 47.25 + }, + { + "type": "text", + "bbox": [ + 107, + 436, + 505, + 503 + ], + "lines": [ + { + "bbox": [ + 106, + 436, + 505, + 449 + ], + "spans": [ + { + "bbox": [ + 106, + 436, + 505, + 449 + ], + "score": 1.0, + "content": "Ablation studies Table 4 provides a comprehensive ablation study on the components of temporal", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 446, + 505, + 460 + ], + "spans": [ + { + "bbox": [ + 105, + 446, + 505, + 460 + ], + "score": 1.0, + "content": "SatMAE. We see that improved performance is mainly due to the temporal encoding and adopting", + "type": "text" + } + ], + "index": 55 + }, + { + "bbox": [ + 105, + 457, + 506, + 471 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 485, + 471 + ], + "score": 1.0, + "content": "independent masking rather than the consistent masking strategy suggested in VideoMAE", + "type": "text" + }, + { + "bbox": [ + 485, + 457, + 503, + 469 + ], + "score": 0.5, + "content": "\\pmb { \\| \\overbrace { 5 4 } } \\big |", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 457, + 506, + 471 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 56 + }, + { + "bbox": [ + 105, + 468, + 506, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 506, + 482 + ], + "score": 1.0, + "content": "Interestingly, consistent cropping slightly decreases performance, indicating that the model does", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 106, + 480, + 506, + 492 + ], + "spans": [ + { + "bbox": [ + 106, + 480, + 506, + 492 + ], + "score": 1.0, + "content": "not rely on perfectly spatially-aligned image sequences. In addition, using test-time augmentations", + "type": "text" + } + ], + "index": 58 + }, + { + "bbox": [ + 106, + 491, + 506, + 503 + ], + "spans": [ + { + "bbox": [ + 106, + 491, + 146, + 503 + ], + "score": 1.0, + "content": "similar to", + "type": "text" + }, + { + "bbox": [ + 146, + 491, + 164, + 502 + ], + "score": 0.57, + "content": "\\textcircled { 1 3 4 } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 164, + 491, + 342, + 503 + ], + "score": 1.0, + "content": "is beneficial. Further ablations on mask ratio", + "type": "text" + }, + { + "bbox": [ + 342, + 492, + 356, + 502 + ], + "score": 0.86, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 356, + 491, + 414, + 503 + ], + "score": 1.0, + "content": "and patch size", + "type": "text" + }, + { + "bbox": [ + 415, + 491, + 424, + 501 + ], + "score": 0.79, + "content": "P", + "type": "inline_equation" + }, + { + "bbox": [ + 424, + 491, + 506, + 503 + ], + "score": 1.0, + "content": "are in appendix A.4.", + "type": "text" + } + ], + "index": 59 + } + ], + "index": 56.5, + "bbox_fs": [ + 105, + 436, + 506, + 503 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 515, + 264, + 527 + ], + "lines": [ + { + "bbox": [ + 105, + 513, + 266, + 530 + ], + "spans": [ + { + "bbox": [ + 105, + 513, + 266, + 530 + ], + "score": 1.0, + "content": "5.4 fMoW Sentinel (Multi-spectral)", + "type": "text" + } + ], + "index": 60 + } + ], + "index": 60 + }, + { + "type": "text", + "bbox": [ + 106, + 534, + 506, + 645 + ], + "lines": [ + { + "bbox": [ + 106, + 535, + 506, + 546 + ], + "spans": [ + { + "bbox": [ + 106, + 535, + 506, + 546 + ], + "score": 1.0, + "content": "In this section, we pre-train and finetune SatMAE on the image classification task of the fMoW-", + "type": "text" + } + ], + "index": 61 + }, + { + "bbox": [ + 106, + 545, + 506, + 558 + ], + "spans": [ + { + "bbox": [ + 106, + 545, + 265, + 558 + ], + "score": 1.0, + "content": "Sentinel dataset. We pre-train SatMAE", + "type": "text" + }, + { + "bbox": [ + 266, + 547, + 272, + 555 + ], + "score": 0.3, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 272, + 545, + 294, + 558 + ], + "score": 1.0, + "content": "Stack", + "type": "text" + }, + { + "bbox": [ + 294, + 546, + 311, + 558 + ], + "score": 0.59, + "content": "4 . 2", + "type": "inline_equation" + }, + { + "bbox": [ + 312, + 545, + 506, + 558 + ], + "score": 1.0, + "content": "and investigate SatMAE+Group+CM 4.1.2 and", + "type": "text" + } + ], + "index": 62 + }, + { + "bbox": [ + 106, + 556, + 506, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 556, + 216, + 569 + ], + "score": 0.46, + "content": "\\mathrm { S a t M A E + G r o u p + I M \\bar { 4 } . 1 . 2 } ,", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 556, + 506, + 570 + ], + "score": 1.0, + "content": "(see 4.2, 4.2). The full models are then finetuned on the fMoW-Sentinel", + "type": "text" + } + ], + "index": 63 + }, + { + "bbox": [ + 106, + 568, + 506, + 580 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 506, + 580 + ], + "score": 1.0, + "content": "image classification task. For comparison, we also finetune the ResNet-152 model [61] from scratch", + "type": "text" + } + ], + "index": 64 + }, + { + "bbox": [ + 106, + 578, + 506, + 590 + ], + "spans": [ + { + "bbox": [ + 106, + 578, + 506, + 590 + ], + "score": 1.0, + "content": "and from a supervised ImageNet initialization. We pick the largest model, ResNet-152, for fairer", + "type": "text" + } + ], + "index": 65 + }, + { + "bbox": [ + 105, + 589, + 506, + 602 + ], + "spans": [ + { + "bbox": [ + 105, + 589, + 506, + 602 + ], + "score": 1.0, + "content": "comparison with ViTs. We also include MoCo-v3 [62, 3], a popular SSL method. Given the", + "type": "text" + } + ], + "index": 66 + }, + { + "bbox": [ + 105, + 600, + 507, + 613 + ], + "spans": [ + { + "bbox": [ + 105, + 600, + 507, + 613 + ], + "score": 1.0, + "content": "differences in applying RGB-image augmentations to satellite imagery, we implement two versions:", + "type": "text" + } + ], + "index": 67 + }, + { + "bbox": [ + 105, + 611, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 611, + 506, + 624 + ], + "score": 1.0, + "content": "(i) MoCo-v3: we apply all of the same augmentations, except random grayscale and solarize, to", + "type": "text" + } + ], + "index": 68 + }, + { + "bbox": [ + 105, + 621, + 506, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 621, + 506, + 635 + ], + "score": 1.0, + "content": "create 2 views of the 10-channel image. (ii) MoCo-v3+Group: we split the 10 bands into two groups", + "type": "text" + } + ], + "index": 69 + }, + { + "bbox": [ + 105, + 633, + 507, + 647 + ], + "spans": [ + { + "bbox": [ + 105, + 633, + 160, + 647 + ], + "score": 1.0, + "content": "suggested by", + "type": "text" + }, + { + "bbox": [ + 160, + 633, + 173, + 645 + ], + "score": 0.47, + "content": "\\pmb { \\mathbb { D } } \\mathbf { l }", + "type": "inline_equation" + }, + { + "bbox": [ + 173, + 633, + 507, + 647 + ], + "score": 1.0, + "content": ", and apply augmentations to each to create a positive pair of two 5-channel images.", + "type": "text" + } + ], + "index": 70 + } + ], + "index": 65.5, + "bbox_fs": [ + 105, + 535, + 507, + 647 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 655, + 505, + 723 + ], + "lines": [ + { + "bbox": [ + 105, + 654, + 505, + 669 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 669 + ], + "score": 1.0, + "content": "Model configuration As not all of the 13 Sentinel-2 bands may be useful, in our experiments we", + "type": "text" + } + ], + "index": 71 + }, + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 406, + 680 + ], + "score": 1.0, + "content": "drop bands B1, B9 and B10, which correspond to a spatial resolution of", + "type": "text" + }, + { + "bbox": [ + 407, + 667, + 426, + 678 + ], + "score": 0.48, + "content": "6 0 \\mathrm { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 666, + 506, + 680 + ], + "score": 1.0, + "content": ". Of the remaining", + "type": "text" + } + ], + "index": 72 + }, + { + "bbox": [ + 105, + 677, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 275, + 690 + ], + "score": 1.0, + "content": "10 bands, we form three groups: (i) RGB", + "type": "text" + }, + { + "bbox": [ + 276, + 680, + 282, + 687 + ], + "score": 0.42, + "content": "^ +", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 677, + 506, + 690 + ], + "score": 1.0, + "content": "NIR: B2, B3, B4, B8 (ii) Red Edge: B5, B6, B7, B8A", + "type": "text" + } + ], + "index": 73 + }, + { + "bbox": [ + 105, + 688, + 505, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 505, + 701 + ], + "score": 1.0, + "content": "(iii) SWIR: B11, B12. We choose this grouping to ensure each group has bands of the same spatial", + "type": "text" + } + ], + "index": 74 + }, + { + "bbox": [ + 105, + 699, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 700, + 310, + 712 + ], + "score": 1.0, + "content": "resolution and similar wavelength (see A.2.2, A.6)", + "type": "text" + }, + { + "bbox": [ + 312, + 699, + 417, + 712 + ], + "score": 1.0, + "content": "Only the last row of table", + "type": "text" + }, + { + "bbox": [ + 417, + 699, + 427, + 712 + ], + "score": 0.51, + "content": "\\textcircled { 3 }", + "type": "inline_equation" + }, + { + "bbox": [ + 428, + 699, + 505, + 712 + ], + "score": 1.0, + "content": "includes additional", + "type": "text" + } + ], + "index": 75 + }, + { + "bbox": [ + 105, + 710, + 506, + 724 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 309, + 724 + ], + "score": 1.0, + "content": "data augmentations used during finetuning as in [1]", + "type": "text" + }, + { + "bbox": [ + 313, + 710, + 506, + 723 + ], + "score": 1.0, + "content": "See A.3.3 for pre-training and finetuning details.", + "type": "text" + } + ], + "index": 76 + } + ], + "index": 73.5, + "bbox_fs": [ + 105, + 654, + 506, + 724 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 109, + 70, + 300, + 135 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 109, + 70, + 300, + 135 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 70, + 300, + 135 + ], + "spans": [ + { + "bbox": [ + 109, + 70, + 300, + 135 + ], + "score": 0.976, + "html": "
MethodBackboneTop 1 Acc.
Sup. (Scratch)ResNet5054.46
GASSL B4]ResNet5057.63
Sup. (Scratch)ViT-Large69.65
SatMAEViT-Large71.77
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MethodBackbone mIoU
Sup. (Scratch)ResNet50 75.57
GASSL [B4]ResNet50 78.51
Sup. (Scratch)ViT-Large 74.71
SatMAEViT-Large 78.07
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MethodBackboneTop1 Acc.
Sup. (Scratch)ResNet1863.21
Sup. (IN init.)ResNet1886.44
GASSL [34]ResNet1889.51
SeCo [35]ResNet1893.14
SatMAE*ViT-Large95.74
SatMAEViT-Large98.94
SatMAE+Group+IMViT-Large98.98
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MethodBackbonemAP
Sup. (Scratch)ResNet5069.49
Sup. (IN init.)ResNet5080.04
GASSL [34ResNet5080.20
SeCo[ B5ResNet5082.62
Sup. (Scratch)ViT-Large80.07
SatMAEViT-Large82.13
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ImageNet initializations may be less useful than in fMoW-RGB given the larger distri-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 333, + 506, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 333, + 506, + 347 + ], + "score": 1.0, + "content": "butional shift to multi-spectral input data. 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X represents the band groups in", + "type": "text" + }, + { + "bbox": [ + 433, + 392, + 450, + 405 + ], + "score": 0.65, + "content": "{ 5 . 4 } .", + "type": "inline_equation" + }, + { + "bbox": [ + 451, + 392, + 505, + 405 + ], + "score": 1.0, + "content": "H represents", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 403, + 505, + 416 + ], + "spans": [ + { + "bbox": [ + 106, + 403, + 505, + 416 + ], + "score": 1.0, + "content": "splitting the 10 bands into two halves, {(2,3,4,5,6), (7,8,8A,11,12)}. R represents a random split into", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 414, + 506, + 427 + ], + "spans": [ + { + "bbox": [ + 106, + 414, + 506, + 427 + ], + "score": 1.0, + "content": "three groups {(6,5,11,12), (8A,4,8,3), (7,2)}, reflecting the same group sizes as X. As seen, the choice", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "spans": [ + { + "bbox": [ + 105, + 424, + 391, + 438 + ], + "score": 1.0, + "content": "of band groups does influence performance, yielding a gain of about", + "type": "text" + }, + { + "bbox": [ + 391, + 425, + 414, + 435 + ], + "score": 0.86, + "content": "0 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 414, + 424, + 506, + 438 + ], + "score": 1.0, + "content": ". Moreover, ViT-Base", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 436, + 505, + 448 + ], + "spans": [ + { + "bbox": [ + 105, + 436, + 505, + 448 + ], + "score": 1.0, + "content": "performs strongly, suggesting that SatMAE is the reason for improved performance rather than the", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 447, + 505, + 460 + ], + "spans": [ + { + "bbox": [ + 106, + 447, + 505, + 460 + ], + "score": 1.0, + "content": "number of parameters in ViT. Interestingly, independent masking performs the best, which prompts", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 457, + 506, + 471 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 506, + 471 + ], + "score": 1.0, + "content": "the model to “peek” at unmasked band groups to reconstruct the same region in a masked band group.", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 37 + }, + { + "type": "text", + "bbox": [ + 107, + 474, + 505, + 497 + ], + "lines": [ + { + "bbox": [ + 106, + 473, + 506, + 486 + ], + "spans": [ + { + "bbox": [ + 106, + 473, + 375, + 486 + ], + "score": 1.0, + "content": "We also include further experiments on the length of pre-training", + "type": "text" + }, + { + "bbox": [ + 375, + 473, + 420, + 486 + ], + "score": 0.35, + "content": "( \\mathrm { s e e } \\mathbf { A } . 3 . 3 )", + "type": "inline_equation" + }, + { + "bbox": [ + 420, + 473, + 506, + 486 + ], + "score": 1.0, + "content": ", the impact of mask", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 484, + 504, + 497 + ], + "spans": [ + { + "bbox": [ + 105, + 484, + 127, + 497 + ], + "score": 1.0, + "content": "ratio", + "type": "text" + }, + { + "bbox": [ + 127, + 487, + 141, + 497 + ], + "score": 0.87, + "content": "p _ { m }", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 484, + 200, + 497 + ], + "score": 1.0, + "content": "and patch size", + "type": "text" + }, + { + "bbox": [ + 200, + 486, + 210, + 495 + ], + "score": 0.79, + "content": "P", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 484, + 504, + 497 + ], + "score": 1.0, + "content": "(see A.5), and the usefulness of the 13 Sentinel-2 spectral bands (see A.6).", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 42.5 + }, + { + "type": "title", + "bbox": [ + 107, + 512, + 266, + 524 + ], + "lines": [ + { + "bbox": [ + 105, + 510, + 267, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 510, + 267, + 527 + ], + "score": 1.0, + "content": "5.5 Transfer Learning Experiments", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 44 + }, + { + "type": "text", + "bbox": [ + 107, + 533, + 505, + 568 + ], + "lines": [ + { + "bbox": [ + 105, + 532, + 505, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 532, + 505, + 545 + ], + "score": 1.0, + "content": "Now, we finetune our pre-trained SatMAE on downstream tasks on remote-sensing datasets, including", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 543, + 503, + 557 + ], + "spans": [ + { + "bbox": [ + 105, + 543, + 210, + 557 + ], + "score": 1.0, + "content": "land cover classification", + "type": "text" + }, + { + "bbox": [ + 211, + 544, + 231, + 556 + ], + "score": 0.82, + "content": "\\underline { { \\boldsymbol { \\mathfrak { S . 5 } } } } \\flat", + "type": "inline_equation" + }, + { + "bbox": [ + 232, + 543, + 342, + 557 + ], + "score": 1.0, + "content": ", multi-label classification", + "type": "text" + }, + { + "bbox": [ + 342, + 544, + 363, + 557 + ], + "score": 0.69, + "content": "( 5 . 5 )", + "type": "inline_equation" + }, + { + "bbox": [ + 366, + 544, + 481, + 556 + ], + "score": 1.0, + "content": "and building segmentation", + "type": "text" + }, + { + "bbox": [ + 482, + 544, + 503, + 557 + ], + "score": 0.7, + "content": "\\underline { { \\widehat { ( 5 . 5 ) } } }", + "type": "inline_equation" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 554, + 324, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 554, + 324, + 568 + ], + "score": 1.0, + "content": "Finetuning details are included in A.7, A.8, A.9, A.10.", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 46 + }, + { + "type": "text", + "bbox": [ + 107, + 581, + 505, + 636 + ], + "lines": [ + { + "bbox": [ + 106, + 581, + 505, + 593 + ], + "spans": [ + { + "bbox": [ + 106, + 581, + 505, + 593 + ], + "score": 1.0, + "content": "Land Cover Classification We perform transfer learning experiments on land cover classification", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 591, + 505, + 604 + ], + "spans": [ + { + "bbox": [ + 106, + 592, + 231, + 604 + ], + "score": 1.0, + "content": "using the NAIP and EuroSAT", + "type": "text" + }, + { + "bbox": [ + 231, + 591, + 249, + 603 + ], + "score": 0.51, + "content": "\\pmb { \\mathbb { \\left| \\overline { { 6 3 } } \\right\\| } }", + "type": "inline_equation" + }, + { + "bbox": [ + 249, + 592, + 358, + 604 + ], + "score": 1.0, + "content": "dataset. NAIP consists of", + "type": "text" + }, + { + "bbox": [ + 358, + 592, + 403, + 603 + ], + "score": 0.29, + "content": "\\mathrm { R G B + C I R }", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 592, + 505, + 604 + ], + "score": 1.0, + "content": "images of 66 land cover", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "score": 1.0, + "content": "classes obtained by the USDA’s National Agricultural Imagery Program, which are split into 244,471", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "spans": [ + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "score": 1.0, + "content": "training and 55,529 validation images. EuroSAT is a small dataset containing 27,000 13-band satellite", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 105, + 624, + 494, + 637 + ], + "spans": [ + { + "bbox": [ + 105, + 624, + 318, + 637 + ], + "score": 1.0, + "content": "images of 10 classes based on Sentinel-2. We follow", + "type": "text" + }, + { + "bbox": [ + 319, + 624, + 351, + 636 + ], + "score": 0.46, + "content": "\\textcircled { 1 3 5 } , \\textcircled { 6 4 } \\textcircled { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 624, + 494, + 637 + ], + "score": 1.0, + "content": "for the train/val splits on EuroSAT.", + "type": "text" + } + ], + "index": 52 + } + ], + "index": 50 + }, + { + "type": "text", + "bbox": [ + 107, + 641, + 505, + 674 + ], + "lines": [ + { + "bbox": [ + 105, + 640, + 506, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 640, + 129, + 654 + ], + "score": 1.0, + "content": "Table", + "type": "text" + }, + { + "bbox": [ + 130, + 640, + 139, + 654 + ], + "score": 0.28, + "content": "\\boxed { 6 }", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 640, + 506, + 654 + ], + "score": 1.0, + "content": "and table 8 shows the remarkable improvement of our SatMAE over the state-of-the-arts.", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 651, + 505, + 665 + ], + "spans": [ + { + "bbox": [ + 105, + 651, + 505, + 665 + ], + "score": 1.0, + "content": "Although using the ViT-Large backbone already achieved good results, initializing the model with", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 663, + 401, + 675 + ], + "spans": [ + { + "bbox": [ + 105, + 663, + 365, + 675 + ], + "score": 1.0, + "content": "SAT-MAE pre-trained weights further increased the accuracy by", + "type": "text" + }, + { + "bbox": [ + 365, + 663, + 397, + 673 + ], + "score": 0.81, + "content": "2 \\% - 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 397, + 663, + 401, + 675 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 55 + } + ], + "index": 54 + }, + { + "type": "text", + "bbox": [ + 107, + 688, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 340, + 701 + ], + "score": 1.0, + "content": "Multi-label Classification We also use the BigEarthNet", + "type": "text" + }, + { + "bbox": [ + 341, + 688, + 358, + 700 + ], + "score": 0.61, + "content": "\\mathbb { \\lVert 1 8 \\rVert }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 687, + 506, + 701 + ], + "score": 1.0, + "content": "dataset for multi-label classification,", + "type": "text" + } + ], + "index": 56 + }, + { + "bbox": [ + 106, + 700, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 505, + 711 + ], + "score": 1.0, + "content": "which consists of 13-band Sentinel-2 images of 19 classes in total. There are 354,196 images for", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 106, + 710, + 493, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 711, + 325, + 723 + ], + "score": 1.0, + "content": "training and 118,065 images for validation. Following", + "type": "text" + }, + { + "bbox": [ + 325, + 710, + 343, + 722 + ], + "score": 0.5, + "content": "\\pmb { \\Vert 3 5 \\Vert }", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 711, + 383, + 723 + ], + "score": 1.0, + "content": ", we use a", + "type": "text" + }, + { + "bbox": [ + 384, + 711, + 403, + 721 + ], + "score": 0.86, + "content": "10 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 711, + 493, + 723 + ], + "score": 1.0, + "content": "subset of the train set.", + "type": "text" + } + ], + "index": 58 + } + ], + "index": 57 + } + ], + "page_idx": 7, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 302, + 742, + 308, + 750 + ], + "lines": [ + { + "bbox": [ + 301, + 740, + 310, + 752 + ], + "spans": [ + { + "bbox": [ + 301, + 740, + 310, + 752 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 12, + "width": 9 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 109, + 70, + 300, + 135 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 109, + 70, + 300, + 135 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 70, + 300, + 135 + ], + "spans": [ + { + "bbox": [ + 109, + 70, + 300, + 135 + ], + "score": 0.976, + "html": "
MethodBackboneTop 1 Acc.
Sup. (Scratch)ResNet5054.46
GASSL B4]ResNet5057.63
Sup. (Scratch)ViT-Large69.65
SatMAEViT-Large71.77
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MethodBackbone mIoU
Sup. (Scratch)ResNet50 75.57
GASSL [B4]ResNet50 78.51
Sup. (Scratch)ViT-Large 74.71
SatMAEViT-Large 78.07
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MethodBackboneTop1 Acc.
Sup. (Scratch)ResNet1863.21
Sup. (IN init.)ResNet1886.44
GASSL [34]ResNet1889.51
SeCo [35]ResNet1893.14
SatMAE*ViT-Large95.74
SatMAEViT-Large98.94
SatMAE+Group+IMViT-Large98.98
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MethodBackbonemAP
Sup. (Scratch)ResNet5069.49
Sup. (IN init.)ResNet5080.04
GASSL [34ResNet5080.20
SeCo[ B5ResNet5082.62
Sup. (Scratch)ViT-Large80.07
SatMAEViT-Large82.13
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ImageNet initializations may be less useful than in fMoW-RGB given the larger distri-", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 333, + 506, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 333, + 506, + 347 + ], + "score": 1.0, + "content": "butional shift to multi-spectral input data. 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X represents the band groups in", + "type": "text" + }, + { + "bbox": [ + 433, + 392, + 450, + 405 + ], + "score": 0.65, + "content": "{ 5 . 4 } .", + "type": "inline_equation" + }, + { + "bbox": [ + 451, + 392, + 505, + 405 + ], + "score": 1.0, + "content": "H represents", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 403, + 505, + 416 + ], + "spans": [ + { + "bbox": [ + 106, + 403, + 505, + 416 + ], + "score": 1.0, + "content": "splitting the 10 bands into two halves, {(2,3,4,5,6), (7,8,8A,11,12)}. R represents a random split into", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 414, + 506, + 427 + ], + "spans": [ + { + "bbox": [ + 106, + 414, + 506, + 427 + ], + "score": 1.0, + "content": "three groups {(6,5,11,12), (8A,4,8,3), (7,2)}, reflecting the same group sizes as X. As seen, the choice", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "spans": [ + { + "bbox": [ + 105, + 424, + 391, + 438 + ], + "score": 1.0, + "content": "of band groups does influence performance, yielding a gain of about", + "type": "text" + }, + { + "bbox": [ + 391, + 425, + 414, + 435 + ], + "score": 0.86, + "content": "0 . 6 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 414, + 424, + 506, + 438 + ], + "score": 1.0, + "content": ". 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NAIP consists of", + "type": "text" + }, + { + "bbox": [ + 358, + 592, + 403, + 603 + ], + "score": 0.29, + "content": "\\mathrm { R G B + C I R }", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 592, + 505, + 604 + ], + "score": 1.0, + "content": "images of 66 land cover", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 602, + 505, + 616 + ], + "score": 1.0, + "content": "classes obtained by the USDA’s National Agricultural Imagery Program, which are split into 244,471", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "spans": [ + { + "bbox": [ + 106, + 614, + 505, + 626 + ], + "score": 1.0, + "content": "training and 55,529 validation images. 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We follow", + "type": "text" + }, + { + "bbox": [ + 319, + 624, + 351, + 636 + ], + "score": 0.46, + "content": "\\textcircled { 1 3 5 } , \\textcircled { 6 4 } \\textcircled { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 624, + 494, + 637 + ], + "score": 1.0, + "content": "for the train/val splits on EuroSAT.", + "type": "text" + } + ], + "index": 52 + } + ], + "index": 50, + "bbox_fs": [ + 105, + 581, + 505, + 637 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 641, + 505, + 674 + ], + "lines": [ + { + "bbox": [ + 105, + 640, + 506, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 640, + 129, + 654 + ], + "score": 1.0, + "content": "Table", + "type": "text" + }, + { + "bbox": [ + 130, + 640, + 139, + 654 + ], + "score": 0.28, + "content": "\\boxed { 6 }", + "type": "inline_equation" + }, + { + "bbox": [ + 140, + 640, + 506, + 654 + ], + "score": 1.0, + "content": "and table 8 shows the remarkable improvement of our SatMAE over the state-of-the-arts.", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 651, + 505, + 665 + ], + "spans": [ + { + "bbox": [ + 105, + 651, + 505, + 665 + ], + "score": 1.0, + "content": "Although using the ViT-Large backbone already achieved good results, initializing the model with", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 663, + 401, + 675 + ], + "spans": [ + { + "bbox": [ + 105, + 663, + 365, + 675 + ], + "score": 1.0, + "content": "SAT-MAE pre-trained weights further increased the accuracy by", + "type": "text" + }, + { + "bbox": [ + 365, + 663, + 397, + 673 + ], + "score": 0.81, + "content": "2 \\% - 3 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 397, + 663, + 401, + 675 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 55 + } + ], + "index": 54, + "bbox_fs": [ + 105, + 640, + 506, + 675 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 688, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 506, + 701 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 340, + 701 + ], + "score": 1.0, + "content": "Multi-label Classification We also use the BigEarthNet", + "type": "text" + }, + { + "bbox": [ + 341, + 688, + 358, + 700 + ], + "score": 0.61, + "content": "\\mathbb { \\lVert 1 8 \\rVert }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 687, + 506, + 701 + ], + "score": 1.0, + "content": "dataset for multi-label classification,", + "type": "text" + } + ], + "index": 56 + }, + { + "bbox": [ + 106, + 700, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 505, + 711 + ], + "score": 1.0, + "content": "which consists of 13-band Sentinel-2 images of 19 classes in total. 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Our novel masking strategy in a joint positional, temporal/spectral", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 596, + 506, + 609 + ], + "spans": [ + { + "bbox": [ + 105, + 596, + 506, + 609 + ], + "score": 1.0, + "content": "space, along with the temporal and spectral encoding, enables our model to handle temporal and", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 608, + 505, + 619 + ], + "spans": [ + { + "bbox": [ + 106, + 608, + 505, + 619 + ], + "score": 1.0, + "content": "multi-spectral satellite images as input and learn useful representations. Experiments on the datasets", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 617, + 505, + 630 + ], + "spans": [ + { + "bbox": [ + 105, + 617, + 505, + 630 + ], + "score": 1.0, + "content": "for pre-training and multiple downstream datasets demonstrate the effectiveness of our pre-trained", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 628, + 432, + 642 + ], + "spans": [ + { + "bbox": [ + 105, + 628, + 432, + 642 + ], + "score": 1.0, + "content": "SatMAE model, outperforming previous state-of-the-art results by large margins.", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 22.5, + "bbox_fs": [ + 105, + 574, + 506, + 642 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 645, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 644, + 505, + 658 + ], + "spans": [ + { + "bbox": [ + 105, + 644, + 505, + 658 + ], + "score": 1.0, + "content": "In the future, it would be useful to design more efficient transformer architectures. 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For all authors...", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 1 + }, + { + "type": "text", + "bbox": [ + 146, + 108, + 505, + 203 + ], + "lines": [ + { + "bbox": [ + 146, + 108, + 505, + 121 + ], + "spans": [ + { + "bbox": [ + 146, + 108, + 505, + 121 + ], + "score": 1.0, + "content": "(a) Do the main claims made in the abstract and introduction accurately reflect the paper’s", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 161, + 119, + 414, + 132 + ], + "spans": [ + { + "bbox": [ + 161, + 119, + 414, + 132 + ], + "score": 1.0, + "content": "contributions and scope? [Yes] We tried our best to be precise.", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 144, + 131, + 506, + 145 + ], + "spans": [ + { + "bbox": [ + 144, + 131, + 506, + 145 + ], + "score": 1.0, + "content": "(b) Did you describe the limitations of your work? 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[Yes] We list part of them in the experiments section and part of them in", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 162, + 334, + 215, + 347 + ], + "spans": [ + { + "bbox": [ + 162, + 334, + 215, + 347 + ], + "score": 1.0, + "content": "Appendix A.", + "type": "text" + } + ], + "index": 20, + "is_list_end_line": true + }, + { + "bbox": [ + 147, + 347, + 507, + 360 + ], + "spans": [ + { + "bbox": [ + 147, + 347, + 507, + 360 + ], + "score": 1.0, + "content": "(c) Did you report error bars (e.g., with respect to the random seed after running ex-", + "type": "text" + } + ], + "index": 21, + "is_list_start_line": true + }, + { + "bbox": [ + 160, + 357, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 160, + 357, + 506, + 371 + ], + "score": 1.0, + "content": "periments multiple times)? [No] We trained on large datasets with small variation", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 161, + 369, + 505, + 381 + ], + "spans": [ + { + "bbox": [ + 161, + 369, + 505, + 381 + ], + "score": 1.0, + "content": "across different runs expected. Limited by computation resources, we only ran each", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 163, + 381, + 233, + 392 + ], + "spans": [ + { + "bbox": [ + 163, + 381, + 233, + 392 + ], + "score": 1.0, + "content": "experiment once.", + "type": "text" + } + ], + "index": 24, + "is_list_end_line": true + }, + { + "bbox": [ + 146, + 392, + 505, + 406 + ], + "spans": [ + { + "bbox": [ + 146, + 392, + 505, + 406 + ], + "score": 1.0, + "content": "(d) Did you include the total amount of compute and the type of resources used (e.g., type", + "type": "text" + } + ], + "index": 25, + "is_list_start_line": true + }, + { + "bbox": [ + 162, + 404, + 479, + 416 + ], + "spans": [ + { + "bbox": [ + 162, + 404, + 479, + 416 + ], + "score": 1.0, + "content": "of GPUs, internal cluster, or cloud provider)? [Yes] We list that in Appendix A.", + "type": "text" + } + ], + "index": 26, + "is_list_end_line": true + } + ], + "index": 20, + "bbox_fs": [ + 145, + 265, + 507, + 416 + ] + }, + { + "type": "text", + "bbox": [ + 135, + 419, + 504, + 431 + ], + "lines": [ + { + "bbox": [ + 132, + 417, + 506, + 433 + ], + "spans": [ + { + "bbox": [ + 132, + 417, + 506, + 433 + ], + "score": 1.0, + "content": "4. If you are using existing assets (e.g., code, data, models) or curating/releasing new assets...", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 27, + "bbox_fs": [ + 132, + 417, + 506, + 433 + ] + }, + { + "type": "list", + "bbox": [ + 146, + 434, + 505, + 563 + ], + "lines": [ + { + "bbox": [ + 145, + 434, + 505, + 447 + ], + "spans": [ + { + "bbox": [ + 145, + 434, + 505, + 447 + ], + "score": 1.0, + "content": "(a) If your work uses existing assets, did you cite the creators? [Yes] Yes, we do that by", + "type": "text" + } + ], + "index": 28, + "is_list_start_line": true + }, + { + "bbox": [ + 162, + 446, + 376, + 457 + ], + "spans": [ + { + "bbox": [ + 162, + 446, + 376, + 457 + ], + "score": 1.0, + "content": "citing creators of datasets and authors of prior works.", + "type": "text" + } + ], + "index": 29, + "is_list_end_line": true + }, + { + "bbox": [ + 145, + 458, + 465, + 471 + ], + "spans": [ + { + "bbox": [ + 145, + 458, + 465, + 471 + ], + "score": 1.0, + "content": "(b) Did you mention the license of the assets? [Yes] We do that in Appendix A", + "type": "text" + } + ], + "index": 30, + "is_list_start_line": true, + "is_list_end_line": true + }, + { + "bbox": [ + 145, + 471, + 505, + 484 + ], + "spans": [ + { + "bbox": [ + 145, + 471, + 505, + 484 + ], + "score": 1.0, + "content": "(c) Did you include any new assets either in the supplemental material or as a URL? [Yes]", + "type": "text" + } + ], + "index": 31, + "is_list_start_line": true + }, + { + "bbox": [ + 162, + 482, + 506, + 495 + ], + "spans": [ + { + "bbox": [ + 162, + 482, + 506, + 495 + ], + "score": 1.0, + "content": "We are releasing a new dataset. The instructions and links will be released in our", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 162, + 493, + 274, + 505 + ], + "spans": [ + { + "bbox": [ + 162, + 493, + 274, + 505 + ], + "score": 1.0, + "content": "codebase mentioned above.", + "type": "text" + } + ], + "index": 33, + "is_list_end_line": true + }, + { + "bbox": [ + 146, + 506, + 505, + 519 + ], + "spans": [ + { + "bbox": [ + 146, + 506, + 505, + 519 + ], + "score": 1.0, + "content": "(d) Did you discuss whether and how consent was obtained from people whose data you’re", + "type": "text" + } + ], + "index": 34, + "is_list_start_line": true + }, + { + "bbox": [ + 161, + 517, + 407, + 531 + ], + "spans": [ + { + "bbox": [ + 161, + 517, + 407, + 531 + ], + "score": 1.0, + "content": "using/curating? [Yes] All data we used are released publicly.", + "type": "text" + } + ], + "index": 35, + "is_list_end_line": true + }, + { + "bbox": [ + 146, + 530, + 505, + 543 + ], + "spans": [ + { + "bbox": [ + 146, + 530, + 505, + 543 + ], + "score": 1.0, + "content": "(e) Did you discuss whether the data you are using/curating contains personally identifiable", + "type": "text" + } + ], + "index": 36, + "is_list_start_line": true + }, + { + "bbox": [ + 161, + 541, + 505, + 554 + ], + "spans": [ + { + "bbox": [ + 161, + 541, + 505, + 554 + ], + "score": 1.0, + "content": "information or offensive content? [Yes] We concluded that no data we are using has", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 162, + 552, + 223, + 564 + ], + "spans": [ + { + "bbox": [ + 162, + 552, + 223, + 564 + ], + "score": 1.0, + "content": "such concerns.", + "type": "text" + } + ], + "index": 38, + "is_list_end_line": true + } + ], + "index": 33, + "bbox_fs": [ + 145, + 434, + 506, + 564 + ] + }, + { + "type": "text", + "bbox": [ + 131, + 568, + 432, + 579 + ], + "lines": [ + { + "bbox": [ + 128, + 565, + 433, + 582 + ], + "spans": [ + { + "bbox": [ + 128, + 565, + 433, + 582 + ], + "score": 1.0, + "content": "5. If you used crowdsourcing or conducted research with human subjects...", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 39, + "bbox_fs": [ + 128, + 565, + 433, + 582 + ] + }, + { + "type": "list", + "bbox": [ + 146, + 583, + 505, + 654 + ], + "lines": [ + { + "bbox": [ + 145, + 582, + 506, + 596 + ], + "spans": [ + { + "bbox": [ + 145, + 582, + 506, + 596 + ], + "score": 1.0, + "content": "(a) Did you include the full text of instructions given to participants and screenshots, if", + "type": "text" + } + ], + "index": 40, + "is_list_start_line": true + }, + { + "bbox": [ + 161, + 593, + 237, + 606 + ], + "spans": [ + { + "bbox": [ + 161, + 593, + 237, + 606 + ], + "score": 1.0, + "content": "applicable? [N/A]", + "type": "text" + } + ], + "index": 41, + "is_list_end_line": true + }, + { + "bbox": [ + 146, + 606, + 505, + 619 + ], + "spans": [ + { + "bbox": [ + 146, + 606, + 505, + 619 + ], + "score": 1.0, + "content": "(b) Did you describe any potential participant risks, with links to Institutional Review", + "type": "text" + } + ], + "index": 42, + "is_list_start_line": true + }, + { + "bbox": [ + 162, + 618, + 342, + 631 + ], + "spans": [ + { + "bbox": [ + 162, + 618, + 342, + 631 + ], + "score": 1.0, + "content": "Board (IRB) approvals, if applicable? [N/A]", + "type": "text" + } + ], + "index": 43, + "is_list_end_line": true + }, + { + "bbox": [ + 146, + 631, + 505, + 644 + ], + "spans": [ + { + "bbox": [ + 146, + 631, + 505, + 644 + ], + "score": 1.0, + "content": "(c) Did you include the estimated hourly wage paid to participants and the total amount", + "type": "text" + } + ], + "index": 44, + "is_list_start_line": true + }, + { + "bbox": [ + 161, + 642, + 333, + 655 + ], + "spans": [ + { + "bbox": [ + 161, + 642, + 333, + 655 + ], + "score": 1.0, + "content": "spent on participant compensation? 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MethodBackboneFrozen/Finetune
Sup.*ResNet50-/69.05
Sup.tResNet50-/69.07
GASSL [B4]ResNet5068.32/71.55
Sup.*ViT-Large-/62.48
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Sup.tViT-Large-/76.91
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Back.Group Strat.Indp. Mask.Spec. Enc.Top 1 Acc.
BaseX59.11
LargeX58.87
LargeX57.76
LargeH57.78
LargeR58.76
LargeX59.30
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MethodBackboneTop Acc. (1/5)
Sup.*ResNet5073.24/-
SeCo [5ResNet5066.80/-
GASSL [34]ResNet5074.11/-
UTAE [48]U-Net61.59/86.45
Sup.*ViT-Large61.89/84.23
SatMAE+StackViT-Large75.85/88.68
MAE+Test Aug.ViT-Large78.90/93.31
MAE|ViT-Large76.78/92.01
SatMAEViT-Large81.49/93.26
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MethodBackboneTop Acc. (1/5)
Sup. Learning*ResNet15249.12/75.73
Sup. LearningtResNet15254.46/78.99
MoCo-v3ViT-Base50.45/76.37
MoCo-v3+GroupViT-Base51.33/75.68
SatMAE+Group*ViT-Large53.03/77.14
SatMAE+GrouptViT-Large51.61/77.26
SatMAE+GrouptViT-Large47.57/72.26
SatMAE+GroupSViT-Large49.49/76.30
SatMAE+StackViT-Large57.37/81.63
SatMAE+Group+IMViT-Large59.30/82.81
SatMAE+Group+IMViT-Large61.48/85.17
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Temp. Enc.Indep. Mask.Cons. Crop.Test Aug.Top 1 Acc.
78.07
78.45
79.90
79.69
81.49
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Sup. (Scratch)ResNet1863.21
Sup. (IN init.)ResNet1886.44
GASSL [34]ResNet1889.51
SeCo [35]ResNet1893.14
SatMAE*ViT-Large95.74
SatMAEViT-Large98.94
SatMAE+Group+IMViT-Large98.98
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MethodBackboneTop 1 Acc.
Sup. (Scratch)ResNet5054.46
GASSL B4]ResNet5057.63
Sup. (Scratch)ViT-Large69.65
SatMAEViT-Large71.77
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MethodBackbonemAP
Sup. (Scratch)ResNet5069.49
Sup. (IN init.)ResNet5080.04
GASSL [34ResNet5080.20
SeCo[ B5ResNet5082.62
Sup. (Scratch)ViT-Large80.07
SatMAEViT-Large82.13
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MethodBackbone mIoU
Sup. (Scratch)ResNet50 75.57
GASSL [B4]ResNet50 78.51
Sup. (Scratch)ViT-Large 74.71
SatMAEViT-Large 78.07
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"page_idx": 0 + }, + { + "type": "text", + "text": "Anonymous Author(s) \nAffiliation \nAddress \nemail ", + "bbox": [ + 423, + 222, + 578, + 276 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Abstract ", + "text_level": 1, + "bbox": [ + 462, + 314, + 535, + 330 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1 We present ISAAC (Input-baSed ApproximAte Curvature), a novel method that \n2 conditions the gradient using selected second-order information and has an asymp \n3 totically vanishing computational overhead, assuming a batch size smaller than \n4 the number of neurons. We show that it is possible to compute a good conditioner \n5 based on only the input to a respective layer without a substantial computational \n6 overhead. The proposed method allows effective training even in small-batch \n7 stochastic regimes, which makes it competitive to first-order as well as quasi \n8 Newton methods. ", + "bbox": [ + 150, + 343, + 767, + 455 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "9 1 Introduction ", + "text_level": 1, + "bbox": [ + 151, + 478, + 310, + 496 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "10 While second-order optimization methods are traditionally much less explored than first-order \n11 methods in large-scale machine learning (ML) applications due to their memory requirements and \n12 prohibitive computational cost per iteration, they have recently become more popular in ML mainly \n13 due to their fast convergence properties when compared to first-order methods [1]. The expensive \n14 computation of an inverse Hessian (also known as pre-conditioning matrix) in the Newton step has \n15 also been tackled via estimating the curvature from the change in gradients. Loosely speaking, these \n16 algorithms are known as quasi-Newton methods and a comprehensive treatment can be found in \n17 the textbook [2]. In addition, various new approximations to the pre-conditioning matrix have been \n18 proposed in the recent literature [3]–[6]. From a theoretical perspective, second-order optimization \n19 methods are not nearly as well understood as first-order methods. It is an active research direction to \n20 fill this gap [7], [8]. \n21 Motivated by the task of training neural networks, and the observation that invoking local curvature \n22 information associated with neural network objective functions can achieve much faster progress \n23 per iteration than standard first-order methods [9]–[11], several methods have been proposed. One \n24 of these methods, that received significant attention, is known as Kronecker-factored Approximate \n25 Curvature (K-FAC) [12], whose main ingredient is a sophisticated approximation to the generalized \n26 Gauss-Newton matrix and the Fisher information matrix quantifying the curvature of the underlying \n27 neural network objective function, which then can be inverted efficiently. \n28 Inspired by the K-FAC approximation and the Tikhonov regularization of the Newton method, we \n29 introduce a novel two parameter regularized Kronecker-factorized Newton update step. The proposed \n30 scheme disentangles the classical Tikhonov regularization and allows us to condition the gradient \n31 using selected second-order information and has an asymptotically vanishing computational overhead. \n32 While this property makes the presented method highly attractive from the computational complexity \n33 perspective, we show that its achieved empirical performance on complicated high-dimensional \n34 Machine Learning problems remains comparable to existing state-of-the-art methods. \n35 The contributions of this paper can be summarized as follows: (i) we propose a novel two parameter \n36 regularized K-FAC approximated Gauss-Newton update step; (ii) we show that asymptotically—as \n37 both regularization parameters vanish—our method recovers the classical K-FAC scheme and in \n38 the opposite setting—as both regularization parameters grow—our method asymptotically reduces \n39 to classical gradient descent; (iii) we prove that for an arbitrary pair of regularization parameters, \n40 the proposed update direction is always a direction of decreasing loss; (iv) in the limit, as one \n41 regularization parameter grows, we obtain an efficient and effective conditioning of the gradient with \n42 an asymptotically vanishing overhead; (v) we empirically analyze the presented method and find that \n43 our efficient conditioning method maintains the performance of its more expensive counterpart; (vi) \n44 we demonstrate the effectiveness of the presented method in the setting of small-batch stochastic \n45 regimes and observe that it is competitive to first-order as well as quasi-Newton methods. ", + "bbox": [ + 147, + 510, + 825, + 662 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "", + "bbox": [ + 147, + 667, + 825, + 765 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "", + "bbox": [ + 147, + 771, + 825, + 869 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "", + "bbox": [ + 148, + 875, + 825, + 902 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "", + "bbox": [ + 145, + 90, + 826, + 217 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "46 2 Preliminaries ", + "text_level": 1, + "bbox": [ + 147, + 234, + 318, + 251 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "47 In this section, we review aspects of second-order optimization, with a focus on generalized Gauss \n48 Newton methods. In combination with Kronecker factorization, this leads us to a new regularized \n49 update scheme. We consider the training of an $L$ -layer neural network $f ( x ; \\theta )$ defined recursively as ", + "bbox": [ + 147, + 265, + 828, + 308 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/40d1ce1e65208f5c5ddf2edbe7c18a8a32baf5af24366ccf7e7fbb87b3ac1fed.jpg", + "text": "$$\nz _ { i } a _ { i - 1 } W ^ { ( i ) } \\quad ( \\mathrm { p r e - a c t i v a t i o n s } ) , \\qquad \\quad a _ { i } \\phi ( z _ { i } ) \\quad ( \\mathrm { a c t i v a t i o n s } ) ,\n$$", + "text_format": "latex", + "bbox": [ + 261, + 310, + 735, + 330 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "50 where $a _ { 0 } = x$ is the vector of inputs and $a _ { L } = f ( x ; \\theta )$ is the vector of outputs. Unless noted otherwise, \n51 we assume these vectors to be row vectors (i.e., in $\\mathbb { R } ^ { 1 \\times n }$ ) as this allows for a direct extension to the \n52 (batch) vectorized case (i.e., in $\\mathbb { R } ^ { b \\times n }$ ) introduced later. For any layer $i$ , let $W ^ { ( i ) } \\in \\mathbb { R } ^ { d _ { i - 1 } \\times d _ { i } }$ be a \n53 weight matrix and let $\\phi$ be an element-wise nonlinear function. We consider a convex loss function \n54 $\\mathcal { L } ( y , y ^ { \\prime } )$ that measures the discrepancy between $y$ and $y ^ { \\prime }$ . The training optimization problem is then ", + "bbox": [ + 145, + 333, + 825, + 404 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/c0855b2cd0eeb4379157dd29f47ec3dfb1fc7afa5937a6cc4d2d38be986c755e.jpg", + "text": "$$\n\\arg \\operatorname* { m i n } _ { \\theta } \\mathbb { E } _ { x , y } \\left[ \\mathcal { L } ( f ( x ; \\theta ) , y ) \\right] ,\n$$", + "text_format": "latex", + "bbox": [ + 398, + 405, + 598, + 428 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "where 55 $\\theta = \\left[ \\theta ^ { ( 1 ) } , \\dots , \\theta ^ { ( L ) } \\right]$ with $\\theta ^ { ( i ) } = \\operatorname { v e c } ( W ^ { ( i ) } )$ . ", + "bbox": [ + 147, + 431, + 509, + 449 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "56 The classical Newton method for solving (2) is expressed as the update rule ", + "bbox": [ + 148, + 454, + 669, + 469 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/f1e99a3a69b2c3d7f11c7c9115191ab9e86d7b5d26b960e3f9461088be6a9e92.jpg", + "text": "$$\n\\begin{array} { r } { \\theta ^ { \\prime } = \\theta - \\eta \\mathbf { H } _ { \\theta } ^ { - 1 } \\nabla _ { \\theta } \\mathcal { L } ( f ( x ; \\theta ) , y ) , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 385, + 472, + 611, + 491 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "57 where $\\eta > 0$ denotes the learning rate and $\\mathbf { H } _ { \\theta }$ is the Hessian corresponding to the objective function \n58 in (2). The stability and efficiency of an estimation problem solved via the Newton method can be \n59 improved by adding a Tikhonov regularization term [13] leading to a regularized Newton method ", + "bbox": [ + 147, + 493, + 825, + 535 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/50dc13878bc6b902a5432ae07e3a0fb67d7b99a662de258b39c18430affab048.jpg", + "text": "$$\n\\boldsymbol { \\theta } ^ { \\prime } = \\boldsymbol { \\theta } - \\eta ( \\mathbf { H } _ { \\boldsymbol { \\theta } } + \\lambda \\mathbf { I } ) ^ { - 1 } \\nabla _ { \\boldsymbol { \\theta } } \\mathcal { L } ( f ( x ; \\boldsymbol { \\theta } ) , y ) ,\n$$", + "text_format": "latex", + "bbox": [ + 357, + 537, + 637, + 555 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "60 where $\\lambda > 0$ is the so-called Tikhonov regularization parameter. It is well-known [14], [15], that \n61 under the assumption of approximating the model $f$ with its first-order Taylor expansion, the Hessian \n62 corresponds with the so-called generalized Gauss-Newton (GGN) matrix $\\mathbf { G } _ { \\theta }$ , and hence (4) can be \n63 expressed as ", + "bbox": [ + 145, + 558, + 825, + 613 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/9206aab05aa366379de7f3731d97c09b5870254ea65d4e0df27b4d2e7ccfdff9.jpg", + "text": "$$\n\\begin{array} { r } { \\boldsymbol { \\theta } ^ { \\prime } = \\boldsymbol { \\theta } - \\eta ( \\mathbf G _ { \\boldsymbol { \\theta } } + \\lambda \\mathbf I ) ^ { - 1 } \\nabla _ { \\boldsymbol { \\theta } } \\mathcal { L } ( f ( \\boldsymbol { x } ; \\boldsymbol { \\theta } ) , y ) . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 356, + 611, + 640, + 630 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "64 A major practical limitation of (5) is the computation of the inverse term. A method that alleviates this \n65 difficulty is known as Kronecker-Factored Approximate Curvature (K-FAC) [12] which approximates \n66 the block-diagonal (i.e., layer-wise) empirical Hessian or GGN matrix. Inspired by K-FAC, there \n67 have been other works discussing approximations of $\\mathbf { G } _ { \\theta }$ and its inverse [15]. In the following, we \n68 discuss a popular approach that allows for (moderately) efficient computation. ", + "bbox": [ + 145, + 630, + 825, + 700 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "69 The generalized Gauss-Newton matrix $\\mathbf { G } _ { \\theta }$ is defined as ", + "bbox": [ + 145, + 705, + 539, + 720 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/28584cabd82bf2fafc59731fa5994ec0a38a2839eff173120fc065ad233f2b55.jpg", + "text": "$$\n\\mathbf { G } _ { \\theta } = \\mathbb { E } \\left[ ( \\mathbf { J } _ { \\theta } f ( x ; \\theta ) ) ^ { \\top } \\nabla _ { f } ^ { 2 } \\mathcal { L } ( f ( x ; \\theta ) , y ) \\mathbf { J } _ { \\theta } f ( x ; \\theta ) \\right] ,\n$$", + "text_format": "latex", + "bbox": [ + 325, + 723, + 671, + 743 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "70 where $\\mathbf { J }$ and $\\mathbf { H }$ denote the Jacobian and Hessian matrices, respectively. Correspondingly, the diagonal block of 71 $\\mathbf { G } _ { \\theta }$ corresponding to the weights of the ith layer $W ^ { ( i ) }$ is ", + "bbox": [ + 150, + 744, + 823, + 775 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/0542a0757fcb2e2e896f8c5113e71869ed5fd333edcc3e9e1caff43a6eb42c9f.jpg", + "text": "$$\n\\mathbf { G } _ { W ^ { ( i ) } } = \\mathbb { E } \\left[ \\left( \\mathbf { J } _ { W ^ { ( i ) } } f ( x ; \\theta ) \\right) ^ { \\top } \\nabla _ { f } ^ { 2 } \\mathcal { L } ( f ( x ; \\theta ) , y ) \\mathbf { J } _ { W ^ { ( i ) } } f ( x ; \\theta ) \\right] .\n$$", + "text_format": "latex", + "bbox": [ + 302, + 777, + 694, + 797 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "According to the backpropagation rule 72 ${ \\bf J } _ { \\theta ^ { ( i ) } } f ( x ; \\theta ) = { \\bf J } _ { z _ { i } } f ( x ; \\theta ) a _ { i - 1 }$ , $a ^ { \\top } b \\ : = \\ : a \\otimes b$ , and the 73 mixed-product property, we can rewrite $\\mathbf { G } _ { W ^ { ( i ) } }$ as ", + "bbox": [ + 151, + 801, + 821, + 832 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/5dab43cc28f1aa19dafb078e4534ef824fca1c53f2fc70dd3308950a006a83c5.jpg", + "text": "$$\n\\begin{array} { r l r } & { } & { \\mathbf { G } _ { W ^ { ( i ) } } = \\mathbb { E } \\Big [ \\big ( ( \\mathbf { J } _ { z i } f ( x ; \\theta ) a _ { i - 1 } ) ^ { \\top } ( \\nabla _ { f } ^ { 2 } \\mathcal { L } ( f ( x ; \\theta ) , y ) ) ^ { 1 / 2 } \\big ) \\big ( ( \\nabla _ { f } ^ { 2 } \\mathcal { L } ( f ( x ; \\theta ) , y ) ) ^ { 1 / 2 } \\mathbf { J } _ { z i } f ( x ; \\theta ) a _ { i - 1 } \\big ) \\Big ] } \\\\ & { } & { = \\mathbb { E } \\big [ \\big ( \\bar { g } ^ { \\top } a _ { i - 1 } \\big ) ^ { \\top } \\big ( \\bar { g } ^ { \\top } a _ { i - 1 } \\big ) \\big ] = \\mathbb { E } \\big [ \\big ( \\bar { g } \\otimes a _ { i - 1 } \\big ) ^ { \\top } \\big ( \\bar { g } \\otimes a _ { i - 1 } \\big ) \\big ] = \\mathbb { E } \\big [ \\big ( \\bar { g } ^ { \\top } \\bar { g } \\big ) \\otimes \\big ( a _ { i - 1 } ^ { \\top } \\otimes a _ { i - 1 } \\big ) \\big ] , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 168, + 833, + 800, + 882 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "74 where ", + "bbox": [ + 147, + 885, + 222, + 897 + ], + "page_idx": 1 + }, + { + "type": "equation", + "img_path": "images/054bc08012406e4041dbaf7bb8d3a27a4d1484f4cdf5e68e689b80b0c2d8100f.jpg", + "text": "$$\n\\bar { g } = ( \\mathbf { J } _ { z _ { i } } f ( x ; \\theta ) ) ^ { \\top } ( \\nabla _ { f } ^ { 2 } \\mathcal { L } ( f ( x ; \\theta ) , y ) ) ^ { 1 / 2 } .\n$$", + "text_format": "latex", + "bbox": [ + 359, + 893, + 637, + 915 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "75 Remark 1 (Monte-Carlo Low-Rank Approximation for $\\bar { g } ^ { \\top } \\bar { g }$ ). As $g$ is a matrix of shape $m \\times d _ { i }$ \n76 where m is the dimension of the output of $f$ , $g$ is generally expensive to compute. Therefore, $I I 2 J$ use \n77 a low-rank Monte-Carlo approximation to estimate ${ \\bf H } _ { f } \\mathcal { L } ( f ( x ; \\theta ) , y )$ and thereby $\\bar { g } ^ { \\mathrm { ~ l ~ } } \\bar { g }$ . For this, we \n78 need to use the distribution underlying the probabilistic model of our loss $\\mathcal { L }$ (e.g., Gaussian for MSE \n79 loss, or a categorical distribution for cross entropy). Specifically, by sampling from this distribution \n80 $p _ { f } ( x )$ defined by the network output $f ( x ; \\theta )$ , we can get an estimator of ${ \\bf H } _ { f } \\mathcal { L } ( f ( x ; \\theta ) , y )$ via the \n81 identity ", + "bbox": [ + 145, + 89, + 826, + 189 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/2fee908e3a816c8d89d353c6d01dd36777b19fdeb3822e00006dccd906cc53ce.jpg", + "text": "$$\n\\begin{array} { r } { \\mathbf { H } _ { f } \\mathcal { L } \\big ( f ( x ; \\theta ) , y \\big ) = \\mathbb { E } _ { \\hat { y } \\sim p _ { f } ( x ) } \\big [ \\nabla _ { f } \\mathcal { L } \\big ( f ( x ; \\theta ) , \\hat { y } \\big ) ^ { \\top } \\nabla _ { f } \\mathcal { L } \\big ( f ( x ; \\theta ) , \\hat { y } \\big ) \\big ] . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 276, + 194, + 722, + 214 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "82 An extensive reference for this (as well as alternatives) can be found in Appendix A.2 of Dangel et \n83 al. [15]. The respective rank-1 approximation (denoted by $\\triangleq$ ) of ${ \\mathbf { H } } _ { f } \\mathcal { L } ( f ( x ; \\theta ) )$ is ", + "bbox": [ + 145, + 219, + 825, + 251 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/fe38cbdaf1dac22a28859b27acbc41af910f0706aa3805009160b64b76426814.jpg", + "text": "$$\n\\begin{array} { r } { \\mathbf { H } _ { f } \\boldsymbol { \\mathcal { L } } ( f ( \\boldsymbol { x } ; \\boldsymbol { \\theta } ) , y ) \\triangleq \\nabla _ { f } \\boldsymbol { \\mathcal { L } } ( f ( \\boldsymbol { x } ; \\boldsymbol { \\theta } ) , \\boldsymbol { \\hat { y } } ) ^ { \\top } \\nabla _ { f } \\boldsymbol { \\mathcal { L } } ( f ( \\boldsymbol { x } ; \\boldsymbol { \\theta } ) , \\boldsymbol { \\hat { y } } ) , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 313, + 257, + 683, + 276 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "where 84 $\\hat { y } \\sim p _ { f } ( x )$ . Respectively, we can estimate $\\bar { g } ^ { \\top } \\bar { g }$ using this rank-1 approximation with ", + "bbox": [ + 147, + 282, + 766, + 299 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/93e437ab416aaad97f957a26bd9f0571e16bd18defbf7daae720a0aa1aa6458c.jpg", + "text": "$$\n\\begin{array} { r } { \\bar { g } \\triangleq ( \\mathbf { J } _ { z _ { i } } f ( x ; \\theta ) ) ^ { \\top } \\nabla _ { f } \\mathcal { L } ( f ( x ; \\theta ) , \\hat { y } ) = \\nabla _ { z _ { i } } \\mathcal { L } ( f ( x ; \\theta ) , \\hat { y } ) . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 308, + 305, + 689, + 325 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "85 In analogy to $\\bar { g }$ , we introduce the gradient of training objective with respect to pre-activations $z _ { i }$ as ", + "bbox": [ + 148, + 337, + 818, + 353 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/f92383ecdc02a7261582c5882e93ca471c965f149288da7ea0990de30119f60e.jpg", + "text": "$$\n\\begin{array} { r } { \\mathrm { g } _ { i } = ( \\mathbf { J } _ { z _ { i } } f ( { \\boldsymbol { { x } } } ; \\theta ) ) ^ { \\top } \\nabla _ { f } \\mathcal { L } ( f ( { \\boldsymbol { { x } } } ; \\theta ) , y ) = \\nabla _ { z _ { i } } \\mathcal { L } ( f ( { \\boldsymbol { { x } } } ; \\theta ) , y ) . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 305, + 358, + 691, + 378 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "86 In other words, for a given layer, let $\\mathrm { g } \\in \\mathbb { R } ^ { 1 \\times d _ { i } }$ denote the gradient of the loss between an output and \n87 the ground truth and let $\\bar { g } \\in \\mathbf { \\mathbb { R } } ^ { m \\times d _ { i } }$ denote the derivative of the network $f$ times the square root of \n88 the Hessian of the loss function (which may be approximated according to Remark 1), each of them \n89 with respect to the output $z _ { i }$ of the given layer $i$ . Note that $\\bar { g }$ is not equal to $\\mathrm { g }$ and that they require one \n90 backpropagation pass each (or potentially many for the case of $\\bar { g }$ ). This makes computing $\\bar { g }$ costly. \n91 Applying the K-FAC [12] approximation to (8) the expectation of Kronecker products can be \n92 approximated as the Kronecker product of expectations as ", + "bbox": [ + 145, + 385, + 825, + 457 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "", + "bbox": [ + 147, + 462, + 825, + 491 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/755f8c23ff4e95887e0de2ddbaa764eebdd34808b2bb2e76ff244a20bd43856f.jpg", + "text": "$$\n\\mathbf G = \\mathbb { E } ( ( { \\bar { g } } ^ { \\top } { \\bar { g } } ) \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) ) \\approx \\mathbb { E } ( { \\bar { g } } ^ { \\top } { \\bar { g } } ) \\otimes \\mathbb { E } ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) ,\n$$", + "text_format": "latex", + "bbox": [ + 333, + 494, + 647, + 515 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "93 where, for clarity, we drop the index of $\\mathrm { a } _ { i - 1 }$ in (8) and denote it with a; similarly we denote $\\mathbf { G } _ { W ^ { ( i ) } }$ \n94 as G. While the expectation of Kronecker products is generally not equal to the Kronecker product \n95 of expectations, this K-FAC approximation (13) has been shown to be fairly accurate in practice \n96 and to preserve the “coarse structure” of the GGN matrix [12]. The K-FAC decomposition in (13) \n97 is convenient as the Kronecker product has the favorable property that for two matrices $A , B$ the \n98 identity $( A \\otimes B ) ^ { - 1 } = A ^ { - 1 } \\otimes \\dot { B ^ { - 1 } }$ which significantly simplifies the computation of an inverse. ", + "bbox": [ + 145, + 520, + 825, + 604 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "In practice, 99 $\\mathbb { E } ( \\bar { g } ^ { \\top } \\bar { g } )$ and $\\mathbb { E } ( \\mathrm { a } ^ { \\top } \\mathrm { a } )$ can be computed by averaging over a batch of size $b$ as ", + "bbox": [ + 150, + 611, + 750, + 626 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/df6d349cb19b7b5bf5ac23bcb241eb81684909b1bcfef0e758ce4d340bc3f0ff.jpg", + "text": "$$\n\\begin{array} { r } { \\mathbb { E } ( \\bar { g } ^ { \\top } \\bar { g } ) \\simeq \\bar { g } ^ { \\top } \\bar { \\pmb { g } } / b , \\qquad \\quad \\mathbb { E } ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) \\simeq \\mathbf { a } ^ { \\top } \\mathbf { a } / b , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 341, + 631, + 655, + 651 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "100 where we denote batches of $\\mathrm { g } , \\bar { g }$ and a, as $\\mathbf { g } \\in \\mathbb { R } ^ { b \\times d _ { i } }$ , $\\pmb { \\bar { g } } \\in \\mathbb { R } ^ { r b \\times d _ { i } }$ and $\\mathbf { a } \\in \\mathbb { R } ^ { b \\times d _ { i - 1 } }$ , where our layer \n101 has $d _ { i - 1 }$ inputs, $d _ { i }$ outputs, $b$ is the batch size, and $r$ is either the number of outputs $m$ or the rank of \n102 an approximation according to Remark 1. Correspondingly, the K-FAC approximation of the GGN \n103 matrix and its inverse are concisely expressed as ", + "bbox": [ + 142, + 659, + 825, + 715 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/abcf3e28e1c1e7ef608e4d11f66659533f483026c1bcaa7251a13fa661ff524a.jpg", + "text": "$$\n\\begin{array} { r } { \\mathbf { G } \\approx ( \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } ) \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) / b ^ { 2 } \\qquad \\mathbf { G } ^ { - 1 } \\approx \\left( \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } \\right) ^ { - 1 } \\otimes \\left( \\mathbf { a } ^ { \\top } \\mathbf { a } \\right) ^ { - 1 } \\cdot b ^ { 2 } . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 276, + 722, + 722, + 744 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "104 Equipped with the standard terminology and setting, we now introduce the novel, regularized update \n105 step. First, inspired by the K-FAC approximation (13), the Tikhonov regularized Gauss-Newton \n106 method (5) can be approximated by ", + "bbox": [ + 140, + 750, + 826, + 792 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/ccdaf900616c96dc94bd3ebe26b138a4b66f10d53cacb5e657bdca732f76008d.jpg", + "text": "$$\n\\begin{array} { r } { \\boldsymbol { \\theta } ^ { ( i ) \\prime } = \\boldsymbol { \\theta } ^ { ( i ) } - \\eta ( \\bar { \\boldsymbol { g } } ^ { \\top } \\bar { \\boldsymbol { g } } / b + \\lambda \\mathbf { I } ) ^ { - 1 } \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } / b + \\lambda \\mathbf { I } ) ^ { - 1 } { \\nabla } _ { \\boldsymbol { \\theta } ^ { ( i ) } } \\mathcal { L } ( f ( x ; \\boldsymbol { \\theta } ) ) , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 269, + 797, + 725, + 818 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "107 with regularization parameter $\\lambda > 0$ . A key observation, which is motivated by the structure of \n108 the above update, is to disentangle the two occurrences of $\\lambda$ into two independent regularization \n109 parameters $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } > 0$ . By defining the Kronecker-factorized Gauss-Newton update step as ", + "bbox": [ + 142, + 823, + 825, + 866 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/16fdd7b63b8eac8f3ca979394e0fa3025cceca30b942847d508dc2e1352df10c.jpg", + "text": "$$\n\\zeta = \\lambda _ { \\bf g } \\lambda _ { \\bf a } ( \\bar { g } ^ { \\top } \\bar { g } / b + \\lambda _ { \\bf g } { \\bf I } ) ^ { - 1 } \\otimes ( { \\bf a } ^ { \\top } { \\bf a } / b + \\lambda _ { \\bf a } { \\bf I } ) ^ { - 1 } \\nabla _ { \\theta ^ { ( i ) } } \\mathcal { L } ( f ( x ; \\theta ) ) ,\n$$", + "text_format": "latex", + "bbox": [ + 279, + 869, + 718, + 888 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "110 we obtain the concise update equation θ(i)′ = θ(i) − η∗ζ . ", + "bbox": [ + 143, + 893, + 593, + 911 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "111 This update (18) is equivalent to update (16) when in the case of $\\begin{array} { r } { \\eta ^ { * } = \\frac { \\eta } { \\lambda _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } } } } \\end{array}$ and $\\lambda = \\lambda _ { \\mathbf { g } } = \\lambda _ { \\mathbf { a } }$ . This \n112 equivalence does not restrict $\\eta ^ { * } , \\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } }$ in any way, and changing $\\lambda _ { \\mathbf { g } }$ or $\\lambda _ { \\mathbf { a } }$ does not mean that we \n113 change our learning rate or step size $\\eta ^ { * }$ . Parameterizing $\\zeta$ in (17) with the multiplicative terms $\\lambda _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } }$ \n114 makes the formulation more convenient for analysis. \n115 In this paper, we investigate the theoretical and empirical properties of the iterative update rule (18) \n116 and in particular show how the regularization parameters $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } }$ affect the Kronecker-factorized \n117 Gauss-Newton update step $\\zeta$ . When analyzing the Kronecker-factorized Gauss-Newton update step \n118 $\\zeta$ , a particularly useful tool is the vector product identity, ", + "bbox": [ + 140, + 90, + 825, + 150 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 156, + 825, + 213 + ], + "page_idx": 3 + }, + { + "type": "equation", + "img_path": "images/31f75be158e5450cc891ee72b876f03e7044d8121636f5f5d396efe776c9ae8e.jpg", + "text": "$$\n\\left( \\left( \\bar { \\pmb g } ^ { \\top } \\bar { \\pmb g } \\right) ^ { - 1 } \\otimes \\left( { \\mathbf a } ^ { \\top } { \\mathbf a } \\right) ^ { - 1 } \\right) \\mathrm { v e c } ( { \\mathbf { g } } ^ { \\top } { \\mathbf a } ) = \\mathrm { v e c } \\left( \\left( \\bar { \\pmb g } ^ { \\top } \\bar { \\pmb g } \\right) ^ { - 1 } { \\mathbf g } ^ { \\top } { \\mathbf a } \\left( { \\mathbf a } ^ { \\top } { \\mathbf a } \\right) ^ { - 1 } \\right) ,\n$$", + "text_format": "latex", + "bbox": [ + 266, + 219, + 728, + 247 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "where the gradient with respect to the weight matrix is 119 $\\mathbf { g } ^ { \\top } \\mathbf { a }$ . ", + "bbox": [ + 142, + 256, + 568, + 272 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "120 3 Theoretical Guarantees ", + "text_level": 1, + "bbox": [ + 145, + 291, + 401, + 309 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "121 In this section, we investigate the theoretical properties of the Kronecker-factorized Gauss-Newton \n122 update direction $\\zeta$ as defined in (17). We recall that $\\zeta$ introduces a Tikonov regularization, as it is \n123 commonly done in implementations of second order-based methods. Not surprisingly, we show that \n124 by decreasing the regularization parameters $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } }$ the update rule (18) collapses (in the limit) to the \n125 classical Gauss-Newton method, and hence in the regime of small $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } }$ the variable $\\zeta$ describes the \n126 Gauss-Newton direction. Moreover, by increasing the regularization strength, we converge (in the \n127 limit) to the conventional gradient descent update step. \n128 The key observation is that, as we disentangle the regularization of the two Kronecker factors $\\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } }$ \n129 and $\\mathbf { a } ^ { \\top } \\mathbf { a }$ , and consider the setting where only one regularizer is large $\\mathbf { \\lambda } _ { \\mathbf { \\lambda } } ^ { \\prime } \\lambda _ { \\mathbf { g } } \\mathbf { \\lambda } \\to \\infty$ to be precise), \n130 we obtain an update direction that can be computed highly efficiently. We show that this setting \n131 describes an approximated Gauss-Newton update scheme, whose superior numerical performance is \n132 then empirically demonstrated in Section 4. ", + "bbox": [ + 140, + 323, + 825, + 421 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 140, + 426, + 825, + 497 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "133 Theorem 1 (Properties of $\\zeta$ ). The $K$ -FAC based update step $\\zeta$ as defined in (17) can be expressed as ", + "bbox": [ + 143, + 501, + 820, + 517 + ], + "page_idx": 3 + }, + { + "type": "equation", + "img_path": "images/2fbdafbd5567879d59850b6174314a0bd53a02afc759a4ddd3c20d23c9cf9be2.jpg", + "text": "$$\n\\boldsymbol { \\zeta } = \\left( \\mathbf { I } _ { m } - \\frac { 1 } { b \\lambda _ { \\mathbf { g } } } \\bar { \\mathbf { g } } ^ { \\top } \\left( \\mathbf { I } _ { b } + \\frac { 1 } { b \\lambda _ { \\mathbf { g } } } \\bar { \\mathbf { g } } \\bar { \\mathbf { g } } ^ { \\top } \\right) ^ { - 1 } \\bar { \\mathbf { g } } \\right) \\cdot \\mathbf { g } ^ { \\top } \\cdot \\left( \\mathbf { I } _ { b } - \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } \\mathbf { a } \\mathbf { a } ^ { \\top } \\left( \\mathbf { I } _ { b } + \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } \\mathbf { a } ^ { \\top } \\right) ^ { - 1 } \\right) \\cdot \\mathbf { a } .\n$$", + "text_format": "latex", + "bbox": [ + 181, + 523, + 812, + 566 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "134 Moreover, $\\zeta$ admits the following asymptotic properties: ", + "bbox": [ + 143, + 577, + 540, + 592 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "(i) In the limit of $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } 0 ,$ , $\\frac { 1 } { \\lambda _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } } } \\zeta$ is the $K -$ -FAC approximation of the Gauss-Newton step, i.e., $\\begin{array} { r } { \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } 0 } \\frac { 1 } { \\lambda _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } } } \\zeta \\approx \\mathbf { G } ^ { - 1 } \\bigtriangledown _ { \\theta ^ { ( i ) } } \\mathcal { L } \\big ( f ( x ; \\theta ) \\big ) } \\end{array}$ , where $\\approx$ denotes the K-FAC approximation (15). ", + "bbox": [ + 165, + 594, + 823, + 631 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "(ii) In the limit of $\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } \\to \\infty$ , $\\zeta$ is the gradient, i.e., $\\begin{array} { r } { \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } \\infty } \\zeta = \\nabla _ { \\theta ^ { ( i ) } } \\mathcal { L } ( f ( x ; \\theta ) ) } \\end{array}$ ", + "bbox": [ + 163, + 633, + 761, + 650 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "The Proof is deferred to the Supplementary Material. ", + "bbox": [ + 165, + 652, + 522, + 667 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "139 We want to show that $\\zeta$ is well-defined and points in the correct direction, not only for $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ \n140 numerically close to zero because we want to explore the full spectrum of settings for $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ . \n141 Thus, we prove that $\\zeta$ is a direction of increasing loss, independent of the choices of $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ . \n42 Theorem 2 (Correctness of $\\zeta$ is independent of $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } , \\mathbf { \\lambda } }$ ). $\\zeta$ is a direction of increasing loss, \n43 independent of the choices of $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ . \n144 Proof. Recall that $( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b )$ and $\\left( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b \\right)$ are positive semi-definite (PSD) matrices by \n145 definition. Their inverses $( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b ) ^ { - 1 }$ and $( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b ) ^ { - 1 }$ are therefore also PSD. As the \n146 Kronecker product of PSD matrices is PSD, the conditioning matrix $( ( \\lambda _ { \\bf g } { \\bf I } _ { m } + { \\pmb { \\bar { g } } } ^ { \\top } { \\pmb { \\bar { g } } } / b ) ^ { - 1 } \\otimes ( \\lambda _ { \\bf a } { \\bf I } _ { n } +$ \n147 $\\mathbf { a } ^ { \\top } \\mathbf { a } / b ) ^ { - 1 } \\approx \\mathbf { G } ^ { - 1 } )$ is PSD, and therefore the direction of the update step remains correct. □ \n148 From our formulation of $\\zeta$ , we can find that, in the limit for $\\lambda _ { \\mathbf { g } } \\to \\infty$ , Equation (21) does not depend \n149 on $\\bar { \\pmb g }$ . This is computationally very beneficial as computing $\\bar { \\pmb g }$ is costly as it requires one or even \n150 many additional backpropagation passes. In addition, it allows conditioning the gradient update by \n151 multiplying a $b \\times b$ matrix between $\\mathbf { g } ^ { \\top }$ and a, which can be done very fast. \n152 Theorem 3 (Efficient Update Direction). In the limit of $\\lambda _ { \\mathbf { g } } \\infty$ , the update step $\\zeta$ converges to \n153 $\\scriptstyle \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } \\to \\infty } \\zeta = \\zeta ^ { * }$ , where ", + "bbox": [ + 147, + 678, + 828, + 722 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 155, + 726, + 826, + 756 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 773, + 826, + 837 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 854, + 825, + 912 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 90, + 825, + 121 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/0fd05bcdfb03bdfc5e8ac1324c64d677166cc72dc0a46ca2001f36c7759829bc.jpg", + "text": "$$\n\\boldsymbol { \\zeta } ^ { * } = \\mathbf { g } ^ { \\top } \\cdot \\left( \\mathbf { I } _ { b } - \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } \\mathbf { a } \\mathbf { a } ^ { \\top } \\left( \\mathbf { I } _ { b } + \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } \\mathbf { a } \\mathbf { a } ^ { \\top } \\right) ^ { - 1 } \\right) \\cdot \\mathbf { a } .\n$$", + "text_format": "latex", + "bbox": [ + 323, + 128, + 674, + 171 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "154 (i) Here, the update direction $\\zeta ^ { * }$ is based only on the inputs and does not require computing $\\bar { \\pmb g }$ \n155 (which would require a second backpropagation pass), making it efficient. ", + "bbox": [ + 140, + 180, + 825, + 209 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "(ii) The computational cost of computing the update $\\zeta ^ { * }$ lies in $\\mathcal { O } ( b n ^ { 2 } + b ^ { 2 } n + b ^ { 3 } )$ , where $n$ is the number of neurons in each layer. This comprises the conventional cost of computing the gradient $\\nabla = \\mathbf { g } ^ { \\intercal } \\mathbf { \\check { x } }$ lying in $\\mathcal { O } ( b n ^ { 2 } )$ , and the overhead of computing $\\zeta ^ { * }$ instead of $\\nabla$ lying in $\\mathcal { O } ( b ^ { 2 } n + b ^ { 3 } )$ . The overhead is vanishing, assuming $n \\gg b$ . For $b > n$ the complexity lies in $O ( b n ^ { 2 } + n ^ { 3 } )$ . ", + "bbox": [ + 169, + 212, + 825, + 268 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Proof. We first show the property (21). Note that according to (22), 160 $\\lambda _ { \\mathbf { g } } \\cdot \\left( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b \\right) ^ { - 1 }$ con161 verges in the limit of $\\lambda _ { \\mathbf { g } } \\to \\infty$ to ${ \\mathbf I } _ { m }$ , and therefore (21) holds. ", + "bbox": [ + 143, + 290, + 826, + 320 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "162 (i) The statement follows from the fact that the term $\\bar { \\pmb g }$ does not appear in the equivalent characterization (21) of 163 $\\zeta ^ { * }$ . ", + "bbox": [ + 148, + 320, + 825, + 347 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "(ii) We first note that the matrix 164 $\\mathbf { a } \\mathbf { a } ^ { \\top }$ is of dimension $b \\times b$ , and can be computed in $\\mathcal { O } ( b ^ { 2 } n )$ time. 165 Next, the matrix ", + "bbox": [ + 140, + 347, + 826, + 375 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/b7500513fc54dd7986a09e49d44ba257d9aa3c1ac31d63e8f0f7aeef3bb48fe9.jpg", + "text": "$$\n\\left( \\mathbf { I } _ { b } - { \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } } \\mathbf { a } \\mathbf { a } ^ { \\top } \\left( \\mathbf { I } _ { b } + { \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } } \\mathbf { a } \\mathbf { a } ^ { \\top } \\right) ^ { - 1 } \\right)\n$$", + "text_format": "latex", + "bbox": [ + 370, + 375, + 627, + 417 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "is of shape 166 $b \\times b$ and can be multiplied with a in $\\mathcal { O } ( b ^ { 2 } n )$ time. ", + "bbox": [ + 142, + 422, + 583, + 439 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "167 Notably, (21) can be computed with a vanishing computational overhead and with only minor \n168 modifications to the implementation. Specifically, only the $\\mathbf { g } ^ { \\top } \\mathbf { a }$ expression has to be replaced by (21) \n169 in the backpropagation step. As this can be done independently for each layer, this lends itself also to \n170 applying it only to individual layers. \n171 As we see in the experimental section, in many cases in the mini-batch regime (i.e., $b < n$ ), the \n172 optimal (or a good) choice for $\\lambda _ { \\mathbf { g } }$ actually lies in the limit to $\\infty$ . This is a surprising result, leading to \n173 the efficient and effective $\\zeta ^ { * } = \\breve { \\zeta } _ { \\lambda _ { \\bf g } \\to \\infty }$ optimizer. \n174 Remark 2 (Relation between Update Direction $\\zeta$ and $\\zeta ^ { * }$ ). When comparing the update direction \n175 $\\zeta$ in (20) without regularization (i.e., $\\lambda _ { \\mathbf { g } } 0 , \\lambda _ { \\mathbf { a } } 0 ,$ ) with $\\zeta ^ { * }$ (i.e., $\\lambda _ { \\mathbf { g } } \\infty ,$ ) as given in (21), it \n176 can be directly seen that $\\zeta ^ { * }$ corresponds to a particular pre-conditioning of $\\zeta$ , since $\\zeta ^ { * } = M \\zeta$ for \n177 $\\begin{array} { r } { M = \\frac { 1 } { b \\lambda _ { \\mathbf { g } } } \\bar { \\pmb { g } } ^ { \\top } \\dot { \\pmb { g } } } \\end{array}$ . ", + "bbox": [ + 142, + 458, + 825, + 515 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 521, + 825, + 565 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 570, + 825, + 631 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "As the last theoretical property of our proposed update direction 78 $\\zeta ^ { * }$ , we show that in specific networks 79 $\\zeta ^ { * }$ coincides with the Gauss-Newton update direction. ", + "bbox": [ + 156, + 643, + 825, + 672 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "80 Theorem 4 0 $\\zeta ^ { * }$ is Exact for the Last Layer). For the case of linear regression or, more generally, the last layer of networks, with the mean squared error, 1 $\\zeta ^ { * }$ is the Gauss-Newton update direction. ", + "bbox": [ + 155, + 678, + 825, + 707 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "2 Proof. The Hessian matrix of the mean squared error loss is the identity matrix. Correspondingly, the expectation value of 3 $\\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } }$ is $\\mathbf { I }$ . Thus, ${ \\zeta } ^ { * } = \\zeta$ . □ ", + "bbox": [ + 158, + 727, + 826, + 756 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Remark 3. The direction $\\zeta ^ { * }$ corresponds to the Gauss-Newton update direction with an approximation of G that can be expressed as $\\begin{array} { r } { \\dot { \\mathbf { G } } \\approx \\mathbb { E } \\left[ \\mathbf { I } \\otimes ( \\mathrm { a } ^ { \\top } \\mathrm { a } ) \\right] } \\end{array}$ . ", + "bbox": [ + 168, + 768, + 825, + 799 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "86 Remark 4 (Extension to the Natural Gradient). In some cases, it might be more desirable to use the \n87 Fisher-based natural gradient instead of the Gauss-Newton method. The difference to this setting is \n88 that in (5) the GGN matrix $\\mathbf { G }$ is replaced by the empirical Fisher information matrix $\\mathbf { F }$ . \n189 We note that our theory also applies to $\\mathbf { F }$ , and that $\\zeta ^ { * }$ also efficiently approximates the natural \n190 gradient update step $\\mathbf { F } ^ { - 1 } \\nabla$ . The $i$ -th diagonal block of $\\mathbf { F } ( \\mathbf { F } _ { \\theta ^ { ( i ) } } = \\mathbb { E } \\left[ ( \\mathbf { g } _ { i } ^ { \\top } \\mathbf { g } _ { i } ) \\otimes \\left( a _ { i - 1 } ^ { \\top } \\otimes a _ { i - 1 } \\right) \\right] ,$ ), \n191 has the same form as a block of the GGN matrix $\\mathbf { G }$ $( \\mathbf { G } _ { \\theta ( i ) } = \\mathbb { E } \\left[ \\left( \\bar { g } _ { i } ^ { \\top } \\bar { g } _ { i } \\right) \\otimes \\left( a _ { i - 1 } ^ { \\top } \\otimes a _ { i - 1 } \\right) \\right] ,$ . \n192 Thus, we can replace $\\bar { \\pmb g }$ with $\\mathbf { g }$ in our theoretical results to obtain their counterparts for $\\mathbf { F }$ . ", + "bbox": [ + 151, + 803, + 828, + 845 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 849, + 825, + 912 + ], + "page_idx": 4 + }, + { + "type": "image", + "img_path": "images/2b30a38057bd906af92f0b317b1e6de9a7c85b0e36a5e5a500d46f6103ab9903.jpg", + "image_caption": [ + "Figure 1: Logarithmic training loss (top) and test accuracy (bottom) on the MNIST classification task. The axes are the regularization parameters $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ in logarithmic scale with base 10. Training with a 5-layer ReLU activated network with 100 (left, a, e), 400 (center, b, c, f, g), and 1 600 (right, d, h) neurons per layer. The optimizer is SGD except for (c, g) where the optimizer is SGD with momentum. The top-left sector is $\\zeta$ , the top-right column is $\\zeta ^ { * }$ , and the bottom-right corner is $\\nabla$ (gradient descent). For each experiment and each of the three sectors, we use one learning rate, i.e., ζ , $\\zeta ^ { * }$ , $\\nabla$ have their own learning rate to make a fair comparison between the methods; within each sector the learning rate is constant. We can observe that in the limit of $\\lambda _ { \\mathbf { g } } \\to \\infty$ (i.e., in the limit to the right) the performance remains good, showing the utility of $\\zeta ^ { * }$ . " + ], + "image_footnote": [], + "bbox": [ + 151, + 97, + 848, + 387 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "193 4 Experiments ", + "text_level": 1, + "bbox": [ + 142, + 503, + 312, + 520 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "194 In the previous section, we discussed the theoretical properties of the proposed update directions \n195 $\\zeta$ and $\\bar { \\zeta } ^ { * }$ with the aspect that $\\zeta ^ { * }$ would actually be “free” to compute in the mini-batch regime. In \n196 this section, we provide empirical evidence that $\\zeta ^ { * }$ is a good update direction, even in deep learning. \n197 Specifically, we demonstrate that ", + "bbox": [ + 142, + 534, + 826, + 589 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "(E1) $\\zeta ^ { * }$ achieves similar performance to K-FAC, while being substantially cheaper to compute. \n(E2) The performance of our proposed method can be empirically maintained in the mini-batch regime $( n \\gg b$ ). \n(E3) $\\zeta ^ { * }$ may be used for individual layers, while for other layers only the gradient $\\nabla$ is used. This still leads to improved performance. \n(E4) $\\zeta ^ { * }$ also improves the performance for training larger models such as BERT and ResNet. \n(E5) The runtime and memory requirements of $\\zeta ^ { * }$ are comparable to those of gradient descent. ", + "bbox": [ + 158, + 593, + 825, + 703 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "E1: Impact of Regularization Parameters ", + "text_level": 1, + "bbox": [ + 169, + 709, + 464, + 724 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "206 For (E1), we study the dependence of the model’s performance on the regularization parameters $\\lambda _ { \\mathbf { g } }$ \n207 and $\\lambda _ { \\mathbf { a } }$ . Here, we train a 5-layer deep neural network on the MNIST classification task [16] with a \n208 batch size of 60 for a total of 40 epochs or 40 000 steps. \n209 The plots in Figure 1 demonstrate that the advantage of training by conditioning with curvature \n210 information can be achieved by considering both layer inputs a and gradients with respect to random \n211 samples $\\bar { \\pmb g }$ , but also using only layer inputs a. In the plot, we show the performance of $\\zeta$ for different \n212 choices of $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ , each in the range from $1 0 ^ { - 6 }$ to $1 0 ^ { 6 }$ . The right column shows $\\zeta ^ { * }$ , i.e., $\\lambda _ { \\mathbf { g } } = \\infty$ \n213 for different $\\lambda _ { \\mathbf { a } }$ . The bottom-right corner is gradient descent, which corresponds to $\\lambda _ { \\mathbf { g } } = \\infty$ and \n214 $\\lambda _ { \\mathbf { a } } = \\infty$ . \n215 Newton’s method or the general K-FAC approximation corresponds to the area with small $\\lambda _ { \\mathbf { g } }$ and $\\lambda _ { \\mathbf { a } }$ . \n216 The interesting finding here is that the performance does not suffer by increasing $\\lambda _ { \\mathbf { g } }$ toward $\\infty$ , i.e., \n217 from left to right in the plot. \n218 In addition, in Figure 3, we consider the case of regression with an auto-encoder trained with the \n219 MSE loss on MNIST [16] and Fashion-MNIST [17]. Here, we follow the same principle as above \n220 and also find that $\\zeta ^ { * }$ performs well. ", + "bbox": [ + 142, + 731, + 825, + 773 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "", + "bbox": [ + 140, + 780, + 825, + 863 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "", + "bbox": [ + 140, + 868, + 826, + 912 + ], + "page_idx": 5 + }, + { + "type": "image", + "img_path": "images/c7cf54c4d8999d9b96f020e4d4718ca41150d9a79264135a0259836bb14ee44c.jpg", + "image_caption": [ + "Figure 2: Training loss of the MNIST auto-encoder trained with gradient descent, K-FAC, $\\zeta$ , and $\\zeta ^ { * }$ . Comparing the performance per real-time (left) and per number of update steps (right). Runtimes are for a CPU core. " + ], + "image_footnote": [], + "bbox": [ + 181, + 93, + 818, + 219 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 260, + 826, + 303 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "In Figure 7, we compare the loss for different methods. Here, we distinguish between loss per time (left) and loss per number of steps (right). We can observe that, for $\\lambda = 0 . 1$ , K-FAC, $\\zeta$ , and $\\zeta ^ { * }$ are almost identical per update step (right), while $\\zeta ^ { * }$ is by a large margin the fastest, followed by $\\zeta$ , and the conventional K-FAC implementation is the slowest (left). On the other hand, for $\\lambda = 0 . 0 1$ we can achieve a faster convergence than with $\\lambda = 0 . 1$ , but here only the K-FAC and $\\zeta$ methods are numerically stable, while $\\zeta ^ { * }$ is unstable in this case. This means in the regime of very small $\\lambda$ , $\\zeta ^ { * }$ is not as robust as KFAC and $\\zeta$ , however, it achieves good performance with small but moderate $\\lambda$ like $\\lambda = 0 . 1$ . For $\\lambda < 0 . 0 1$ , also K-FAC and $\\zeta$ become numerically unstable in this setting and, in general, we observed that the smallest valid $\\lambda$ for K-FAC is 0.01 or 0.001 depending on model and task. Under consideration of the runtime, $\\zeta ^ { * }$ performs best as it is almost as fast as gradient descent while performing equivalent to K-FAC and $\\zeta$ Specifically, a gradient descent step is only about $1 0 \\%$ faster than $\\zeta ^ { * }$ . ", + "bbox": [ + 165, + 309, + 426, + 708 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/c5de3ca8281be8eb8237a8cdd010a2dcca9bd0a9aa1f72e320611c72e02b8c24.jpg", + "image_caption": [ + "Figure 3: Training an auto-encoder on MNIST (left) and FashionMNIST (right). The model is the same as used by Botev et al. [18], i.e., it is a ReLU-activated 6-layer fully connected model with dimensions $7 8 4 - 1 0 0 0 - 5 0 0 - \\ 3 0 - 5 0 0 - 1 0 0 0 - 7 8 4$ . Displayed is the logarithmic training loss. " + ], + "image_footnote": [], + "bbox": [ + 446, + 297, + 825, + 439 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/7564d7daabb05b74421abf4e21adb180f1c0fc64f7e598c37fc2393a7143a8b1.jpg", + "image_caption": [ + "Figure 4: Training a 5-layer ReLU network with 400 neurons per layer on the MNIST classification task (as in Figure 1) but with the Adam optimizer [19]. " + ], + "image_footnote": [], + "bbox": [ + 446, + 506, + 789, + 647 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "E2: Minibatch Regime ", + "text_level": 1, + "bbox": [ + 166, + 718, + 334, + 733 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "For (E2), in Figure 1, we can see that training performs well for $n \\in \\{ 1 0 0 , 4 0 0 , 1 6 0 0 \\}$ neurons per layer at a batch size of only 60. Also, in all other experiments, we use small batch sizes of between 8 and 100. ", + "bbox": [ + 173, + 741, + 485, + 809 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "E3: $\\zeta ^ { * }$ in Individual Layers ", + "text_level": 1, + "bbox": [ + 174, + 819, + 367, + 834 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "In Figure 5, we train the 5-layer fully connected model with 400 neurons per layer. Here, we consider the setting that we use $\\zeta ^ { * }$ in some of the layers while using the default gradient $\\nabla$ in other layers. Specifically, we consider the ", + "bbox": [ + 173, + 842, + 485, + 911 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/f4ef58eb0309da21b357064a667fb3ec1afd5d6e7ebde9372f4b310ca4a78822.jpg", + "image_caption": [ + "Figure 5: Training on the MNIST classification task using $\\zeta ^ { * }$ only in selected layers. Runtimes are for CPU. " + ], + "image_footnote": [], + "bbox": [ + 504, + 707, + 815, + 882 + ], + "page_idx": 6 + }, + { + "type": "table", + "img_path": "images/3b14cf571fef2b93d95ac9fb06d3734ea3ae9c92fdcd2d207fb8408997cb96cc.jpg", + "table_caption": [ + "Table 1: BERT results for fine-tuning pre-trained BERT-Base (B-B) and BERT-Mini (B-M) models on the COLA, MRPC, and STSB text classification tasks. Larger values are better for all metrics. MCC is the Matthews correlation. Results averaged over 10 runs. " + ], + "table_footnote": [], + "table_body": "
Method /SettingCoLA (B-B)CoLA (B-M)MRPC (B-B)STS-B (B-M)
MetricMCCMCCAcc.F1PearsonSpearman
Gradient baseline54.20 ± 7.5621.08 ± 2.8882.52 ±1.2287.88 ±0.7476.98 ± 1.1076.88 ±0.79
s*57.62 ± 1.5924.67 ± 2.6283.28±0.8988.28±0.7081.09 ± 1.5880.82 ±1.57
", + "bbox": [ + 215, + 135, + 782, + 198 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "settings, where all, the first, the final, the first three, the final three, the odd numbered, and the even numbered layers are updated by $\\zeta ^ { * }$ . We observe that all settings with $\\zeta ^ { * }$ perform better than plain gradient descent, except for $^ { 6 6 } \\zeta ^ { * }$ for layers $3 , 4 , 5 '$ which performs approximately equivalent to gradient descent. ", + "bbox": [ + 169, + 223, + 825, + 279 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "E4: Large-scale Models ", + "text_level": 1, + "bbox": [ + 169, + 289, + 339, + 304 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "BERT To demonstrate the utility of $\\zeta ^ { * }$ also in large-scale models, we evaluate it for fine-tuning BERT [20] on three natural language tasks. In Table 1, we summarize the results for the BERT fine-tuning task. For the “Corpus of Linguistic Acceptability” (CoLA) [21] data set, we fine-tune both the BERT-Base and the BERT-Mini models and find that we outperform the gradient descent baseline in both cases. For the “Microsoft Research Paraphrase Corpus” (MRPC) [22] data set, we fine-tune the BERT-Base model and find that we outperform the baseline both in terms of accuracy and F1-score. Finally, on the “Semantic Textual Similarity Benchmark” (STS-B) [23] data set, we fine-tune the BERT-Mini model and achieve higher Pearson and Spearman correlations than the baseline. While for training with CoLA and MRPC, we were able to use the Adam optimizer [19] (which is recommended for this task and model) in conjunction with $\\zeta ^ { * }$ in place of the gradient, for STS-B Adam did not work well. Therefore, for STS-B, we evaluated it using the SGD with momentum optimizer. For each method, we performed a grid search over the hyperparameters. We note that we use a batch size of 8 in all BERT experiments. ", + "bbox": [ + 169, + 311, + 825, + 491 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "ResNet In addition, we conduct an experiment where we train the last layer of a ResNet with $\\zeta ^ { * }$ , while the remainder of the model is updated using the gradient $\\nabla$ . Here, we train a ResNet-18 [24] on CIFAR-10 [25] using SGD with a batch size of 100 in a vanilla setting, i.e., without additional tricks employed in by He et al. [24] and others. Specifically, we use (i) a constant learning rate for each training (optimal from $( 1 , 0 . 3 , 0 . \\bar { 1 } , 0 . 0 3 , 0 . 0 1 ) )$ and (ii) vanilla SGD and not momentum-based SGD. The reason behind this is that we want a vanilla experiment and with aspects such as extensively tuning multiple parameters of learning rate scheduler would make the evaluation less transparent; how", + "bbox": [ + 173, + 507, + 485, + 712 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/bac99832df68cbd0b592c8da2d1c14c846e72daa38864257b2bb886360647fd5.jpg", + "image_caption": [ + "Figure 6: ResNet-18 trained on CIFAR-10. Runtimes are for a GPU. Results are averaged over 5 runs. " + ], + "image_footnote": [], + "bbox": [ + 504, + 503, + 812, + 680 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "ever, therefore, all accuracies are naturally lower than SOTA. In Figure 6, we plot the test accuracy against time. The results show that the proposed method outperforms vanilla SGD when applied to the last layer of a ResNet-18. To validate that the learning rate is not the cause for the better performance, we also plot the neighboring learning rates and find that even with a too small or too large learning rate $\\zeta ^ { * }$ outperforms gradient descent with the optimal learning rate. ", + "bbox": [ + 174, + 713, + 825, + 782 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "E5: Runtime and Memory ", + "text_level": 1, + "bbox": [ + 166, + 792, + 359, + 808 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Finally, we also evaluate the runtime and memory requirements of each method. The runtime evaluation is displayed in Table 2. We report both CPU and GPU runtime using PyTorch [26] and (for K-FAC) the backpack library [15]. Note that the CPU runtime is more representative of the pure computational cost, as for the first rows of the GPU runtime the overhead of calling the GPU is dominant. When comparing runtimes between the gradient and $\\zeta ^ { * }$ on the GPU, we can observe that we have an overhead of around $2 . 5 s$ independent of the model size. The overhead for CPU time is also very small at less than $1 \\%$ for the largest model, and only $1 . 3 s$ for the smallest model. In ", + "bbox": [ + 171, + 814, + 825, + 911 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "08 contrast, the runtime of $\\zeta ^ { * }$ is around 4 times the runtime of the gradient, and K-FAC has an even \n09 substantially larger runtime. Regarding memory, $\\zeta ^ { * }$ (contrasting the other approaches) also requires \n10 only a small additional footprint. \n311 Remark 5 (Implementation). The implementation of $\\zeta ^ { * }$ can be done by replacing the backpropagation \n312 step of a respective layer by (21). As all “ingredients” are already available in popular deep learning \n313 frameworks, it requires only little modification (contrasting $K$ -FAC and $\\zeta$ , which require at least one \n314 additional backpropagation.) ", + "bbox": [ + 150, + 92, + 825, + 133 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "", + "bbox": [ + 142, + 135, + 825, + 191 + ], + "page_idx": 8 + }, + { + "type": "table", + "img_path": "images/723e4b1693b0d7c1c776296ec959b316dd72521fca0969aba28846b218f114e4.jpg", + "table_caption": [ + "Table 2: Runtimes and memory requirements for different models. Runtime is the training time per epoch on MNIST at a batch size of 60, i.e., for 1 000 training steps. The K-FAC implementation is from the backpack library [15]. The GPU is an Nvidia A6000. " + ], + "table_footnote": [], + "table_body": "
ModelGradientK-FACsS*
CPU time GPU timeMemoryCPU timeGPU t.MemoryCPU timeGPU t.MemoryCPU t.GPU t.Memory
5 layers w/100 n.2.05 s1.79 s1.0MB62.78 s17.63 s11.5 MB8.65 s 11.76 s1.6 MB3.34s4.07 s1.0MB
5 layers w/400 n.23.74 s1.84 s4.8MB218.48 s32.00 s22.4MB38.67 s 12.62 s7.7MB13.62 s4.19 s4.9 MB
5 layers w/1600 n.187.87 s1.93 s51.0MB 6985.48 s156.48 s212.2MB665.80s12.53 s85.8MB291.01 s4.49 s51.4MB
5 layers w/6 400 n. 3439.59 s8.22s691.0MB1320.81s3155.3MB9673s 31.87s 1197.8 MB 3451.61s 10.24 s 692.5 MB
Auto-Encoder78.61 s2.20 s16.2MB1207.58 s74.09 s70.7MB193.25 s 14.19 s33.8MB87.39 s4.93 s16.5MB
", + "bbox": [ + 178, + 242, + 823, + 325 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "315 We will publish the source code of our implementation. In the appendix, we give a PyTorch [26] implementation of the proposed method16 $( \\zeta ^ { \\bar { * } } )$ . ", + "bbox": [ + 150, + 338, + 826, + 366 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "7 5 Related Work ", + "text_level": 1, + "bbox": [ + 156, + 383, + 320, + 400 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "18 Our methods are related to K-FAC by Martens and Grosse [12]. K-FAC uses the approximation \n19 (13) to approximate the blocks of the Hessian of the empirical risk of neural networks. In most \n20 implementations of K-FAC, the off-diagonal blocks of the Hessian are also set to zero. One of the \n1 main claimed benefits of K-FAC is its speed (compared to stochastic gradient descent) for large-batch \n22 size training. That said, recent empirical work has shown that this advantage of K-FAC disappears \n23 once the additional computational costs of hyperparameter tuning for large batch training is accounted \n24 for. There is a line of work that extends the basic idea of K-FAC to convolutional layers [27]. Botev et \n25 al. [18] further extend these ideas to present KFLR, a Kronecker factored low-rank approximation, \n26 and KFRA, a Kronecker factored recursive approximation of the Gauss-Newton step. Singh and \n7 Alistarh [28] propose WoodFisher, a Woodbury matrix inverse-based estimate of the inverse Hessian, \n28 and apply it to neural network compression. Yao et al. [29] propose AdaHessian, a second-order \n29 optimizer that incorporates the curvature of the loss function via an adaptive estimation of the Hessian. \n0 Frantar et al. [6] propose M-FAC, a matrix-free approximation of the natural gradient through a queue \nof the (e.g., 1 000) recent gradients. These works fundamentally differ from our approach in that their \n32 objective is to approximate the Fisher or Gauss-Newton matrix inverse vector products. In contrast, \n33 this work proposes to approximate the Gauss-Newton matrix by only one of its Kronecker factors, \n34 which we find to achieve good performance at a substantial computational speedup and reduction of \n5 memory footprint. For an overview of this area, we refer to Kunstner et al. [30] and Martens [31]. \n36 For an overview of the technical aspects of backpropagation of second-order quantities, we refer to \n7 Dangel et al. [15], [32] \n338 Taking a step back, K-FAC is one of many Newton-type methods for training neural networks. \n339 Other prominent examples of such methods include subsampled Newton methods [33], [34] (which \n340 approximate the Hessian by subsampling the terms in the empirical risk function and evaluating the \n341 Hessian of the subsampled terms) and sketched Newton methods [3]–[5] (which approximate the \n342 Hessian by sketching, e.g., by projecting the Hessian to a lower-dimensional space by multiplying it \n343 with a random matrix). The main features that distinguish K-FAC from this group of methods are \n344 K-FAC’s superior empirical performance and K-FAC’s lack of theoretical justification. ", + "bbox": [ + 153, + 412, + 825, + 690 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "", + "bbox": [ + 140, + 695, + 825, + 794 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "6 Conclusion ", + "text_level": 1, + "bbox": [ + 169, + 811, + 299, + 828 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "In this work, we presented ISAAC Newton, a novel approximate curvature method based on layerinputs. We demonstrated it to be a special case of the regularization-generalized Gauss-Newton method and empirically demonstrate its utility. Specifically, our method features an asymptotically vanishing computational overhead in the mini-batch regime, while achieving competitive empirical performance on various benchmark problems. ", + "bbox": [ + 173, + 842, + 825, + 911 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "353 learning in linear time,” Journal on Machine Learning Research, vol. 18, no. 1, pp. 4148–4187, \n354 2017. \n355 [2] J. Nocedal and S. J. Wright, Numerical Optimization, 2e. New York, NY, USA: Springer, 2006. \n356 [3] A. Gonen and S. Shalev-Shwartz, “Faster SGD using sketched conditioning,” arXiv preprint, \n357 arXiv:1506.02649, 2015. \n358 [4] M. Pilanci and M. J. Wainwright, “Newton sketch: A near linear-time optimization algorithm \n359 with linear-quadratic convergence,” SIAM Journal on Optimization, vol. 27, 2017. \n360 [5] M. A. Erdogdu and A. Montanari, “Convergence rates of sub-sampled Newton methods,” in \n361 Proc. Neural Information Processing Systems (NeurIPS), 2015. \n362 [6] E. Frantar, E. Kurtic, and D. Alistarh, “M-FAC: Efficient matrix-free approximations of \n363 second-order information,” in Proc. Neural Information Processing Systems (NeurIPS), 2021. \n364 [7] N. Doikov and Y. Nesterov, “Convex Optimization based on Global Lower Second-order \n365 Models,” in Proc. Neural Information Processing Systems (NeurIPS), Curran Associates, Inc., \n366 2020. \n367 [8] Y. Nesterov and B. T. Polyak, “Cubic regularization of Newton method and its global perfor \n368 mance,” Mathematical Programming, vol. 108, 2006. \n369 [9] S. Becker and Y. Lecun, “Improving the convergence of back-propagation learning with \n370 second-order methods,” 1989. \n371 [10] T. Schaul, S. Zhang, and Y. LeCun, “No more pesky learning rates,” in International Conference \n372 on Machine Learning (ICML), 2013. \n373 [11] Y. Ollivier, “Riemannian metrics for neural networks i: Feedforward networks,” Information \n374 and Inference, vol. 4, pp. 108–153, Jun. 2015. \n375 [12] J. Martens and R. Grosse, “Optimizing neural networks with Kronecker-factored approximate \n376 curvature,” in International Conference on Machine Learning (ICML), 2015. \n377 [13] A. N. Tikhonov and V. Y. Arsenin, Solutions of Ill-posed problems. W.H. Winston, 1977. \n378 [14] P. Chen, “Hessian matrix vs. Gauss—Newton Hessian matrix,” SIAM Journal on Numerical \n379 Analysis, 2011. \n380 [15] F. Dangel, F. Kunstner, and P. Hennig, “Backpack: Packing more into backprop,” in Interna \n381 tional Conference on Learning Representations, 2020. \n382 [16] Y. LeCun, C. Cortes, and C. Burges, “MNIST Handwritten Digit Database,” ATT Labs, 2010. \n383 [17] H. Xiao, K. Rasul, and R. Vollgraf, “Fashion-MNIST: A novel image dataset for benchmarking \n384 machine learning algorithms,” arXiv, 2017. \n385 [18] A. Botev, H. Ritter, and D. Barber, “Practical Gauss-Newton optimisation for deep learning,” \n386 in International Conference on Machine Learning (ICML), 2017. \n387 [19] D. Kingma and J. Ba, “Adam: A method for stochastic optimization,” in International Confer \n388 ence on Learning Representations (ICLR), 2015. \n389 [20] J. Devlin, M.-W. Chang, K. Lee, and K. Toutanova, “Bert: Pre-training of deep bidirectional \n390 transformers for language understanding,” in North American Chapter of the Association for \n391 Computational Linguistics: Human Language Technologies (NAACL-HLT), 2018. \n392 [21] A. Warstadt, A. Singh, and S. R. Bowman, “Neural network acceptability judgments,” Trans \n393 actions of the Association for Computational Linguistics, vol. 7, 2019. \n394 [22] W. B. Dolan and C. Brockett, “Automatically constructing a corpus of sentential paraphrases,” \n395 in Proceedings of the Third International Workshop on Paraphrasing (IWP2005), 2005. \n396 [23] D. Cer, M. Diab, E. Agirre, I. Lopez-Gazpio, and L. Specia, “SemEval-2017 task 1: Semantic \n397 textual similarity multilingual and crosslingual focused evaluation,” in Proceedings of the \n398 11th International Workshop on Semantic Evaluation (SemEval-2017), Vancouver, Canada: \n399 Association for Computational Linguistics, 2017. \n400 [24] K. He, X. Zhang, S. Ren, and J. Sun, “Deep residual learning for image recognition,” in \n401 Proc. International Conference on Computer Vision and Pattern Recognition (CVPR), 2016. \n402 [25] A. Krizhevsky, V. Nair, and G. Hinton, “Cifar-10 (Canadian Institute for Advanced Research),” \n403 2009. \n404 [26] A. Paszke, S. Gross, F. Massa, et al., “Pytorch: An imperative style, high-performance deep \n405 learning library,” in Proc. Neural Information Processing Systems (NeurIPS), 2019. \n406 [27] R. Grosse and J. Martens, “A Kronecker-factored approximate Fisher matrix for convolution \n407 layers,” in International Conference on Machine Learning (ICML), 2016. \n408 [28] S. P. Singh and D. Alistarh, “Woodfisher: Efficient second-order approximation for neural \n409 network compression,” in Proc. Neural Information Processing Systems (NeurIPS), 2020. \n410 [29] Z. Yao, A. Gholami, S. Shen, M. Mustafa, K. Keutzer, and M. W. Mahoney, “Adahessian: \n411 An adaptive second order optimizer for machine learning,” in AAAI Conference on Artificial \n412 Intelligence, 2021. \n413 [30] F. Kunstner, L. Balles, and P. Hennig, “Limitations of the empirical Fisher approximation for \n414 natural gradient descent,” in Proc. Neural Information Processing Systems (NeurIPS), 2019. \n415 [31] J. Martens, “New insights and perspectives on the natural gradient method,” Journal of Machine \n416 Learning Research, 2020. \n417 [32] F. Dangel, S. Harmeling, and P. Hennig, “Modular block-diagonal curvature approximations \n418 for feedforward architectures,” in International Conference on Artificial Intelligence and \n419 Statistics (AISTATS), 2020. \n420 [33] F. Roosta-Khorasani and M. W. Mahoney, “Sub-Sampled Newton Methods I: Globally Con \n421 vergent Algorithms,” arXiv: 1601.04737, 2016. \n422 [34] P. Xu, J. Yang, F. Roosta, C. Re, and M. W. Mahoney, “Sub-sampled Newton Methods with ´ \n423 Non-uniform Sampling,” in Proc. Neural Information Processing Systems (NeurIPS), 2016. ", + "bbox": [ + 137, + 128, + 828, + 916 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "", + "bbox": [ + 137, + 89, + 828, + 359 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "1. For all authors... ", + "bbox": [ + 187, + 119, + 313, + 133 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "(a) Do the main claims made in the abstract and introduction accurately reflect the paper’s contributions and scope? [Yes] \n(b) Did you describe the limitations of your work? [Yes] \n(c) Did you discuss any potential negative societal impacts of your work? [N/A] \n(d) Have you read the ethics review guidelines and ensured that your paper conforms to them? [Yes] ", + "bbox": [ + 210, + 136, + 826, + 228 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "2. If you are including theoretical results... ", + "bbox": [ + 186, + 231, + 467, + 246 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "(a) Did you state the full set of assumptions of all theoretical results? [Yes] (b) Did you include complete proofs of all theoretical results? [Yes] ", + "bbox": [ + 212, + 247, + 707, + 279 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "3. If you ran experiments... ", + "bbox": [ + 186, + 281, + 367, + 295 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "(a) Did you include the code, data, and instructions needed to reproduce the main experimental results (either in the supplemental material or as a URL)? [Yes] / [No] We include a Python / PyTorch implementation of the method in the supplementary material. We will publicly release full source code for the experiments. \n(b) Did you specify all the training details (e.g., data splits, hyperparameters, how they were chosen)? [Yes] \n(c) Did you report error bars (e.g., with respect to the random seed after running experiments multiple times)? [Yes] \n(d) Did you include the total amount of compute and the type of resources used (e.g., type of GPUs, internal cluster, or cloud provider)? [Yes] ", + "bbox": [ + 212, + 297, + 825, + 444 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "4. If you are using existing assets (e.g., code, data, models) or curating/releasing new assets... ", + "bbox": [ + 184, + 448, + 799, + 462 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "(a) If your work uses existing assets, did you cite the creators? [Yes] \n(b) Did you mention the license of the assets? [N/A] \n(c) Did you include any new assets either in the supplemental material or as a URL? [N/A] \n(d) Did you discuss whether and how consent was obtained from people whose data you’re using/curating? [N/A] \n(e) Did you discuss whether the data you are using/curating contains personally identifiable information or offensive content? [N/A] ", + "bbox": [ + 212, + 464, + 825, + 573 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "5. If you used crowdsourcing or conducted research with human subjects... ", + "bbox": [ + 186, + 575, + 679, + 589 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "(a) Did you include the full text of instructions given to participants and screenshots, if applicable? [N/A] \n(b) Did you describe any potential participant risks, with links to Institutional Review Board (IRB) approvals, if applicable? [N/A] \n(c) Did you include the estimated hourly wage paid to participants and the total amount spent on participant compensation? [N/A] ", + "bbox": [ + 212, + 592, + 826, + 683 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "461 A PyTorch Implementation ", + "text_level": 1, + "bbox": [ + 147, + 89, + 419, + 107 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "462 We display a PyTorch [26] implementation of ISAAC for a fully-connected layer below. Here, we \n463 mark the important part (i.e., the part beyond the boilerplate) with a red rectangle. ", + "bbox": [ + 142, + 125, + 826, + 154 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "import torch", + "bbox": [ + 174, + 167, + 279, + 181 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "class ISAACLinearFunction(torch.autograd.Function): @staticmethod def forward(ctx, input, weight, bias, la, inv_type): ctx.save_for_backward(input, weight, bias) ctx. $\\mathtt { \\Delta } \\mathtt { l a } ~ = ~ \\mathtt { 1 a }$ if inv_type $\\scriptstyle = = \\quad$ cholesky_inverse': ctx.inverse $=$ torch.cholesky_inverse elif inv_type $= =$ 'inverse': ctx.inverse $=$ torch.inverse else: raise NotImplementedError(inv_type) return input $\\circledcirc$ weight.T $^ +$ (bias if bias is not None else 0) ", + "bbox": [ + 176, + 190, + 750, + 361 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "@staticmethod ", + "text_level": 1, + "bbox": [ + 209, + 375, + 323, + 386 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "ef backward(ctx, grad_output): input, weight, bias $=$ ctx.saved_tensors if ctx.needs_input_grad[0]: grad_ $. 0 \\ =$ grad_output $\\circledcirc$ weight else: grad_0 $=$ None ", + "bbox": [ + 220, + 388, + 576, + 472 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "if ctx.needs_input_grad[1]: ", + "bbox": [ + 243, + 484, + 473, + 498 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "aaT $=$ input $\\circledcirc$ input.T / grad_output.shape[0] \nI_b $=$ torch.eye(aaT.shape[0], device $=$ aaT.device, dtype aaT.dtype) \naaT_IaaT_inv $=$ aaT @ ctx.inverse(aaT / ctx.la $^ +$ I_b) \ngrad_1 $=$ grad_output.T $\\circledcirc$ ( I_b - 1. / ctx.la $^ *$ aaT_IaaT_inv \n) $\\circledcirc$ input ", + "bbox": [ + 274, + 511, + 838, + 597 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "else: grad_1 $=$ None ", + "bbox": [ + 240, + 609, + 392, + 637 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "return ( grad_0, grad_1, grad_output.mean(0, keepdim $\\cdot ^ { = }$ True) if bias is not None else None, None, None, None, \n) ", + "bbox": [ + 238, + 650, + 825, + 732 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "class ISAACLinear(torch.nn.Linear): def __init__(self, in_features, out_features, la, inv_type $= ^ { 1 }$ inverse', $^ { \\ast \\ast }$ kwargs): super(ISAACLinear, self).__init__( in_features $=$ in_features, out_features $=$ out_features, \\*\\*kwargs ) self. $1 \\mathsf { a } \\ = \\ 1 \\mathsf { a }$ self.inv_type $=$ inv_type def forward(self, input: torch.Tensor) -> torch.Tensor: return ISAACLinearFunction.apply( input, self.weight, ", + "bbox": [ + 174, + 744, + 799, + 912 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "self.bias.unsqueeze(0) if self.bias is not None else None, self.la, self.inv_type ) ", + "bbox": [ + 238, + 92, + 774, + 147 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "464 B Implementation Details ", + "text_level": 1, + "bbox": [ + 142, + 165, + 405, + 183 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "Unless noted differently, for all experiments, we tune the learning rate on a grid of $( 1 , 0 . 3 , 0 . 1 , 0 . 0 3 , 0 . 0 1 , 0 . \\dot { 0 } 0 3 , 0 . 0 0 1 )$ . We verified this range to cover the full reasonable range of learning rates. Specifically, for every single experiment, we made sure that there is no learning rate outside this range which performs better. ", + "bbox": [ + 169, + 196, + 825, + 252 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "For all language model experiments, we used the respective Huggingface PyTorch implementation. ", + "bbox": [ + 158, + 257, + 821, + 273 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "70 All other hyperparameter details are given in the main paper. ", + "bbox": [ + 153, + 279, + 570, + 295 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "71 The code will be made publicly available. ", + "bbox": [ + 153, + 299, + 447, + 314 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "472 C Additional Proofs ", + "text_level": 1, + "bbox": [ + 150, + 332, + 359, + 349 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "473 Proof of Theorem 1. We first show, that $\\zeta$ as defined in (17) can be expressed as in (20). Indeed by \n474 using (19), the Woodbury matrix identity and by regularizing the inverses, we can see that ", + "bbox": [ + 142, + 363, + 826, + 392 + ], + "page_idx": 13 + }, + { + "type": "equation", + "img_path": "images/30236bab96de76cde7dc8185ac0ab3964901fdc2ae91669ead44728701a8aae4.jpg", + "text": "$$\n\\begin{array} { r l } & { \\quad = - \\lambda _ { 2 , 3 , 4 } \\lambda _ { 3 } \\nabla \\tilde { \\lambda } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\lambda _ { 1 } ^ { 3 } \\nabla \\lambda _ { 2 } ^ { 3 } \\nabla \\lambda _ { 3 } ^ { 3 } \\nabla \\lambda _ { 3 } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 2 , 3 } \\lambda _ { 4 } - \\tilde { \\lambda } _ { 2 , 4 } \\lambda _ { 5 } \\tilde { \\lambda } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } + \\nabla \\tilde { \\lambda } ^ { 2 } \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 3 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 2 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad \\times \\tilde { \\lambda } ^ { 2 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 3 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad \\times \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & \\quad \\times ( \\tilde { \\lambda } ^ { 3 } - \\frac { 1 } { \\lambda _ { 2 } } \\nabla \\ \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 316, + 390, + 681, + 784 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "475 To show Assertion (i), we note that according to (17) ", + "bbox": [ + 140, + 789, + 522, + 804 + ], + "page_idx": 13 + }, + { + "type": "equation", + "img_path": "images/2cd0d1dc43e05aeb981d596adfa3b716f52fb8bd0108cf134936f4eaa3e659cb.jpg", + "text": "$$\n\\begin{array} { r l } & { \\underset { \\boldsymbol { \\lambda } _ { \\mathbf { g } } , \\boldsymbol { \\lambda } _ { \\mathbf { a } } 0 } { \\mathrm { l i m } } \\frac { 1 } { \\boldsymbol { \\lambda } _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } } } \\boldsymbol { \\zeta } } \\\\ & { \\quad = \\underset { \\boldsymbol { \\lambda } _ { \\mathbf { g } } , \\boldsymbol { \\lambda } _ { \\mathbf { a } } 0 } { \\mathrm { l i m } } ( \\bar { \\mathbf { g } } ^ { \\top } \\bar { \\mathbf { g } } / b + \\lambda _ { \\mathbf { g } } \\mathbf { I } ) ^ { - 1 } \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } / b + \\lambda _ { \\mathbf { a } } \\mathbf { I } ) ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } } \\\\ & { \\quad = ( \\bar { \\mathbf { g } } ^ { \\top } \\bar { \\mathbf { g } } ) ^ { - 1 } \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } } \\\\ & { \\quad \\approx \\mathbf { G } ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 310, + 806, + 689, + 910 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "476 where the first equality uses the definition of $\\zeta$ in (17). The second equality is due to the continuity of \n477 the matrix inversion and the last approximate equality follows from the K-FAC approximation (15). ", + "bbox": [ + 143, + 90, + 826, + 121 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "478 To show Assertion (ii), we consider $\\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } \\to \\infty }$ and $\\operatorname* { l i m } _ { \\lambda _ { \\mathbf { a } } \\to \\infty }$ independently, that is ", + "bbox": [ + 140, + 125, + 717, + 142 + ], + "page_idx": 14 + }, + { + "type": "equation", + "img_path": "images/61505ac4b4d30d2e13b38a372193d05e1621b1a4badf8b2edbbb84efb392f913.jpg", + "text": "$$\n\\begin{array} { r l } & { \\underset { \\lambda _ { \\mathbf { g } } \\to \\infty } { \\operatorname* { l i m } } \\lambda _ { \\mathbf { g } } \\cdot \\left( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b \\right) ^ { - 1 } } \\\\ & { = \\underset { \\lambda _ { \\mathbf { g } } \\to \\infty } { \\operatorname* { l i m } } \\left( \\mathbf { I } _ { m } + \\frac { 1 } { b \\lambda _ { \\mathbf { g } } } \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } \\right) ^ { - 1 } = \\mathbf { I } _ { m } , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 370, + 147, + 627, + 218 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "479 and ", + "bbox": [ + 140, + 223, + 202, + 238 + ], + "page_idx": 14 + }, + { + "type": "equation", + "img_path": "images/852e90079888133eb5109cbe8aad6adcbcabddd6f8cc0066378bd91440e2729f.jpg", + "text": "$$\n\\begin{array} { r l } & { \\underset { \\lambda _ { \\mathbf { a } } \\to \\infty } { \\operatorname* { l i m } } \\lambda _ { \\mathbf { a } } \\cdot \\left( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b \\right) ^ { - 1 } } \\\\ & { = \\underset { \\lambda _ { \\mathbf { a } } \\to \\infty } { \\operatorname* { l i m } } \\left( \\mathbf { I } _ { n } + \\frac { 1 } { b \\lambda _ { \\mathbf { a } } } \\mathbf { a } ^ { \\top } \\mathbf { a } \\right) ^ { - 1 } = \\mathbf { I } _ { n } . } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 375, + 241, + 624, + 309 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "480 This then implies ", + "bbox": [ + 142, + 314, + 289, + 329 + ], + "page_idx": 14 + }, + { + "type": "equation", + "img_path": "images/88ae227931818eb089d17874316ab0afd024be37ff0b575b1bf2763439e546b2.jpg", + "text": "$$\n\\begin{array} { c } { \\displaystyle \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } \\to \\infty } \\lambda _ { \\mathbf { g } } \\left( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b \\right) ^ { - 1 } \\cdot \\mathbf { g } ^ { \\top } } \\\\ { \\displaystyle \\quad \\cdot \\mathbf { a } \\cdot \\lambda _ { \\mathbf { a } } \\left( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b \\right) ^ { - 1 } } \\\\ { \\displaystyle = \\mathbf { I } _ { m } \\cdot \\mathbf { g } ^ { \\top } \\mathbf { a } \\cdot \\mathbf { I } _ { n } = \\mathbf { g } ^ { \\top } \\mathbf { a } , } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 374, + 334, + 624, + 411 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "481 which concludes the proof. ", + "bbox": [ + 142, + 415, + 352, + 429 + ], + "page_idx": 14 + }, + { + "type": "image", + "img_path": "images/48f5e2043b018718fb2e2af3309212e2a30dd94e19945123d607a39c9975f972.jpg", + "image_caption": [ + "Figure 7: Training loss of the MNIST auto-encoder trained with gradient descent, K-FAC, $\\zeta , \\zeta ^ { * }$ , as well as SGD w/ momentum, SGD with a $1 0 \\times$ larger batch size (600), K-FAC with a $1 0 \\times$ larger batch size (600), and Adam. Comparing the performance per real-time (left) and per number of epochs (right). We display both the training loss (top) as well as the test loss (bottom) Runtimes are for a CPU core. " + ], + "image_footnote": [], + "bbox": [ + 178, + 132, + 818, + 417 + ], + "page_idx": 15 + }, + { + "type": "image", + "img_path": "images/d3c92098df7ade5ef94ff2ca863d751443139b908a5c3de5bc4edf27532246e8.jpg", + "image_caption": [ + "Figure 8: ResNet-18 trained on CIFAR-10 with image augmentation and a cosine learning rate schedule. The first line (blue) uses the hyperparameters of a public implementation. To ablate the optimizer, two additional settings are added, specifically, without weight decay and without momentum. Results are averaged over 5 runs and the standard deviation is indicated with the colored areas. " + ], + "image_footnote": [], + "bbox": [ + 248, + 511, + 748, + 795 + ], + "page_idx": 15 + }, + { + "type": "image", + "img_path": "images/dace174bb4ea8dbf5819947744db1be535d2c87144370a7b87e2efcbcdaa6a34.jpg", + "image_caption": [ + "Figure 9: Test accuracy for training on the MNIST classification task using $\\zeta ^ { * }$ only in selected layers. Runtimes are for CPU. " + ], + "image_footnote": [], + "bbox": [ + 312, + 372, + 684, + 587 + ], + "page_idx": 16 + } +] \ No newline at end of file diff --git a/parse/dev/WIJ2SfPTj8c/WIJ2SfPTj8c_middle.json b/parse/dev/WIJ2SfPTj8c/WIJ2SfPTj8c_middle.json new file mode 100644 index 0000000000000000000000000000000000000000..66f75c3e165f1576d0ee5446a940018c37352190 --- /dev/null +++ b/parse/dev/WIJ2SfPTj8c/WIJ2SfPTj8c_middle.json @@ -0,0 +1,57151 @@ +{ + "pdf_info": [ + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 146, + 97, + 464, + 136 + ], + "lines": [ + { + "bbox": [ + 145, + 96, + 465, + 119 + ], + "spans": [ + { + "bbox": [ + 145, + 96, + 465, + 119 + ], + "score": 1.0, + "content": "ISAAC Newton: Input-based Approximate", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 187, + 118, + 425, + 136 + ], + "spans": [ + { + "bbox": [ + 187, + 118, + 425, + 136 + ], + "score": 1.0, + "content": "Curvature for Newton’s Method", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "text", + "bbox": [ + 259, + 176, + 354, + 219 + ], + "lines": [ + { + "bbox": [ + 258, + 175, + 356, + 188 + ], + "spans": [ + { + "bbox": [ + 258, + 175, + 356, + 188 + ], + "score": 1.0, + "content": "Anonymous Author(s)", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 283, + 186, + 328, + 199 + ], + "spans": [ + { + "bbox": [ + 283, + 186, + 328, + 199 + ], + "score": 1.0, + "content": "Affiliation", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 286, + 197, + 324, + 209 + ], + "spans": [ + { + "bbox": [ + 286, + 197, + 324, + 209 + ], + "score": 1.0, + "content": "Address", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 290, + 210, + 320, + 219 + ], + "spans": [ + { + "bbox": [ + 290, + 210, + 320, + 219 + ], + "score": 1.0, + "content": "email", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 3.5 + }, + { + "type": "title", + "bbox": [ + 283, + 249, + 328, + 262 + ], + "lines": [ + { + "bbox": [ + 281, + 248, + 331, + 263 + ], + "spans": [ + { + "bbox": [ + 281, + 248, + 331, + 263 + ], + "score": 1.0, + "content": "Abstract", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 6 + }, + { + "type": "text", + "bbox": [ + 92, + 272, + 470, + 361 + ], + "lines": [ + { + "bbox": [ + 92, + 273, + 470, + 285 + ], + "spans": [ + { + "bbox": [ + 92, + 276, + 99, + 284 + ], + "score": 1.0, + "content": "1", + "type": "text" + }, + { + "bbox": [ + 142, + 273, + 470, + 285 + ], + "score": 1.0, + "content": "We present ISAAC (Input-baSed ApproximAte Curvature), a novel method that", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 93, + 283, + 470, + 297 + ], + "spans": [ + { + "bbox": [ + 93, + 286, + 99, + 294 + ], + "score": 1.0, + "content": "2", + "type": "text" + }, + { + "bbox": [ + 142, + 283, + 470, + 297 + ], + "score": 1.0, + "content": "conditions the gradient using selected second-order information and has an asymp-", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 92, + 295, + 470, + 307 + ], + "spans": [ + { + "bbox": [ + 92, + 297, + 99, + 306 + ], + "score": 1.0, + "content": "3", + "type": "text" + }, + { + "bbox": [ + 142, + 295, + 470, + 307 + ], + "score": 1.0, + "content": "totically vanishing computational overhead, assuming a batch size smaller than", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 92, + 306, + 470, + 318 + ], + "spans": [ + { + "bbox": [ + 92, + 308, + 99, + 316 + ], + "score": 1.0, + "content": "4", + "type": "text" + }, + { + "bbox": [ + 142, + 306, + 470, + 318 + ], + "score": 1.0, + "content": "the number of neurons. 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The expensive", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 89, + 448, + 505, + 460 + ], + "spans": [ + { + "bbox": [ + 89, + 450, + 100, + 460 + ], + "score": 1.0, + "content": "14", + "type": "text" + }, + { + "bbox": [ + 105, + 448, + 505, + 460 + ], + "score": 1.0, + "content": "computation of an inverse Hessian (also known as pre-conditioning matrix) in the Newton step has", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 89, + 459, + 505, + 471 + ], + "spans": [ + { + "bbox": [ + 89, + 461, + 100, + 470 + ], + "score": 1.0, + "content": "15", + "type": "text" + }, + { + "bbox": [ + 105, + 459, + 505, + 471 + ], + "score": 1.0, + "content": "also been tackled via estimating the curvature from the change in gradients. 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It is an active research direction to", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 89, + 513, + 187, + 526 + ], + "spans": [ + { + "bbox": [ + 89, + 515, + 100, + 525 + ], + "score": 1.0, + "content": "20", + "type": "text" + }, + { + "bbox": [ + 105, + 513, + 187, + 526 + ], + "score": 1.0, + "content": "fill this gap [7], [8].", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 90, + 529, + 505, + 606 + ], + "lines": [ + { + "bbox": [ + 89, + 528, + 506, + 543 + ], + "spans": [ + { + "bbox": [ + 89, + 531, + 99, + 541 + ], + "score": 1.0, + "content": "21", + "type": "text" + }, + { + "bbox": [ + 104, + 528, + 506, + 543 + ], + "score": 1.0, + "content": "Motivated by the task of training neural networks, and the observation that invoking local curvature", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 89, + 540, + 506, + 553 + ], + "spans": [ + { + "bbox": [ + 89, + 542, + 99, + 552 + ], + "score": 1.0, + "content": "22", + "type": "text" + }, + { + "bbox": [ + 105, + 540, + 506, + 553 + ], + "score": 1.0, + "content": "information associated with neural network objective functions can achieve much faster progress", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 89, + 551, + 505, + 564 + ], + "spans": [ + { + "bbox": [ + 89, + 553, + 100, + 563 + ], + "score": 1.0, + "content": "23", + "type": "text" + }, + { + "bbox": [ + 106, + 551, + 505, + 564 + ], + "score": 1.0, + "content": "per iteration than standard first-order methods [9]–[11], several methods have been proposed. One", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 89, + 561, + 505, + 575 + ], + "spans": [ + { + "bbox": [ + 89, + 564, + 100, + 574 + ], + "score": 1.0, + "content": "24", + "type": "text" + }, + { + "bbox": [ + 105, + 561, + 505, + 575 + ], + "score": 1.0, + "content": "of these methods, that received significant attention, is known as Kronecker-factored Approximate", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 89, + 572, + 505, + 586 + ], + "spans": [ + { + "bbox": [ + 89, + 575, + 100, + 585 + ], + "score": 1.0, + "content": "25", + "type": "text" + }, + { + "bbox": [ + 105, + 572, + 505, + 586 + ], + "score": 1.0, + "content": "Curvature (K-FAC) [12], whose main ingredient is a sophisticated approximation to the generalized", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 89, + 582, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 89, + 586, + 100, + 596 + ], + "score": 1.0, + "content": "26", + "type": "text" + }, + { + "bbox": [ + 105, + 582, + 506, + 598 + ], + "score": 1.0, + "content": "Gauss-Newton matrix and the Fisher information matrix quantifying the curvature of the underlying", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 89, + 592, + 399, + 609 + ], + "spans": [ + { + "bbox": [ + 89, + 597, + 100, + 606 + ], + "score": 1.0, + "content": "27", + "type": "text" + }, + { + "bbox": [ + 105, + 592, + 399, + 609 + ], + "score": 1.0, + "content": "neural network objective function, which then can be inverted efficiently.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 90, + 611, + 505, + 689 + ], + "lines": [ + { + "bbox": [ + 89, + 611, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 89, + 614, + 99, + 623 + ], + "score": 1.0, + "content": "28", + "type": "text" + }, + { + "bbox": [ + 106, + 611, + 506, + 624 + ], + "score": 1.0, + "content": "Inspired by the K-FAC approximation and the Tikhonov regularization of the Newton method, we", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 89, + 622, + 506, + 635 + ], + "spans": [ + { + "bbox": [ + 89, + 624, + 100, + 633 + ], + "score": 1.0, + "content": "29", + "type": "text" + }, + { + "bbox": [ + 105, + 622, + 506, + 635 + ], + "score": 1.0, + "content": "introduce a novel two parameter regularized Kronecker-factorized Newton update step. 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The proposed method allows effective training even in small-batch", + "type": "text" + } + ], + "index": 12, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 339, + 471, + 351 + ], + "spans": [ + { + "bbox": [ + 92, + 341, + 99, + 349 + ], + "score": 1.0, + "content": "7", + "type": "text" + }, + { + "bbox": [ + 142, + 339, + 471, + 351 + ], + "score": 1.0, + "content": "stochastic regimes, which makes it competitive to first-order as well as quasi-", + "type": "text" + } + ], + "index": 13, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 349, + 214, + 361 + ], + "spans": [ + { + "bbox": [ + 92, + 352, + 99, + 361 + ], + "score": 1.0, + "content": "8", + "type": "text" + }, + { + "bbox": [ + 141, + 349, + 214, + 361 + ], + "score": 1.0, + "content": "Newton methods.", + "type": "text" + } + ], + "index": 14, + "is_list_start_line": true + } + ], + "index": 10.5, + "bbox_fs": [ + 92, + 273, + 471, + 361 + ] + }, + { + "type": "title", + "bbox": [ + 93, + 379, + 190, + 393 + ], + "lines": [ + { + "bbox": [ + 90, + 378, + 192, + 396 + ], + "spans": [ + { + "bbox": [ + 90, + 378, + 192, + 396 + ], + "score": 1.0, + "content": "9 1 Introduction", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 15 + }, + { + "type": "index", + "bbox": [ + 90, + 404, + 505, + 525 + ], + "lines": [ + { + "bbox": [ + 89, + 403, + 506, + 416 + ], + "spans": [ + { + "bbox": [ + 89, + 406, + 100, + 416 + ], + "score": 1.0, + "content": "10", + "type": "text" + }, + { + "bbox": [ + 105, + 403, + 506, + 416 + ], + "score": 1.0, + "content": "While second-order optimization methods are traditionally much less explored than first-order", + "type": "text" + } + ], + "index": 16, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 415, + 506, + 427 + ], + "spans": [ + { + "bbox": [ + 89, + 417, + 100, + 427 + ], + "score": 1.0, + "content": "11", + "type": "text" + }, + { + "bbox": [ + 106, + 415, + 506, + 427 + ], + "score": 1.0, + "content": "methods in large-scale machine learning (ML) applications due to their memory requirements and", + "type": "text" + } + ], + "index": 17, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 425, + 506, + 439 + ], + "spans": [ + { + "bbox": [ + 89, + 428, + 100, + 438 + ], + "score": 1.0, + "content": "12", + "type": "text" + }, + { + "bbox": [ + 105, + 425, + 506, + 439 + ], + "score": 1.0, + "content": "prohibitive computational cost per iteration, they have recently become more popular in ML mainly", + "type": "text" + } + ], + "index": 18, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 437, + 506, + 449 + ], + "spans": [ + { + "bbox": [ + 89, + 438, + 100, + 448 + ], + "score": 1.0, + "content": "13", + "type": "text" + }, + { + "bbox": [ + 106, + 437, + 506, + 449 + ], + "score": 1.0, + "content": "due to their fast convergence properties when compared to first-order methods [1]. The expensive", + "type": "text" + } + ], + "index": 19, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 448, + 505, + 460 + ], + "spans": [ + { + "bbox": [ + 89, + 450, + 100, + 460 + ], + "score": 1.0, + "content": "14", + "type": "text" + }, + { + "bbox": [ + 105, + 448, + 505, + 460 + ], + "score": 1.0, + "content": "computation of an inverse Hessian (also known as pre-conditioning matrix) in the Newton step has", + "type": "text" + } + ], + "index": 20, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 459, + 505, + 471 + ], + "spans": [ + { + "bbox": [ + 89, + 461, + 100, + 470 + ], + "score": 1.0, + "content": "15", + "type": "text" + }, + { + "bbox": [ + 105, + 459, + 505, + 471 + ], + "score": 1.0, + "content": "also been tackled via estimating the curvature from the change in gradients. Loosely speaking, these", + "type": "text" + } + ], + "index": 21, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 469, + 506, + 482 + ], + "spans": [ + { + "bbox": [ + 89, + 471, + 100, + 482 + ], + "score": 1.0, + "content": "16", + "type": "text" + }, + { + "bbox": [ + 104, + 469, + 506, + 482 + ], + "score": 1.0, + "content": "algorithms are known as quasi-Newton methods and a comprehensive treatment can be found in", + "type": "text" + } + ], + "index": 22, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 480, + 505, + 493 + ], + "spans": [ + { + "bbox": [ + 89, + 482, + 100, + 492 + ], + "score": 1.0, + "content": "17", + "type": "text" + }, + { + "bbox": [ + 106, + 480, + 505, + 493 + ], + "score": 1.0, + "content": "the textbook [2]. In addition, various new approximations to the pre-conditioning matrix have been", + "type": "text" + } + ], + "index": 23, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 491, + 506, + 504 + ], + "spans": [ + { + "bbox": [ + 89, + 493, + 100, + 503 + ], + "score": 1.0, + "content": "18", + "type": "text" + }, + { + "bbox": [ + 105, + 491, + 506, + 504 + ], + "score": 1.0, + "content": "proposed in the recent literature [3]–[6]. From a theoretical perspective, second-order optimization", + "type": "text" + } + ], + "index": 24, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 502, + 505, + 514 + ], + "spans": [ + { + "bbox": [ + 89, + 504, + 100, + 514 + ], + "score": 1.0, + "content": "19", + "type": "text" + }, + { + "bbox": [ + 105, + 502, + 505, + 514 + ], + "score": 1.0, + "content": "methods are not nearly as well understood as first-order methods. It is an active research direction to", + "type": "text" + } + ], + "index": 25, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 513, + 187, + 526 + ], + "spans": [ + { + "bbox": [ + 89, + 515, + 100, + 525 + ], + "score": 1.0, + "content": "20", + "type": "text" + }, + { + "bbox": [ + 105, + 513, + 187, + 526 + ], + "score": 1.0, + "content": "fill this gap [7], [8].", + "type": "text" + } + ], + "index": 26, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 528, + 506, + 543 + ], + "spans": [ + { + "bbox": [ + 89, + 531, + 99, + 541 + ], + "score": 1.0, + "content": "21", + "type": "text" + }, + { + "bbox": [ + 104, + 528, + 506, + 543 + ], + "score": 1.0, + "content": "Motivated by the task of training neural networks, and the observation that invoking local curvature", + "type": "text" + } + ], + "index": 27, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 540, + 506, + 553 + ], + "spans": [ + { + "bbox": [ + 89, + 542, + 99, + 552 + ], + "score": 1.0, + "content": "22", + "type": "text" + }, + { + "bbox": [ + 105, + 540, + 506, + 553 + ], + "score": 1.0, + "content": "information associated with neural network objective functions can achieve much faster progress", + "type": "text" + } + ], + "index": 28, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 551, + 505, + 564 + ], + "spans": [ + { + "bbox": [ + 89, + 553, + 100, + 563 + ], + "score": 1.0, + "content": "23", + "type": "text" + }, + { + "bbox": [ + 106, + 551, + 505, + 564 + ], + "score": 1.0, + "content": "per iteration than standard first-order methods [9]–[11], several methods have been proposed. One", + "type": "text" + } + ], + "index": 29, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 561, + 505, + 575 + ], + "spans": [ + { + "bbox": [ + 89, + 564, + 100, + 574 + ], + "score": 1.0, + "content": "24", + "type": "text" + }, + { + "bbox": [ + 105, + 561, + 505, + 575 + ], + "score": 1.0, + "content": "of these methods, that received significant attention, is known as Kronecker-factored Approximate", + "type": "text" + } + ], + "index": 30, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 572, + 505, + 586 + ], + "spans": [ + { + "bbox": [ + 89, + 575, + 100, + 585 + ], + "score": 1.0, + "content": "25", + "type": "text" + }, + { + "bbox": [ + 105, + 572, + 505, + 586 + ], + "score": 1.0, + "content": "Curvature (K-FAC) [12], whose main ingredient is a sophisticated approximation to the generalized", + "type": "text" + } + ], + "index": 31, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 582, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 89, + 586, + 100, + 596 + ], + "score": 1.0, + "content": "26", + "type": "text" + }, + { + "bbox": [ + 105, + 582, + 506, + 598 + ], + "score": 1.0, + "content": "Gauss-Newton matrix and the Fisher information matrix quantifying the curvature of the underlying", + "type": "text" + } + ], + "index": 32, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 592, + 399, + 609 + ], + "spans": [ + { + "bbox": [ + 89, + 597, + 100, + 606 + ], + "score": 1.0, + "content": "27", + "type": "text" + }, + { + "bbox": [ + 105, + 592, + 399, + 609 + ], + "score": 1.0, + "content": "neural network objective function, which then can be inverted efficiently.", + "type": "text" + } + ], + "index": 33, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 611, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 89, + 614, + 99, + 623 + ], + "score": 1.0, + "content": "28", + "type": "text" + }, + { + "bbox": [ + 106, + 611, + 506, + 624 + ], + "score": 1.0, + "content": "Inspired by the K-FAC approximation and the Tikhonov regularization of the Newton method, we", + "type": "text" + } + ], + "index": 34, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 622, + 506, + 635 + ], + "spans": [ + { + "bbox": [ + 89, + 624, + 100, + 633 + ], + "score": 1.0, + "content": "29", + "type": "text" + }, + { + "bbox": [ + 105, + 622, + 506, + 635 + ], + "score": 1.0, + "content": "introduce a novel two parameter regularized Kronecker-factorized Newton update step. The proposed", + "type": "text" + } + ], + "index": 35, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 633, + 506, + 645 + ], + "spans": [ + { + "bbox": [ + 89, + 635, + 100, + 645 + ], + "score": 1.0, + "content": "30", + "type": "text" + }, + { + "bbox": [ + 105, + 633, + 506, + 645 + ], + "score": 1.0, + "content": "scheme disentangles the classical Tikhonov regularization and allows us to condition the gradient", + "type": "text" + } + ], + "index": 36, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 644, + 506, + 657 + ], + "spans": [ + { + "bbox": [ + 88, + 646, + 99, + 655 + ], + "score": 1.0, + "content": "31", + "type": "text" + }, + { + "bbox": [ + 104, + 644, + 506, + 657 + ], + "score": 1.0, + "content": "using selected second-order information and has an asymptotically vanishing computational overhead.", + "type": "text" + } + ], + "index": 37, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 654, + 506, + 668 + ], + "spans": [ + { + "bbox": [ + 89, + 657, + 100, + 666 + ], + "score": 1.0, + "content": "32", + "type": "text" + }, + { + "bbox": [ + 104, + 654, + 506, + 668 + ], + "score": 1.0, + "content": "While this property makes the presented method highly attractive from the computational complexity", + "type": "text" + } + ], + "index": 38, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 666, + 506, + 678 + ], + "spans": [ + { + "bbox": [ + 89, + 668, + 100, + 677 + ], + "score": 1.0, + "content": "33", + "type": "text" + }, + { + "bbox": [ + 104, + 666, + 506, + 678 + ], + "score": 1.0, + "content": "perspective, we show that its achieved empirical performance on complicated high-dimensional", + "type": "text" + } + ], + "index": 39, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 677, + 449, + 689 + ], + "spans": [ + { + "bbox": [ + 89, + 679, + 100, + 689 + ], + "score": 1.0, + "content": "34", + "type": "text" + }, + { + "bbox": [ + 105, + 677, + 449, + 689 + ], + "score": 1.0, + "content": "Machine Learning problems remains comparable to existing state-of-the-art methods.", + "type": "text" + } + ], + "index": 40, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 692, + 505, + 705 + ], + "spans": [ + { + "bbox": [ + 89, + 695, + 100, + 704 + ], + "score": 1.0, + "content": "35", + "type": "text" + }, + { + "bbox": [ + 104, + 692, + 505, + 705 + ], + "score": 1.0, + "content": "The contributions of this paper can be summarized as follows: (i) we propose a novel two parameter", + "type": "text" + } + ], + "index": 41, + "is_list_start_line": true + }, + { + "bbox": [ + 87, + 703, + 506, + 717 + ], + "spans": [ + { + "bbox": [ + 87, + 703, + 506, + 717 + ], + "score": 1.0, + "content": "36 regularized K-FAC approximated Gauss-Newton update step; (ii) we show that asymptotically—as", + "type": "text" + } + ], + "index": 42, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 73, + 505, + 85 + ], + "spans": [ + { + "bbox": [ + 89, + 74, + 100, + 84 + ], + "score": 1.0, + "content": "37", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 106, + 73, + 505, + 85 + ], + "score": 1.0, + "content": "both regularization parameters vanish—our method recovers the classical K-FAC scheme and in", + "type": "text", + "cross_page": true + } + ], + "index": 0, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 83, + 506, + 97 + ], + "spans": [ + { + "bbox": [ + 88, + 85, + 100, + 96 + ], + "score": 1.0, + "content": "38", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 106, + 83, + 506, + 97 + ], + "score": 1.0, + "content": "the opposite setting—as both regularization parameters grow—our method asymptotically reduces", + "type": "text", + "cross_page": true + } + ], + "index": 1, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 94, + 506, + 108 + ], + "spans": [ + { + "bbox": [ + 89, + 97, + 100, + 106 + ], + "score": 1.0, + "content": "39", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 105, + 94, + 506, + 108 + ], + "score": 1.0, + "content": "to classical gradient descent; (iii) we prove that for an arbitrary pair of regularization parameters,", + "type": "text", + "cross_page": true + } + ], + "index": 2, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 106, + 506, + 119 + ], + "spans": [ + { + "bbox": [ + 89, + 108, + 100, + 117 + ], + "score": 1.0, + "content": "40", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 106, + 106, + 506, + 119 + ], + "score": 1.0, + "content": "the proposed update direction is always a direction of decreasing loss; (iv) in the limit, as one", + "type": "text", + "cross_page": true + } + ], + "index": 3, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 117, + 506, + 129 + ], + "spans": [ + { + "bbox": [ + 89, + 119, + 99, + 128 + ], + "score": 1.0, + "content": "41", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 105, + 117, + 506, + 129 + ], + "score": 1.0, + "content": "regularization parameter grows, we obtain an efficient and effective conditioning of the gradient with", + "type": "text", + "cross_page": true + } + ], + "index": 4, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 127, + 506, + 140 + ], + "spans": [ + { + "bbox": [ + 89, + 129, + 100, + 139 + ], + "score": 1.0, + "content": "42", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 105, + 127, + 506, + 140 + ], + "score": 1.0, + "content": "an asymptotically vanishing overhead; (v) we empirically analyze the presented method and find that", + "type": "text", + "cross_page": true + } + ], + "index": 5, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 138, + 505, + 150 + ], + "spans": [ + { + "bbox": [ + 89, + 140, + 100, + 150 + ], + "score": 1.0, + "content": "43", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 106, + 138, + 505, + 150 + ], + "score": 1.0, + "content": "our efficient conditioning method maintains the performance of its more expensive counterpart; (vi)", + "type": "text", + "cross_page": true + } + ], + "index": 6, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 149, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 89, + 151, + 100, + 161 + ], + "score": 1.0, + "content": "44", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "score": 1.0, + "content": "we demonstrate the effectiveness of the presented method in the setting of small-batch stochastic", + "type": "text", + "cross_page": true + } + ], + "index": 7, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 160, + 465, + 173 + ], + "spans": [ + { + "bbox": [ + 89, + 162, + 100, + 172 + ], + "score": 1.0, + "content": "45", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 105, + 160, + 465, + 173 + ], + "score": 1.0, + "content": "regimes and observe that it is competitive to first-order as well as quasi-Newton methods.", + "type": "text", + "cross_page": true + } + ], + "index": 8, + "is_list_start_line": true + } + ], + "index": 21, + "bbox_fs": [ + 89, + 403, + 506, + 526 + ] + }, + { + "type": "index", + "bbox": [ + 90, + 529, + 505, + 606 + ], + "lines": [], + "index": 30, + "bbox_fs": [ + 89, + 528, + 506, + 609 + ], + "lines_deleted": true + }, + { + "type": "index", + "bbox": [ + 90, + 611, + 505, + 689 + ], + "lines": [], + "index": 37, + "bbox_fs": [ + 88, + 611, + 506, + 689 + ], + "lines_deleted": true + }, + { + "type": "index", + "bbox": [ + 91, + 693, + 505, + 715 + ], + "lines": [], + "index": 41.5, + "bbox_fs": [ + 87, + 692, + 506, + 717 + ], + "lines_deleted": true + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 89, + 72, + 506, + 172 + ], + "lines": [ + { + "bbox": [ + 89, + 73, + 505, + 85 + ], + "spans": [ + { + "bbox": [ + 89, + 74, + 100, + 84 + ], + "score": 1.0, + "content": "37", + "type": "text" + }, + { + "bbox": [ + 106, + 73, + 505, + 85 + ], + "score": 1.0, + "content": "both regularization parameters vanish—our method recovers the classical K-FAC scheme and in", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 88, + 83, + 506, + 97 + ], + "spans": [ + { + "bbox": [ + 88, + 85, + 100, + 96 + ], + "score": 1.0, + "content": "38", + "type": "text" + }, + { + "bbox": [ + 106, + 83, + 506, + 97 + ], + "score": 1.0, + "content": "the opposite setting—as both regularization parameters grow—our method asymptotically reduces", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 89, + 94, + 506, + 108 + ], + "spans": [ + { + "bbox": [ + 89, + 97, + 100, + 106 + ], + "score": 1.0, + "content": "39", + "type": "text" + }, + { + "bbox": [ + 105, + 94, + 506, + 108 + ], + "score": 1.0, + "content": "to classical gradient descent; (iii) we prove that for an arbitrary pair of regularization parameters,", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 89, + 106, + 506, + 119 + ], + "spans": [ + { + "bbox": [ + 89, + 108, + 100, + 117 + ], + "score": 1.0, + "content": "40", + "type": "text" + }, + { + "bbox": [ + 106, + 106, + 506, + 119 + ], + "score": 1.0, + "content": "the proposed update direction is always a direction of decreasing loss; (iv) in the limit, as one", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 89, + 117, + 506, + 129 + ], + "spans": [ + { + "bbox": [ + 89, + 119, + 99, + 128 + ], + "score": 1.0, + "content": "41", + "type": "text" + }, + { + "bbox": [ + 105, + 117, + 506, + 129 + ], + "score": 1.0, + "content": "regularization parameter grows, we obtain an efficient and effective conditioning of the gradient with", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 89, + 127, + 506, + 140 + ], + "spans": [ + { + "bbox": [ + 89, + 129, + 100, + 139 + ], + "score": 1.0, + "content": "42", + "type": "text" + }, + { + "bbox": [ + 105, + 127, + 506, + 140 + ], + "score": 1.0, + "content": "an asymptotically vanishing overhead; (v) we empirically analyze the presented method and find that", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 89, + 138, + 505, + 150 + ], + "spans": [ + { + "bbox": [ + 89, + 140, + 100, + 150 + ], + "score": 1.0, + "content": "43", + "type": "text" + }, + { + "bbox": [ + 106, + 138, + 505, + 150 + ], + "score": 1.0, + "content": "our efficient conditioning method maintains the performance of its more expensive counterpart; (vi)", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 89, + 149, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 89, + 151, + 100, + 161 + ], + "score": 1.0, + "content": "44", + "type": "text" + }, + { + "bbox": [ + 105, + 149, + 505, + 161 + ], + "score": 1.0, + "content": "we demonstrate the effectiveness of the presented method in the setting of small-batch stochastic", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 89, + 160, + 465, + 173 + ], + "spans": [ + { + "bbox": [ + 89, + 162, + 100, + 172 + ], + "score": 1.0, + "content": "45", + "type": "text" + }, + { + "bbox": [ + 105, + 160, + 465, + 173 + ], + "score": 1.0, + "content": "regimes and observe that it is competitive to first-order as well as quasi-Newton methods.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 4 + }, + { + "type": "title", + "bbox": [ + 90, + 186, + 195, + 199 + ], + "lines": [ + { + "bbox": [ + 86, + 184, + 196, + 201 + ], + "spans": [ + { + "bbox": [ + 86, + 184, + 196, + 201 + ], + "score": 1.0, + "content": "46 2 Preliminaries", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 9 + }, + { + "type": "text", + "bbox": [ + 90, + 210, + 507, + 244 + ], + "lines": [ + { + "bbox": [ + 90, + 210, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 90, + 212, + 99, + 221 + ], + "score": 1.0, + "content": "47", + "type": "text" + }, + { + "bbox": [ + 105, + 210, + 506, + 222 + ], + "score": 1.0, + "content": "In this section, we review aspects of second-order optimization, with a focus on generalized Gauss-", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 89, + 221, + 505, + 233 + ], + "spans": [ + { + "bbox": [ + 89, + 223, + 100, + 232 + ], + "score": 1.0, + "content": "48", + "type": "text" + }, + { + "bbox": [ + 105, + 221, + 505, + 233 + ], + "score": 1.0, + "content": "Newton methods. 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Unless noted otherwise,", + "type": "text" + } + ], + "index": 14, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 272, + 506, + 287 + ], + "spans": [ + { + "bbox": [ + 88, + 276, + 99, + 286 + ], + "score": 1.0, + "content": "51", + "type": "text" + }, + { + "bbox": [ + 105, + 272, + 308, + 287 + ], + "score": 1.0, + "content": "we assume these vectors to be row vectors (i.e., in", + "type": "text" + }, + { + "bbox": [ + 309, + 275, + 333, + 285 + ], + "score": 0.89, + "content": "\\mathbb { R } ^ { 1 \\times n }", + "type": "inline_equation" + }, + { + "bbox": [ + 333, + 272, + 506, + 287 + ], + "score": 1.0, + "content": ") as this allows for a direct extension to the", + "type": "text" + } + ], + "index": 15, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 283, + 507, + 299 + ], + "spans": [ + { + "bbox": [ + 88, + 287, + 100, + 298 + ], + "score": 1.0, + "content": "52", + "type": "text" + }, + { + "bbox": [ + 104, + 283, + 234, + 299 + ], + "score": 1.0, + "content": "(batch) vectorized case (i.e., in", + "type": "text" + }, + { + "bbox": [ + 235, + 285, + 258, + 297 + ], + "score": 0.88, + "content": "\\mathbb { R } ^ { b \\times n }", + "type": "inline_equation" + }, + { + "bbox": [ + 258, + 283, + 390, + 299 + ], + "score": 1.0, + "content": ") introduced later. For any layer", + "type": "text" + }, + { + "bbox": [ + 390, + 287, + 395, + 296 + ], + "score": 0.71, + "content": "i", + "type": "inline_equation" + }, + { + "bbox": [ + 396, + 283, + 412, + 299 + ], + "score": 1.0, + "content": ", let", + "type": "text" + }, + { + "bbox": [ + 412, + 285, + 484, + 296 + ], + "score": 0.92, + "content": "W ^ { ( i ) } \\in \\mathbb { R } ^ { d _ { i - 1 } \\times d _ { i } }", + "type": "inline_equation" + }, + { + "bbox": [ + 484, + 283, + 507, + 299 + ], + "score": 1.0, + "content": "be a", + "type": "text" + } + ], + "index": 16, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 296, + 505, + 309 + ], + "spans": [ + { + "bbox": [ + 88, + 298, + 100, + 309 + ], + "score": 1.0, + "content": "53", + "type": "text" + }, + { + "bbox": [ + 105, + 296, + 194, + 309 + ], + "score": 1.0, + "content": "weight matrix and let", + "type": "text" + }, + { + "bbox": [ + 194, + 297, + 201, + 308 + ], + "score": 0.85, + "content": "\\phi", + "type": "inline_equation" + }, + { + "bbox": [ + 202, + 296, + 505, + 309 + ], + "score": 1.0, + "content": "be an element-wise nonlinear function. 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It is well-known [14], [15], that", + "type": "text" + } + ], + "index": 27, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 453, + 505, + 466 + ], + "spans": [ + { + "bbox": [ + 88, + 456, + 99, + 465 + ], + "score": 1.0, + "content": "61", + "type": "text" + }, + { + "bbox": [ + 105, + 453, + 303, + 466 + ], + "score": 1.0, + "content": "under the assumption of approximating the model", + "type": "text" + }, + { + "bbox": [ + 304, + 454, + 311, + 465 + ], + "score": 0.85, + "content": "f", + "type": "inline_equation" + }, + { + "bbox": [ + 311, + 453, + 505, + 466 + ], + "score": 1.0, + "content": "with its first-order Taylor expansion, the Hessian", + "type": "text" + } + ], + "index": 28, + "is_list_start_line": true + }, + { + "bbox": [ + 89, + 464, + 505, + 477 + ], + "spans": [ + { + "bbox": [ + 89, + 466, + 100, + 476 + ], + "score": 1.0, + "content": "62", + "type": "text" + }, + { + "bbox": [ + 105, + 464, + 401, + 477 + ], + "score": 1.0, + "content": "corresponds with the so-called generalized Gauss-Newton (GGN) matrix", + "type": "text" + }, + { + "bbox": [ + 401, + 465, + 416, + 475 + ], + "score": 0.89, + "content": "\\mathbf { G } _ { \\theta }", + "type": "inline_equation" + }, + { + "bbox": [ + 416, + 464, + 505, + 477 + ], + "score": 1.0, + "content": ", and hence (4) can be", + "type": "text" + } + ], + "index": 29, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 476, + 159, + 487 + ], + "spans": [ + { + "bbox": [ + 88, + 477, + 100, + 487 + ], + "score": 1.0, + "content": "63", + "type": "text" + }, + { + "bbox": [ + 105, + 476, + 159, + 487 + ], + "score": 1.0, + "content": "expressed as", + "type": "text" + } + ], + "index": 30, + "is_list_start_line": true + } + ], + "index": 28.5, + "bbox_fs": [ + 88, + 441, + 506, + 487 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 218, + 484, + 392, + 499 + ], + "lines": [ + { + "bbox": [ + 218, + 484, + 392, + 499 + ], + "spans": [ + { + "bbox": [ + 218, + 484, + 392, + 499 + ], + "score": 0.92, + "content": "\\begin{array} { r } { \\boldsymbol { \\theta } ^ { \\prime } = \\boldsymbol { \\theta } - \\eta ( \\mathbf G _ { \\boldsymbol { \\theta } } + \\lambda \\mathbf I ) ^ { - 1 } \\nabla _ { \\boldsymbol { \\theta } } \\mathcal { L } ( f ( \\boldsymbol { x } ; \\boldsymbol { \\theta } ) , y ) . } \\end{array}", + "type": "interline_equation", + "image_path": "9206aab05aa366379de7f3731d97c09b5870254ea65d4e0df27b4d2e7ccfdff9.jpg" + } + ] + } + ], + "index": 31, + "virtual_lines": [ + { + "bbox": [ + 218, + 484, + 392, + 499 + ], + "spans": [], + "index": 31 + } + ] + }, + { + "type": "index", + "bbox": [ + 89, + 499, + 505, + 555 + ], + "lines": [ + { + "bbox": [ + 89, + 499, + 506, + 511 + ], + "spans": [ + { + "bbox": [ + 89, + 501, + 100, + 511 + ], + "score": 1.0, + "content": "64", + "type": "text" + }, + { + "bbox": [ + 104, + 499, + 506, + 511 + ], + "score": 1.0, + "content": "A major practical limitation of (5) is the computation of the inverse term. 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} } , \\lambda _ { \\mathbf { a } } 0 } \\frac { 1 } { \\lambda _ { \\mathbf { g } } \\lambda _ { \\mathbf { a } } } \\zeta \\approx \\mathbf { G } ^ { - 1 } \\bigtriangledown _ { \\theta ^ { ( i ) } } \\mathcal { L } \\big ( f ( x ; \\theta ) \\big ) } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 299, + 484, + 329, + 501 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 329, + 488, + 340, + 497 + ], + "score": 0.76, + "content": "\\approx", + "type": "inline_equation" + }, + { + "bbox": [ + 340, + 484, + 501, + 501 + ], + "score": 1.0, + "content": "denotes the K-FAC approximation (15).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 28.5, + "bbox_fs": [ + 107, + 466, + 511, + 501 + ] + }, + { + "type": "text", + "bbox": [ + 100, + 502, + 466, + 515 + ], + "lines": [ + { + "bbox": [ + 108, + 501, + 462, + 517 + ], + "spans": [ + { + "bbox": [ + 108, + 501, + 183, + 517 + ], + "score": 1.0, + "content": "(ii) In the limit of", + "type": "text" + }, + { + "bbox": [ + 183, + 503, + 236, + 515 + ], + "score": 0.86, + "content": "\\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } \\to \\infty", + "type": "inline_equation" + }, + { + "bbox": [ + 236, + 501, + 238, + 517 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 239, + 503, + 246, + 515 + ], + "score": 0.72, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 501, + 326, + 517 + ], + "score": 1.0, + "content": "is the gradient, i.e.,", + "type": "text" + }, + { + "bbox": [ + 326, + 502, + 462, + 515 + ], + "score": 0.9, + "content": "\\begin{array} { r } { \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } , \\lambda _ { \\mathbf { a } } \\infty } \\zeta = \\nabla _ { \\theta ^ { ( i ) } } \\mathcal { L } ( f ( x ; \\theta ) ) } \\end{array}", + "type": "inline_equation" + } + ], + "index": 30 + } + ], + "index": 30, + "bbox_fs": [ + 108, + 501, + 462, + 517 + ] + }, + { + "type": "text", + "bbox": [ + 101, + 517, + 320, + 529 + ], + "lines": [ + { + "bbox": [ + 105, + 516, + 320, + 530 + ], + "spans": [ + { + "bbox": [ + 105, + 516, + 320, + 530 + ], + "score": 1.0, + "content": "The Proof is deferred to the Supplementary Material.", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 31, + "bbox_fs": [ + 105, + 516, + 320, + 530 + ] + }, + { + "type": "index", + "bbox": [ + 90, + 537, + 507, + 572 + ], + "lines": [ + { + "bbox": [ + 88, + 536, + 504, + 551 + ], + "spans": [ + { + "bbox": [ + 88, + 540, + 99, + 549 + ], + "score": 1.0, + "content": "139", + "type": "text" + }, + { + "bbox": [ + 104, + 536, + 196, + 551 + ], + "score": 1.0, + "content": "We want to show that", + "type": "text" + }, + { + "bbox": [ + 196, + 538, + 203, + 550 + ], + "score": 0.85, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 204, + 536, + 461, + 551 + ], + "score": 1.0, + "content": "is well-defined and points in the correct direction, not only for", + "type": "text" + }, + { + "bbox": [ + 461, + 538, + 473, + 550 + ], + "score": 0.88, + "content": "\\lambda _ { \\mathbf { g } }", + "type": "inline_equation" + }, + { + "bbox": [ + 474, + 536, + 492, + 551 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 492, + 538, + 504, + 549 + ], + "score": 0.88, + "content": "\\lambda _ { \\mathbf { a } }", + "type": "inline_equation" + } + ], + "index": 32, + "is_list_start_line": true + }, + { + "bbox": [ + 88, + 547, + 507, + 563 + ], + "spans": [ + { + "bbox": [ + 88, + 552, + 99, + 560 + ], + "score": 1.0, + "content": "140", + "type": "text" + }, + { + "bbox": [ + 104, + 547, + 460, + 563 + ], + "score": 1.0, + "content": "numerically close to zero because we want to explore the full spectrum of settings for", + "type": "text" + }, + { + "bbox": [ + 460, + 550, + 472, + 561 + ], + "score": 0.87, + "content": "\\lambda _ { \\mathbf { g } }", + "type": "inline_equation" + }, + { + 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Recall that", + "type": "text" + }, + { + "bbox": [ + 181, + 613, + 247, + 626 + ], + "score": 0.92, + "content": "( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b )", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 612, + 265, + 628 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 265, + 613, + 330, + 626 + ], + "score": 0.91, + "content": "\\left( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b \\right)", + "type": "inline_equation" + }, + { + "bbox": [ + 330, + 612, + 506, + 628 + ], + "score": 1.0, + "content": "are positive semi-definite (PSD) matrices by", + "type": "text" + } + ], + "index": 37, + "is_list_start_line": true + }, + { + "bbox": [ + 87, + 626, + 506, + 639 + ], + "spans": [ + { + "bbox": [ + 87, + 628, + 100, + 637 + ], + "score": 1.0, + "content": "145", + "type": "text" + }, + { + "bbox": [ + 104, + 626, + 207, + 639 + ], + "score": 1.0, + "content": "definition. Their inverses", + "type": "text" + }, + { + "bbox": [ + 207, + 626, + 287, + 639 + ], + "score": 0.92, + "content": "( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b ) ^ { - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 626, + 305, + 639 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 305, + 626, + 383, + 639 + ], + "score": 0.92, + "content": "( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b ) ^ { - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 626, + 506, + 639 + ], + "score": 1.0, + "content": "are therefore also PSD. As the", + "type": "text" + } + ], + "index": 38, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 638, + 506, + 652 + ], + "spans": [ + { + "bbox": [ + 86, + 641, + 100, + 651 + ], + "score": 1.0, + "content": "146", + "type": "text" + }, + { + "bbox": [ + 105, + 638, + 376, + 652 + ], + "score": 1.0, + "content": "Kronecker product of PSD matrices is PSD, the conditioning matrix", + "type": "text" + }, + { + "bbox": [ + 376, + 638, + 506, + 651 + ], + "score": 0.88, + "content": "( ( \\lambda _ { \\bf g } { \\bf I } _ { m } + { \\pmb { \\bar { g } } } ^ { \\top } { \\pmb { \\bar { g } } } / b ) ^ { - 1 } \\otimes ( \\lambda _ { \\bf a } { \\bf I } _ { n } +", + "type": "inline_equation" + } + ], + "index": 39, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 649, + 506, + 665 + ], + "spans": [ + { + "bbox": [ + 86, + 653, + 100, + 663 + ], + "score": 1.0, + "content": "147", + "type": "text" + }, + { + "bbox": [ + 106, + 650, + 185, + 663 + ], + "score": 0.91, + "content": "\\mathbf { a } ^ { \\top } \\mathbf { a } / b ) ^ { - 1 } \\approx \\mathbf { G } ^ { - 1 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 185, + 649, + 468, + 665 + ], + "score": 1.0, + "content": "is PSD, and therefore the direction of the update step remains correct.", + "type": "text" + }, + { + "bbox": [ + 494, + 651, + 506, + 663 + ], + "score": 0.996, + "content": "□", + "type": "text" + } + ], + "index": 40, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 677, + 505, + 692 + ], + "spans": [ + { + "bbox": [ + 86, + 680, + 99, + 689 + ], + "score": 1.0, + "content": "148", + "type": "text" + }, + { + "bbox": [ + 105, + 677, + 204, + 692 + ], + "score": 1.0, + "content": "From our formulation of", + "type": "text" + }, + { + "bbox": [ + 204, + 678, + 211, + 690 + ], + "score": 0.83, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 212, + 677, + 341, + 692 + ], + "score": 1.0, + "content": ", we can find that, in the limit for", + "type": "text" + }, + { + "bbox": [ + 341, + 678, + 378, + 690 + ], + "score": 0.9, + "content": "\\lambda _ { \\mathbf { g } } \\to \\infty", + "type": "inline_equation" + }, + { + "bbox": [ + 379, + 677, + 505, + 692 + ], + "score": 1.0, + "content": ", Equation (21) does not depend", + "type": "text" + } + ], + "index": 41, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 687, + 506, + 703 + ], + "spans": [ + { + "bbox": [ + 86, + 691, + 99, + 700 + ], + "score": 1.0, + "content": "149", + "type": "text" + }, + { + "bbox": [ + 105, + 687, + 119, + 703 + ], + "score": 1.0, + "content": "on", + "type": "text" + }, + { + "bbox": [ + 119, + 690, + 126, + 700 + ], + "score": 0.61, + "content": "\\bar { \\pmb g }", + "type": "inline_equation" + }, + { + "bbox": [ + 127, + 687, + 353, + 703 + ], + "score": 1.0, + "content": ". This is computationally very beneficial as computing", + "type": "text" + }, + { + "bbox": [ + 353, + 690, + 360, + 700 + ], + "score": 0.82, + "content": "\\bar { \\pmb g }", + "type": "inline_equation" + }, + { + "bbox": [ + 360, + 687, + 506, + 703 + ], + "score": 1.0, + "content": "is costly as it requires one or even", + "type": "text" + } + ], + "index": 42, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 698, + 505, + 714 + ], + "spans": [ + { + "bbox": [ + 86, + 702, + 99, + 712 + ], + "score": 1.0, + "content": "150", + "type": "text" + }, + { + "bbox": [ + 105, + 698, + 505, + 714 + ], + "score": 1.0, + "content": "many additional backpropagation passes. 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In the limit of", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 337, + 73, + 375, + 85 + ], + "score": 0.91, + "content": "\\lambda _ { \\mathbf { g } } \\infty", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 375, + 70, + 443, + 86 + ], + "score": 1.0, + "content": ", the update step", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 443, + 73, + 450, + 84 + ], + "score": 0.8, + "content": "\\zeta", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 451, + 70, + 506, + 86 + ], + "score": 1.0, + "content": "converges to", + "type": "text", + "cross_page": true + } + ], + "index": 0, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 83, + 208, + 97 + ], + "spans": [ + { + "bbox": [ + 86, + 83, + 106, + 97 + ], + "score": 1.0, + "content": "153", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 107, + 83, + 176, + 96 + ], + "score": 0.91, + "content": "\\scriptstyle \\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } \\to \\infty } \\zeta = \\zeta ^ { * }", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 176, + 83, + 208, + 97 + ], + "score": 1.0, + "content": ", where", + "type": "text", + "cross_page": true + } + ], + "index": 1, + "is_list_start_line": true + } + ], + "index": 33, + "bbox_fs": [ + 88, + 536, + 507, + 573 + ] + }, + { + "type": "index", + "bbox": [ + 95, + 575, + 506, + 599 + ], + "lines": [], + "index": 35.5, + "bbox_fs": [ + 92, + 574, + 507, + 599 + ], + "lines_deleted": true + }, + { + "type": "index", + "bbox": [ + 87, + 613, + 506, + 663 + ], + "lines": [], + "index": 38.5, + "bbox_fs": [ + 86, + 612, + 506, + 665 + ], + "lines_deleted": true + }, + { + "type": "index", + "bbox": [ + 87, + 677, + 505, + 723 + ], + "lines": [], + "index": 42.5, + "bbox_fs": [ + 86, + 677, + 506, + 723 + ], + "lines_deleted": true + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 87, + 72, + 505, + 96 + ], + "lines": [ + { + "bbox": [ + 86, + 70, + 506, + 86 + ], + "spans": [ + { + "bbox": [ + 86, + 74, + 100, + 84 + ], + "score": 1.0, + "content": "152", + "type": "text" + }, + { + "bbox": [ + 104, + 70, + 336, + 86 + ], + "score": 1.0, + "content": "Theorem 3 (Efficient Update Direction). 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When comparing the update direction", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 86, + 464, + 506, + 477 + ], + "spans": [ + { + "bbox": [ + 86, + 465, + 100, + 475 + ], + "score": 1.0, + "content": "175", + "type": "text" + }, + { + "bbox": [ + 106, + 465, + 113, + 476 + ], + "score": 0.74, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 114, + 464, + 258, + 477 + ], + "score": 1.0, + "content": "in (20) without regularization (i.e.,", + "type": "text" + }, + { + "bbox": [ + 258, + 465, + 328, + 476 + ], + "score": 0.89, + "content": "\\lambda _ { \\mathbf { g } } 0 , \\lambda _ { \\mathbf { a } } 0 ,", + "type": "inline_equation" + }, + { + "bbox": [ + 329, + 464, + 352, + 477 + ], + "score": 1.0, + "content": ") with", + "type": "text" + }, + { + "bbox": [ + 352, + 464, + 363, + 476 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 363, + 464, + 385, + 477 + ], + "score": 1.0, + "content": "(i.e.,", + "type": "text" + }, + { + "bbox": [ + 385, + 465, + 424, + 476 + ], + "score": 0.9, + "content": "\\lambda _ { \\mathbf { g } } \\infty ,", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 464, + 506, + 477 + ], + "score": 1.0, + "content": ") as given in (21), it", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 86, + 475, + 506, + 488 + ], + "spans": [ + { + "bbox": [ + 86, + 477, + 100, + 487 + ], + "score": 1.0, + "content": "176", + "type": "text" + }, + { + "bbox": [ + 105, + 475, + 208, + 488 + ], + "score": 1.0, + "content": "can be directly seen that", + "type": "text" + }, + { + "bbox": [ + 208, + 475, + 219, + 487 + ], + "score": 0.87, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 219, + 475, + 415, + 488 + ], + "score": 1.0, + "content": "corresponds to a particular pre-conditioning of", + "type": "text" + }, + { + "bbox": [ + 415, + 476, + 421, + 487 + ], + "score": 0.52, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 422, + 475, + 449, + 488 + ], + "score": 1.0, + "content": ", since", + "type": "text" + }, + { + "bbox": [ + 449, + 475, + 489, + 487 + ], + "score": 0.8, + "content": "\\zeta ^ { * } = M \\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 475, + 506, + 488 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 86, + 484, + 172, + 503 + ], + "spans": [ + { + "bbox": [ + 86, + 488, + 100, + 498 + ], + "score": 1.0, + "content": "177", + "type": "text" + }, + { + "bbox": [ + 106, + 485, + 165, + 501 + ], + "score": 0.93, + "content": "\\begin{array} { r } { M = \\frac { 1 } { b \\lambda _ { \\mathbf { g } } } \\bar { \\pmb { g } } ^ { \\top } \\dot { \\pmb { g } } } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 484, + 172, + 503 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 27.5 + }, + { + "type": "text", + "bbox": [ + 96, + 510, + 505, + 533 + ], + "lines": [ + { + "bbox": [ + 93, + 510, + 504, + 523 + ], + "spans": [ + { + "bbox": [ + 93, + 510, + 357, + 523 + ], + "score": 1.0, + "content": "As the last theoretical property of our proposed update direction 78", + "type": "text" + }, + { + "bbox": [ + 357, + 510, + 368, + 522 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 510, + 504, + 523 + ], + "score": 1.0, + "content": ", we show that in specific networks", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 93, + 521, + 324, + 534 + ], + "spans": [ + { + "bbox": [ + 93, + 521, + 105, + 534 + ], + "score": 1.0, + "content": "79", + "type": "text" + }, + { + "bbox": [ + 106, + 521, + 117, + 533 + ], + "score": 0.86, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 118, + 521, + 324, + 534 + ], + "score": 1.0, + "content": "coincides with the Gauss-Newton update direction.", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 30.5 + }, + { + "type": "text", + "bbox": [ + 95, + 537, + 505, + 560 + ], + "lines": [ + { + "bbox": [ + 91, + 536, + 505, + 550 + ], + "spans": [ + { + "bbox": [ + 91, + 541, + 102, + 546 + ], + "score": 1.0, + "content": "80", + "type": "text" + }, + { + "bbox": [ + 96, + 536, + 156, + 550 + ], + "score": 1.0, + "content": "Theorem 4 0", + "type": "text" + }, + { + "bbox": [ + 156, + 537, + 168, + 549 + ], + "score": 0.81, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 168, + 536, + 505, + 550 + ], + "score": 1.0, + "content": "is Exact for the Last Layer). For the case of linear regression or, more generally, the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 94, + 547, + 481, + 561 + ], + "spans": [ + { + "bbox": [ + 94, + 547, + 314, + 561 + ], + "score": 1.0, + "content": "last layer of networks, with the mean squared error, 1", + "type": "text" + }, + { + "bbox": [ + 314, + 548, + 325, + 560 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 326, + 547, + 481, + 561 + ], + "score": 1.0, + "content": "is the Gauss-Newton update direction.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 32.5 + }, + { + "type": "text", + "bbox": [ + 97, + 576, + 506, + 599 + ], + "lines": [ + { + "bbox": [ + 95, + 574, + 506, + 589 + ], + "spans": [ + { + "bbox": [ + 95, + 574, + 506, + 589 + ], + "score": 1.0, + "content": "2 Proof. The Hessian matrix of the mean squared error loss is the identity matrix. Correspondingly,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 95, + 586, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 95, + 586, + 204, + 600 + ], + "score": 1.0, + "content": "the expectation value of 3", + "type": "text" + }, + { + "bbox": [ + 204, + 586, + 222, + 599 + ], + "score": 0.91, + "content": "\\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } }", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 586, + 232, + 600 + ], + "score": 1.0, + "content": "is", + "type": "text" + }, + { + "bbox": [ + 232, + 587, + 239, + 597 + ], + "score": 0.3, + "content": "\\mathbf { I }", + "type": "inline_equation" + }, + { + "bbox": [ + 239, + 586, + 267, + 600 + ], + "score": 1.0, + "content": ". 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The direction", + "type": "text" + }, + { + "bbox": [ + 211, + 609, + 222, + 621 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 222, + 608, + 506, + 622 + ], + "score": 1.0, + "content": "corresponds to the Gauss-Newton update direction with an approxima-", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 618, + 332, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 618, + 245, + 635 + ], + "score": 1.0, + "content": "tion of G that can be expressed as", + "type": "text" + }, + { + "bbox": [ + 246, + 620, + 329, + 634 + ], + "score": 0.85, + "content": "\\begin{array} { r } { \\dot { \\mathbf { G } } \\approx \\mathbb { E } \\left[ \\mathbf { I } \\otimes ( \\mathrm { a } ^ { \\top } \\mathrm { a } ) \\right] } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 329, + 618, + 332, + 635 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 36.5 + }, + { + "type": "text", + "bbox": [ + 93, + 636, + 507, + 670 + ], + "lines": [ + { + "bbox": [ + 92, + 636, + 506, + 648 + ], + "spans": [ + { + "bbox": [ + 92, + 639, + 99, + 646 + ], + "score": 1.0, + "content": "86", + "type": "text" + }, + { + "bbox": [ + 104, + 636, + 506, + 648 + ], + "score": 1.0, + "content": "Remark 4 (Extension to the Natural Gradient). 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The difference to this setting is", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 90, + 658, + 459, + 670 + ], + "spans": [ + { + "bbox": [ + 90, + 658, + 215, + 670 + ], + "score": 1.0, + "content": "88 that in (5) the GGN matrix", + "type": "text" + }, + { + "bbox": [ + 216, + 658, + 226, + 668 + ], + "score": 0.41, + "content": "\\mathbf { G }", + "type": "inline_equation" + }, + { + "bbox": [ + 226, + 658, + 446, + 670 + ], + "score": 1.0, + "content": "is replaced by the empirical Fisher information matrix", + "type": "text" + }, + { + "bbox": [ + 447, + 659, + 455, + 668 + ], + "score": 0.59, + "content": "\\mathbf { F }", + "type": "inline_equation" + }, + { + "bbox": [ + 455, + 658, + 459, + 670 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 39 + }, + { + "type": "text", + "bbox": [ + 87, + 673, + 505, + 723 + ], + "lines": [ + { + "bbox": [ + 86, + 673, + 506, + 687 + ], + "spans": [ + { + "bbox": [ + 86, + 676, + 101, + 685 + ], + "score": 1.0, + "content": "189", + "type": "text" + }, + { + "bbox": [ + 103, + 673, + 272, + 687 + ], + "score": 1.0, + "content": "We note that our theory also applies to", + "type": "text" + }, + { + "bbox": [ + 272, + 675, + 280, + 684 + ], + "score": 0.64, + "content": "\\mathbf { F }", + "type": "inline_equation" + }, + { + "bbox": [ + 280, + 673, + 322, + 687 + ], + "score": 1.0, + "content": ", and that", + "type": "text" + }, + { + "bbox": [ + 322, + 674, + 334, + 686 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 334, + 673, + 506, + 687 + ], + "score": 1.0, + "content": "also efficiently approximates the natural", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 86, + 685, + 496, + 700 + ], + "spans": [ + { + "bbox": [ + 86, + 688, + 100, + 698 + ], + "score": 1.0, + "content": "190", + "type": "text" + }, + { + "bbox": [ + 104, + 685, + 190, + 700 + ], + "score": 1.0, + "content": "gradient update step", + "type": "text" + }, + { + "bbox": [ + 191, + 686, + 218, + 697 + ], + "score": 0.9, + "content": "\\mathbf { F } ^ { - 1 } \\nabla", + "type": "inline_equation" + }, + { + "bbox": [ + 218, + 685, + 240, + 700 + ], + "score": 1.0, + "content": ". 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For the case of linear regression or, more generally, the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 94, + 547, + 481, + 561 + ], + "spans": [ + { + "bbox": [ + 94, + 547, + 314, + 561 + ], + "score": 1.0, + "content": "last layer of networks, with the mean squared error, 1", + "type": "text" + }, + { + "bbox": [ + 314, + 548, + 325, + 560 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 326, + 547, + 481, + 561 + ], + "score": 1.0, + "content": "is the Gauss-Newton update direction.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 32.5, + "bbox_fs": [ + 91, + 536, + 505, + 561 + ] + }, + { + "type": "text", + "bbox": [ + 97, + 576, + 506, + 599 + ], + "lines": [ + { + "bbox": [ + 95, + 574, + 506, + 589 + ], + "spans": [ + { + "bbox": [ + 95, + 574, + 506, + 589 + ], + "score": 1.0, + "content": "2 Proof. The Hessian matrix of the mean squared error loss is the identity matrix. Correspondingly,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 95, + 586, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 95, + 586, + 204, + 600 + ], + "score": 1.0, + "content": "the expectation value of 3", + "type": "text" + }, + { + "bbox": [ + 204, + 586, + 222, + 599 + ], + "score": 0.91, + "content": "\\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } }", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 586, + 232, + 600 + ], + "score": 1.0, + "content": "is", + "type": "text" + }, + { + "bbox": [ + 232, + 587, + 239, + 597 + ], + "score": 0.3, + "content": "\\mathbf { I }", + "type": "inline_equation" + }, + { + "bbox": [ + 239, + 586, + 267, + 600 + ], + "score": 1.0, + "content": ". 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Runtimes are for CPU.", + "type": "text" + } + ], + "index": 87 + } + ], + "index": 86.5 + } + ], + "index": 80.25 + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 132, + 107, + 479, + 157 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 107, + 70, + 505, + 101 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 70, + 505, + 81 + ], + "spans": [ + { + "bbox": [ + 105, + 70, + 505, + 81 + ], + "score": 1.0, + "content": "Table 1: BERT results for fine-tuning pre-trained BERT-Base (B-B) and BERT-Mini (B-M) models on the", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 80, + 505, + 91 + ], + "spans": [ + { + "bbox": [ + 106, + 80, + 505, + 91 + ], + "score": 1.0, + "content": "COLA, MRPC, and STSB text classification tasks. Larger values are better for all metrics. MCC is the Matthews", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 91, + 262, + 101 + ], + "spans": [ + { + "bbox": [ + 106, + 91, + 262, + 101 + ], + "score": 1.0, + "content": "correlation. Results averaged over 10 runs.", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 1 + }, + { + "type": "table_body", + "bbox": [ + 132, + 107, + 479, + 157 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 132, + 107, + 479, + 157 + ], + "spans": [ + { + "bbox": [ + 132, + 107, + 479, + 157 + ], + "score": 0.974, + "html": "
Method /SettingCoLA (B-B)CoLA (B-M)MRPC (B-B)STS-B (B-M)
MetricMCCMCCAcc.F1PearsonSpearman
Gradient baseline54.20 ± 7.5621.08 ± 2.8882.52 ±1.2287.88 ±0.7476.98 ± 1.1076.88 ±0.79
s*57.62 ± 1.5924.67 ± 2.6283.28±0.8988.28±0.7081.09 ± 1.5880.82 ±1.57
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We observe that all settings with", + "type": "text" + }, + { + "bbox": [ + 411, + 188, + 423, + 200 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 423, + 187, + 506, + 201 + ], + "score": 1.0, + "content": "perform better than", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 199, + 506, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 242, + 212 + ], + "score": 1.0, + "content": "plain gradient descent, except for", + "type": "text" + }, + { + "bbox": [ + 242, + 199, + 257, + 211 + ], + "score": 0.87, + "content": "^ { 6 6 } \\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 257, + 199, + 298, + 212 + ], + "score": 1.0, + "content": "for layers", + "type": "text" + }, + { + "bbox": [ + 298, + 199, + 325, + 210 + ], + "score": 0.56, + "content": "3 , 4 , 5 '", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 199, + 506, + 212 + ], + "score": 1.0, + "content": "which performs approximately equivalent to", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 210, + 176, + 221 + ], + "spans": [ + { + "bbox": [ + 105, + 210, + 176, + 221 + ], + "score": 1.0, + "content": "gradient descent.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 7.5 + }, + { + "type": "title", + "bbox": [ + 104, + 229, + 208, + 241 + ], + "lines": [ + { + "bbox": [ + 106, + 229, + 209, + 242 + ], + "spans": [ + { + "bbox": [ + 106, + 229, + 209, + 242 + ], + "score": 1.0, + "content": "E4: Large-scale Models", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 104, + 247, + 505, + 389 + ], + "lines": [ + { + "bbox": [ + 105, + 245, + 506, + 261 + ], + "spans": [ + { + "bbox": [ + 105, + 245, + 262, + 261 + ], + "score": 1.0, + "content": "BERT To demonstrate the utility of", + "type": "text" + }, + { + "bbox": [ + 262, + 247, + 273, + 259 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 273, + 245, + 506, + 261 + ], + "score": 1.0, + "content": "also in large-scale models, we evaluate it for fine-tuning", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 258, + 506, + 271 + ], + "spans": [ + { + "bbox": [ + 105, + 258, + 506, + 271 + ], + "score": 1.0, + "content": "BERT [20] on three natural language tasks. In Table 1, we summarize the results for the BERT", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "spans": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "score": 1.0, + "content": "fine-tuning task. For the “Corpus of Linguistic Acceptability” (CoLA) [21] data set, we fine-tune", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 279, + 505, + 292 + ], + "spans": [ + { + "bbox": [ + 105, + 279, + 505, + 292 + ], + "score": 1.0, + "content": "both the BERT-Base and the BERT-Mini models and find that we outperform the gradient descent", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 290, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 105, + 290, + 506, + 303 + ], + "score": 1.0, + "content": "baseline in both cases. For the “Microsoft Research Paraphrase Corpus” (MRPC) [22] data set, we", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 299, + 506, + 316 + ], + "spans": [ + { + "bbox": [ + 105, + 299, + 506, + 316 + ], + "score": 1.0, + "content": "fine-tune the BERT-Base model and find that we outperform the baseline both in terms of accuracy", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 311, + 506, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 311, + 506, + 326 + ], + "score": 1.0, + "content": "and F1-score. Finally, on the “Semantic Textual Similarity Benchmark” (STS-B) [23] data set, we", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 322, + 506, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 322, + 506, + 336 + ], + "score": 1.0, + "content": "fine-tune the BERT-Mini model and achieve higher Pearson and Spearman correlations than the", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 334, + 505, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 334, + 505, + 347 + ], + "score": 1.0, + "content": "baseline. While for training with CoLA and MRPC, we were able to use the Adam optimizer [19]", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 345, + 506, + 358 + ], + "spans": [ + { + "bbox": [ + 105, + 345, + 392, + 358 + ], + "score": 1.0, + "content": "(which is recommended for this task and model) in conjunction with", + "type": "text" + }, + { + "bbox": [ + 392, + 345, + 403, + 357 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 345, + 506, + 358 + ], + "score": 1.0, + "content": "in place of the gradient,", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 355, + 505, + 368 + ], + "spans": [ + { + "bbox": [ + 105, + 355, + 505, + 368 + ], + "score": 1.0, + "content": "for STS-B Adam did not work well. Therefore, for STS-B, we evaluated it using the SGD with", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 367, + 506, + 380 + ], + "spans": [ + { + "bbox": [ + 105, + 367, + 506, + 380 + ], + "score": 1.0, + "content": "momentum optimizer. For each method, we performed a grid search over the hyperparameters. We", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 379, + 344, + 390 + ], + "spans": [ + { + "bbox": [ + 105, + 379, + 344, + 390 + ], + "score": 1.0, + "content": "note that we use a batch size of 8 in all BERT experiments.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 17 + }, + { + "type": "text", + "bbox": [ + 106, + 402, + 297, + 564 + ], + "lines": [ + { + "bbox": [ + 106, + 401, + 297, + 413 + ], + "spans": [ + { + "bbox": [ + 106, + 401, + 297, + 413 + ], + "score": 1.0, + "content": "ResNet In addition, we conduct an experiment", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 412, + 297, + 423 + ], + "spans": [ + { + "bbox": [ + 105, + 412, + 297, + 423 + ], + "score": 1.0, + "content": "where we train the last layer of a ResNet with", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 421, + 299, + 436 + ], + "spans": [ + { + "bbox": [ + 106, + 423, + 117, + 434 + ], + "score": 0.84, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 117, + 421, + 299, + 436 + ], + "score": 1.0, + "content": ", while the remainder of the model is up-", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 434, + 298, + 446 + ], + "spans": [ + { + "bbox": [ + 106, + 434, + 209, + 446 + ], + "score": 1.0, + "content": "dated using the gradient", + "type": "text" + }, + { + "bbox": [ + 210, + 434, + 219, + 444 + ], + "score": 0.53, + "content": "\\nabla", + "type": "inline_equation" + }, + { + "bbox": [ + 220, + 434, + 298, + 446 + ], + "score": 1.0, + "content": ". Here, we train a", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 444, + 297, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 444, + 297, + 457 + ], + "score": 1.0, + "content": "ResNet-18 [24] on CIFAR-10 [25] using SGD", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 454, + 298, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 454, + 298, + 468 + ], + "score": 1.0, + "content": "with a batch size of 100 in a vanilla setting, i.e.,", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 467, + 298, + 478 + ], + "spans": [ + { + "bbox": [ + 106, + 467, + 298, + 478 + ], + "score": 1.0, + "content": "without additional tricks employed in by He et", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 477, + 298, + 490 + ], + "spans": [ + { + "bbox": [ + 106, + 477, + 298, + 490 + ], + "score": 1.0, + "content": "al. [24] and others. Specifically, we use (i) a", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 488, + 298, + 500 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 298, + 500 + ], + "score": 1.0, + "content": "constant learning rate for each training (optimal", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 499, + 298, + 511 + ], + "spans": [ + { + "bbox": [ + 106, + 499, + 132, + 511 + ], + "score": 1.0, + "content": "from", + "type": "text" + }, + { + "bbox": [ + 132, + 499, + 225, + 511 + ], + "score": 0.83, + "content": "( 1 , 0 . 3 , 0 . \\bar { 1 } , 0 . 0 3 , 0 . 0 1 ) )", + "type": "inline_equation" + }, + { + "bbox": [ + 226, + 499, + 298, + 511 + ], + "score": 1.0, + "content": "and (ii) vanilla", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 510, + 298, + 522 + ], + "spans": [ + { + "bbox": [ + 106, + 510, + 298, + 522 + ], + "score": 1.0, + "content": "SGD and not momentum-based SGD. The rea-", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 521, + 298, + 533 + ], + "spans": [ + { + "bbox": [ + 106, + 521, + 298, + 533 + ], + "score": 1.0, + "content": "son behind this is that we want a vanilla experi-", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 531, + 298, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 531, + 298, + 545 + ], + "score": 1.0, + "content": "ment and with aspects such as extensively tuning", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 543, + 298, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 543, + 298, + 555 + ], + "score": 1.0, + "content": "multiple parameters of learning rate scheduler", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 554, + 298, + 565 + ], + "spans": [ + { + "bbox": [ + 106, + 554, + 298, + 565 + ], + "score": 1.0, + "content": "would make the evaluation less transparent; how-", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 31 + }, + { + "type": "image", + "bbox": [ + 309, + 399, + 497, + 539 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 309, + 399, + 497, + 539 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 309, + 399, + 497, + 539 + ], + "spans": [ + { + "bbox": [ + 309, + 399, + 497, + 539 + ], + "score": 0.968, + "type": "image", + "image_path": "bac99832df68cbd0b592c8da2d1c14c846e72daa38864257b2bb886360647fd5.jpg" + } + ] + } + ], + "index": 43.5, + "virtual_lines": [ + { + "bbox": [ + 309, + 399, + 497, + 413.0 + ], + "spans": [], + "index": 39 + }, + { + "bbox": [ + 309, + 413.0, + 497, + 427.0 + ], + "spans": [], + "index": 40 + }, + { + "bbox": [ + 309, + 427.0, + 497, + 441.0 + ], + "spans": [], + "index": 41 + }, + { + "bbox": [ + 309, + 441.0, + 497, + 455.0 + ], + "spans": [], + "index": 42 + }, + { + "bbox": [ + 309, + 455.0, + 497, + 469.0 + ], + "spans": [], + "index": 43 + }, + { + "bbox": [ + 309, + 469.0, + 497, + 483.0 + ], + "spans": [], + "index": 44 + }, + { + "bbox": [ + 309, + 483.0, + 497, + 497.0 + ], + "spans": [], + "index": 45 + }, + { + "bbox": [ + 309, + 497.0, + 497, + 511.0 + ], + "spans": [], + "index": 46 + }, + { + "bbox": [ + 309, + 511.0, + 497, + 525.0 + ], + "spans": [], + "index": 47 + }, + { + "bbox": [ + 309, + 525.0, + 497, + 539.0 + ], + "spans": [], + "index": 48 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 303, + 540, + 504, + 560 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 304, + 540, + 505, + 551 + ], + "spans": [ + { + "bbox": [ + 304, + 540, + 505, + 551 + ], + "score": 1.0, + "content": "Figure 6: ResNet-18 trained on CIFAR-10. 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The results show that the proposed method outperforms vanilla SGD when applied", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 586, + 506, + 599 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 506, + 599 + ], + "score": 1.0, + "content": "to the last layer of a ResNet-18. To validate that the learning rate is not the cause for the better", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 597, + 505, + 610 + ], + "spans": [ + { + "bbox": [ + 105, + 597, + 505, + 610 + ], + "score": 1.0, + "content": "performance, we also plot the neighboring learning rates and find that even with a too small or too", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 106, + 608, + 434, + 621 + ], + "spans": [ + { + "bbox": [ + 106, + 608, + 181, + 621 + ], + "score": 1.0, + "content": "large learning rate", + "type": "text" + }, + { + "bbox": [ + 181, + 608, + 192, + 620 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 192, + 608, + 434, + 621 + ], + "score": 1.0, + "content": "outperforms gradient descent with the optimal learning rate.", + "type": "text" + } + ], + "index": 55 + } + ], + "index": 53 + }, + { + "type": "title", + "bbox": [ + 102, + 628, + 220, + 640 + ], + "lines": [ + { + "bbox": [ + 106, + 626, + 222, + 642 + ], + "spans": [ + { + "bbox": [ + 106, + 626, + 222, + 642 + ], + "score": 1.0, + "content": "E5: Runtime and Memory", + "type": "text" + } + ], + "index": 56 + } + ], + "index": 56 + }, + { + "type": "text", + "bbox": [ + 105, + 645, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 645, + 505, + 657 + ], + "spans": [ + { + "bbox": [ + 105, + 645, + 505, + 657 + ], + "score": 1.0, + "content": "Finally, we also evaluate the runtime and memory requirements of each method. The runtime", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 105, + 656, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 656, + 505, + 668 + ], + "score": 1.0, + "content": "evaluation is displayed in Table 2. We report both CPU and GPU runtime using PyTorch [26] and", + "type": "text" + } + ], + "index": 58 + }, + { + "bbox": [ + 105, + 667, + 505, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 667, + 505, + 679 + ], + "score": 1.0, + "content": "(for K-FAC) the backpack library [15]. Note that the CPU runtime is more representative of the", + "type": "text" + } + ], + "index": 59 + }, + { + "bbox": [ + 104, + 677, + 505, + 691 + ], + "spans": [ + { + "bbox": [ + 104, + 677, + 505, + 691 + ], + "score": 1.0, + "content": "pure computational cost, as for the first rows of the GPU runtime the overhead of calling the GPU", + "type": "text" + } + ], + "index": 60 + }, + { + "bbox": [ + 105, + 688, + 506, + 702 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 374, + 702 + ], + "score": 1.0, + "content": "is dominant. When comparing runtimes between the gradient and", + "type": "text" + }, + { + "bbox": [ + 375, + 689, + 386, + 700 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 386, + 688, + 506, + 702 + ], + "score": 1.0, + "content": "on the GPU, we can observe", + "type": "text" + } + ], + "index": 61 + }, + { + "bbox": [ + 106, + 700, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 248, + 712 + ], + "score": 1.0, + "content": "that we have an overhead of around", + "type": "text" + }, + { + "bbox": [ + 249, + 700, + 269, + 710 + ], + "score": 0.79, + "content": "2 . 5 s", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 700, + 505, + 712 + ], + "score": 1.0, + "content": "independent of the model size. The overhead for CPU time", + "type": "text" + } + ], + "index": 62 + }, + { + "bbox": [ + 105, + 711, + 505, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 711, + 229, + 723 + ], + "score": 1.0, + "content": "is also very small at less than", + "type": "text" + }, + { + "bbox": [ + 229, + 711, + 244, + 721 + ], + "score": 0.85, + "content": "1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 244, + 711, + 374, + 723 + ], + "score": 1.0, + "content": "for the largest model, and only", + "type": "text" + }, + { + "bbox": [ + 374, + 711, + 395, + 721 + ], + "score": 0.77, + "content": "1 . 3 s", + "type": "inline_equation" + }, + { + "bbox": [ + 395, + 711, + 505, + 723 + ], + "score": 1.0, + "content": "for the smallest model. In", + "type": "text" + } + ], + "index": 63 + } + ], + "index": 60 + } + ], + "page_idx": 7, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 302, + 741, + 308, + 750 + ], + "lines": [ + { + "bbox": [ + 300, + 740, + 309, + 752 + ], + "spans": [ + { + "bbox": [ + 300, + 740, + 309, + 752 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 12, + "width": 9 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 132, + 107, + 479, + 157 + ], + "blocks": [ + { + "type": "table_caption", + "bbox": [ + 107, + 70, + 505, + 101 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 70, + 505, + 81 + ], + "spans": [ + { + "bbox": [ + 105, + 70, + 505, + 81 + ], + "score": 1.0, + "content": "Table 1: BERT results for fine-tuning pre-trained BERT-Base (B-B) and BERT-Mini (B-M) models on the", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 80, + 505, + 91 + ], + "spans": [ + { + "bbox": [ + 106, + 80, + 505, + 91 + ], + "score": 1.0, + "content": "COLA, MRPC, and STSB text classification tasks. Larger values are better for all metrics. MCC is the Matthews", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 91, + 262, + 101 + ], + "spans": [ + { + "bbox": [ + 106, + 91, + 262, + 101 + ], + "score": 1.0, + "content": "correlation. Results averaged over 10 runs.", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 1 + }, + { + "type": "table_body", + "bbox": [ + 132, + 107, + 479, + 157 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 132, + 107, + 479, + 157 + ], + "spans": [ + { + "bbox": [ + 132, + 107, + 479, + 157 + ], + "score": 0.974, + "html": "
Method /SettingCoLA (B-B)CoLA (B-M)MRPC (B-B)STS-B (B-M)
MetricMCCMCCAcc.F1PearsonSpearman
Gradient baseline54.20 ± 7.5621.08 ± 2.8882.52 ±1.2287.88 ±0.7476.98 ± 1.1076.88 ±0.79
s*57.62 ± 1.5924.67 ± 2.6283.28±0.8988.28±0.7081.09 ± 1.5880.82 ±1.57
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We observe that all settings with", + "type": "text" + }, + { + "bbox": [ + 411, + 188, + 423, + 200 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 423, + 187, + 506, + 201 + ], + "score": 1.0, + "content": "perform better than", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 199, + 506, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 242, + 212 + ], + "score": 1.0, + "content": "plain gradient descent, except for", + "type": "text" + }, + { + "bbox": [ + 242, + 199, + 257, + 211 + ], + "score": 0.87, + "content": "^ { 6 6 } \\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 257, + 199, + 298, + 212 + ], + "score": 1.0, + "content": "for layers", + "type": "text" + }, + { + "bbox": [ + 298, + 199, + 325, + 210 + ], + "score": 0.56, + "content": "3 , 4 , 5 '", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 199, + 506, + 212 + ], + "score": 1.0, + "content": "which performs approximately equivalent to", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 210, + 176, + 221 + ], + "spans": [ + { + "bbox": [ + 105, + 210, + 176, + 221 + ], + "score": 1.0, + "content": "gradient descent.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 7.5, + "bbox_fs": [ + 105, + 177, + 506, + 221 + ] + }, + { + "type": "title", + "bbox": [ + 104, + 229, + 208, + 241 + ], + "lines": [ + { + "bbox": [ + 106, + 229, + 209, + 242 + ], + "spans": [ + { + "bbox": [ + 106, + 229, + 209, + 242 + ], + "score": 1.0, + "content": "E4: Large-scale Models", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 104, + 247, + 505, + 389 + ], + "lines": [ + { + "bbox": [ + 105, + 245, + 506, + 261 + ], + "spans": [ + { + "bbox": [ + 105, + 245, + 262, + 261 + ], + "score": 1.0, + "content": "BERT To demonstrate the utility of", + "type": "text" + }, + { + "bbox": [ + 262, + 247, + 273, + 259 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 273, + 245, + 506, + 261 + ], + "score": 1.0, + "content": "also in large-scale models, we evaluate it for fine-tuning", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 258, + 506, + 271 + ], + "spans": [ + { + "bbox": [ + 105, + 258, + 506, + 271 + ], + "score": 1.0, + "content": "BERT [20] on three natural language tasks. In Table 1, we summarize the results for the BERT", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "spans": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "score": 1.0, + "content": "fine-tuning task. For the “Corpus of Linguistic Acceptability” (CoLA) [21] data set, we fine-tune", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 279, + 505, + 292 + ], + "spans": [ + { + "bbox": [ + 105, + 279, + 505, + 292 + ], + "score": 1.0, + "content": "both the BERT-Base and the BERT-Mini models and find that we outperform the gradient descent", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 290, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 105, + 290, + 506, + 303 + ], + "score": 1.0, + "content": "baseline in both cases. For the “Microsoft Research Paraphrase Corpus” (MRPC) [22] data set, we", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 299, + 506, + 316 + ], + "spans": [ + { + "bbox": [ + 105, + 299, + 506, + 316 + ], + "score": 1.0, + "content": "fine-tune the BERT-Base model and find that we outperform the baseline both in terms of accuracy", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 311, + 506, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 311, + 506, + 326 + ], + "score": 1.0, + "content": "and F1-score. Finally, on the “Semantic Textual Similarity Benchmark” (STS-B) [23] data set, we", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 322, + 506, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 322, + 506, + 336 + ], + "score": 1.0, + "content": "fine-tune the BERT-Mini model and achieve higher Pearson and Spearman correlations than the", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 334, + 505, + 347 + ], + "spans": [ + { + "bbox": [ + 105, + 334, + 505, + 347 + ], + "score": 1.0, + "content": "baseline. While for training with CoLA and MRPC, we were able to use the Adam optimizer [19]", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 345, + 506, + 358 + ], + "spans": [ + { + "bbox": [ + 105, + 345, + 392, + 358 + ], + "score": 1.0, + "content": "(which is recommended for this task and model) in conjunction with", + "type": "text" + }, + { + "bbox": [ + 392, + 345, + 403, + 357 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 404, + 345, + 506, + 358 + ], + "score": 1.0, + "content": "in place of the gradient,", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 355, + 505, + 368 + ], + "spans": [ + { + "bbox": [ + 105, + 355, + 505, + 368 + ], + "score": 1.0, + "content": "for STS-B Adam did not work well. Therefore, for STS-B, we evaluated it using the SGD with", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 367, + 506, + 380 + ], + "spans": [ + { + "bbox": [ + 105, + 367, + 506, + 380 + ], + "score": 1.0, + "content": "momentum optimizer. For each method, we performed a grid search over the hyperparameters. We", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 379, + 344, + 390 + ], + "spans": [ + { + "bbox": [ + 105, + 379, + 344, + 390 + ], + "score": 1.0, + "content": "note that we use a batch size of 8 in all BERT experiments.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 17, + "bbox_fs": [ + 105, + 245, + 506, + 390 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 402, + 297, + 564 + ], + "lines": [ + { + "bbox": [ + 106, + 401, + 297, + 413 + ], + "spans": [ + { + "bbox": [ + 106, + 401, + 297, + 413 + ], + "score": 1.0, + "content": "ResNet In addition, we conduct an experiment", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 412, + 297, + 423 + ], + "spans": [ + { + "bbox": [ + 105, + 412, + 297, + 423 + ], + "score": 1.0, + "content": "where we train the last layer of a ResNet with", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 421, + 299, + 436 + ], + "spans": [ + { + "bbox": [ + 106, + 423, + 117, + 434 + ], + "score": 0.84, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 117, + 421, + 299, + 436 + ], + "score": 1.0, + "content": ", while the remainder of the model is up-", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 434, + 298, + 446 + ], + "spans": [ + { + "bbox": [ + 106, + 434, + 209, + 446 + ], + "score": 1.0, + "content": "dated using the gradient", + "type": "text" + }, + { + "bbox": [ + 210, + 434, + 219, + 444 + ], + "score": 0.53, + "content": "\\nabla", + "type": "inline_equation" + }, + { + "bbox": [ + 220, + 434, + 298, + 446 + ], + "score": 1.0, + "content": ". Here, we train a", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 444, + 297, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 444, + 297, + 457 + ], + "score": 1.0, + "content": "ResNet-18 [24] on CIFAR-10 [25] using SGD", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 454, + 298, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 454, + 298, + 468 + ], + "score": 1.0, + "content": "with a batch size of 100 in a vanilla setting, i.e.,", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 467, + 298, + 478 + ], + "spans": [ + { + "bbox": [ + 106, + 467, + 298, + 478 + ], + "score": 1.0, + "content": "without additional tricks employed in by He et", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 477, + 298, + 490 + ], + "spans": [ + { + "bbox": [ + 106, + 477, + 298, + 490 + ], + "score": 1.0, + "content": "al. [24] and others. Specifically, we use (i) a", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 488, + 298, + 500 + ], + "spans": [ + { + "bbox": [ + 105, + 488, + 298, + 500 + ], + "score": 1.0, + "content": "constant learning rate for each training (optimal", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 499, + 298, + 511 + ], + "spans": [ + { + "bbox": [ + 106, + 499, + 132, + 511 + ], + "score": 1.0, + "content": "from", + "type": "text" + }, + { + "bbox": [ + 132, + 499, + 225, + 511 + ], + "score": 0.83, + "content": "( 1 , 0 . 3 , 0 . \\bar { 1 } , 0 . 0 3 , 0 . 0 1 ) )", + "type": "inline_equation" + }, + { + "bbox": [ + 226, + 499, + 298, + 511 + ], + "score": 1.0, + "content": "and (ii) vanilla", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 510, + 298, + 522 + ], + "spans": [ + { + "bbox": [ + 106, + 510, + 298, + 522 + ], + "score": 1.0, + "content": "SGD and not momentum-based SGD. 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Runtimes", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 304, + 550, + 480, + 561 + ], + "spans": [ + { + "bbox": [ + 304, + 550, + 480, + 561 + ], + "score": 1.0, + "content": "are for a GPU. Results are averaged over 5 runs.", + "type": "text" + } + ], + "index": 50 + } + ], + "index": 49.5 + } + ], + "index": 46.5 + }, + { + "type": "text", + "bbox": [ + 107, + 565, + 505, + 620 + ], + "lines": [ + { + "bbox": [ + 105, + 564, + 505, + 578 + ], + "spans": [ + { + "bbox": [ + 105, + 564, + 505, + 578 + ], + "score": 1.0, + "content": "ever, therefore, all accuracies are naturally lower than SOTA. In Figure 6, we plot the test accuracy", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 105, + 575, + 505, + 588 + ], + "spans": [ + { + "bbox": [ + 105, + 575, + 505, + 588 + ], + "score": 1.0, + "content": "against time. The results show that the proposed method outperforms vanilla SGD when applied", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 586, + 506, + 599 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 506, + 599 + ], + "score": 1.0, + "content": "to the last layer of a ResNet-18. To validate that the learning rate is not the cause for the better", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 597, + 505, + 610 + ], + "spans": [ + { + "bbox": [ + 105, + 597, + 505, + 610 + ], + "score": 1.0, + "content": "performance, we also plot the neighboring learning rates and find that even with a too small or too", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 106, + 608, + 434, + 621 + ], + "spans": [ + { + "bbox": [ + 106, + 608, + 181, + 621 + ], + "score": 1.0, + "content": "large learning rate", + "type": "text" + }, + { + "bbox": [ + 181, + 608, + 192, + 620 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 192, + 608, + 434, + 621 + ], + "score": 1.0, + "content": "outperforms gradient descent with the optimal learning rate.", + "type": "text" + } + ], + "index": 55 + } + ], + "index": 53, + "bbox_fs": [ + 105, + 564, + 506, + 621 + ] + }, + { + "type": "title", + "bbox": [ + 102, + 628, + 220, + 640 + ], + "lines": [ + { + "bbox": [ + 106, + 626, + 222, + 642 + ], + "spans": [ + { + "bbox": [ + 106, + 626, + 222, + 642 + ], + "score": 1.0, + "content": "E5: Runtime and Memory", + "type": "text" + } + ], + "index": 56 + } + ], + "index": 56 + }, + { + "type": "text", + "bbox": [ + 105, + 645, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 645, + 505, + 657 + ], + "spans": [ + { + "bbox": [ + 105, + 645, + 505, + 657 + ], + "score": 1.0, + "content": "Finally, we also evaluate the runtime and memory requirements of each method. The runtime", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 105, + 656, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 656, + 505, + 668 + ], + "score": 1.0, + "content": "evaluation is displayed in Table 2. We report both CPU and GPU runtime using PyTorch [26] and", + "type": "text" + } + ], + "index": 58 + }, + { + "bbox": [ + 105, + 667, + 505, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 667, + 505, + 679 + ], + "score": 1.0, + "content": "(for K-FAC) the backpack library [15]. Note that the CPU runtime is more representative of the", + "type": "text" + } + ], + "index": 59 + }, + { + "bbox": [ + 104, + 677, + 505, + 691 + ], + "spans": [ + { + "bbox": [ + 104, + 677, + 505, + 691 + ], + "score": 1.0, + "content": "pure computational cost, as for the first rows of the GPU runtime the overhead of calling the GPU", + "type": "text" + } + ], + "index": 60 + }, + { + "bbox": [ + 105, + 688, + 506, + 702 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 374, + 702 + ], + "score": 1.0, + "content": "is dominant. When comparing runtimes between the gradient and", + "type": "text" + }, + { + "bbox": [ + 375, + 689, + 386, + 700 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 386, + 688, + 506, + 702 + ], + "score": 1.0, + "content": "on the GPU, we can observe", + "type": "text" + } + ], + "index": 61 + }, + { + "bbox": [ + 106, + 700, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 106, + 700, + 248, + 712 + ], + "score": 1.0, + "content": "that we have an overhead of around", + "type": "text" + }, + { + "bbox": [ + 249, + 700, + 269, + 710 + ], + "score": 0.79, + "content": "2 . 5 s", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 700, + 505, + 712 + ], + "score": 1.0, + "content": "independent of the model size. The overhead for CPU time", + "type": "text" + } + ], + "index": 62 + }, + { + "bbox": [ + 105, + 711, + 505, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 711, + 229, + 723 + ], + "score": 1.0, + "content": "is also very small at less than", + "type": "text" + }, + { + "bbox": [ + 229, + 711, + 244, + 721 + ], + "score": 0.85, + "content": "1 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 244, + 711, + 374, + 723 + ], + "score": 1.0, + "content": "for the largest model, and only", + "type": "text" + }, + { + "bbox": [ + 374, + 711, + 395, + 721 + ], + "score": 0.77, + "content": "1 . 3 s", + "type": "inline_equation" + }, + { + "bbox": [ + 395, + 711, + 505, + 723 + ], + "score": 1.0, + "content": "for the smallest model. In", + "type": "text" + } + ], + "index": 63 + } + ], + "index": 60, + "bbox_fs": [ + 104, + 645, + 506, + 723 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 92, + 73, + 505, + 106 + ], + "lines": [ + { + "bbox": [ + 91, + 72, + 506, + 85 + ], + "spans": [ + { + "bbox": [ + 91, + 76, + 100, + 83 + ], + "score": 1.0, + "content": "08", + "type": "text" + }, + { + "bbox": [ + 102, + 72, + 204, + 85 + ], + "score": 1.0, + "content": "contrast, the runtime of", + "type": "text" + }, + { + "bbox": [ + 205, + 73, + 216, + 84 + ], + "score": 0.89, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 72, + 506, + 85 + ], + "score": 1.0, + "content": "is around 4 times the runtime of the gradient, and K-FAC has an even", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 91, + 83, + 506, + 97 + ], + "spans": [ + { + "bbox": [ + 91, + 87, + 100, + 94 + ], + "score": 1.0, + "content": "09", + "type": "text" + }, + { + "bbox": [ + 102, + 83, + 302, + 97 + ], + "score": 1.0, + "content": "substantially larger runtime. Regarding memory,", + "type": "text" + }, + { + "bbox": [ + 302, + 83, + 313, + 95 + ], + "score": 0.88, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 313, + 83, + 506, + 97 + ], + "score": 1.0, + "content": "(contrasting the other approaches) also requires", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 91, + 95, + 240, + 107 + ], + "spans": [ + { + "bbox": [ + 91, + 95, + 240, + 107 + ], + "score": 1.0, + "content": "10 only a small additional footprint.", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 1 + }, + { + "type": "text", + "bbox": [ + 87, + 107, + 505, + 152 + ], + "lines": [ + { + "bbox": [ + 86, + 107, + 505, + 121 + ], + "spans": [ + { + "bbox": [ + 86, + 110, + 99, + 119 + ], + "score": 1.0, + "content": "311", + "type": "text" + }, + { + "bbox": [ + 105, + 107, + 312, + 121 + ], + "score": 1.0, + "content": "Remark 5 (Implementation). The implementation of", + "type": "text" + }, + { + "bbox": [ + 313, + 108, + 324, + 119 + ], + "score": 0.82, + "content": "\\zeta ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 324, + 107, + 505, + 121 + ], + "score": 1.0, + "content": "can be done by replacing the backpropagation", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 86, + 118, + 505, + 132 + ], + "spans": [ + { + "bbox": [ + 86, + 120, + 99, + 130 + ], + "score": 1.0, + "content": "312", + "type": "text" + }, + { + "bbox": [ + 105, + 118, + 505, + 132 + ], + "score": 1.0, + "content": "step of a respective layer by (21). 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Runtime is the training time per epoch on", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 164, + 506, + 177 + ], + "spans": [ + { + "bbox": [ + 105, + 164, + 506, + 177 + ], + "score": 1.0, + "content": "MNIST at a batch size of 60, i.e., for 1 000 training steps. The K-FAC implementation is from the backpack", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 175, + 263, + 186 + ], + "spans": [ + { + "bbox": [ + 106, + 175, + 263, + 186 + ], + "score": 1.0, + "content": "library [15]. The GPU is an Nvidia A6000.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8 + }, + { + "type": "table_body", + "bbox": [ + 109, + 192, + 504, + 258 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 192, + 504, + 258 + ], + "spans": [ + { + "bbox": [ + 109, + 192, + 504, + 258 + ], + "score": 0.977, + "html": "
ModelGradientK-FACsS*
CPU time GPU timeMemoryCPU timeGPU t.MemoryCPU timeGPU t.MemoryCPU t.GPU t.Memory
5 layers w/100 n.2.05 s1.79 s1.0MB62.78 s17.63 s11.5 MB8.65 s 11.76 s1.6 MB3.34s4.07 s1.0MB
5 layers w/400 n.23.74 s1.84 s4.8MB218.48 s32.00 s22.4MB38.67 s 12.62 s7.7MB13.62 s4.19 s4.9 MB
5 layers w/1600 n.187.87 s1.93 s51.0MB 6985.48 s156.48 s212.2MB665.80s12.53 s85.8MB291.01 s4.49 s51.4MB
5 layers w/6 400 n. 3439.59 s8.22s691.0MB1320.81s3155.3MB9673s 31.87s 1197.8 MB 3451.61s 10.24 s 692.5 MB
Auto-Encoder78.61 s2.20 s16.2MB1207.58 s74.09 s70.7MB193.25 s 14.19 s33.8MB87.39 s4.93 s16.5MB
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In the appendix, we give a PyTorch [26]", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 90, + 278, + 289, + 290 + ], + "spans": [ + { + "bbox": [ + 90, + 278, + 268, + 290 + ], + "score": 1.0, + "content": "implementation of the proposed method16", + "type": "text" + }, + { + "bbox": [ + 269, + 278, + 285, + 290 + ], + "score": 0.86, + "content": "( \\zeta ^ { \\bar { * } } )", + "type": "inline_equation" + }, + { + "bbox": [ + 286, + 278, + 289, + 290 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 13.5 + }, + { + "type": "title", + "bbox": [ + 96, + 304, + 196, + 317 + ], + "lines": [ + { + "bbox": [ + 95, + 302, + 198, + 319 + ], + "spans": [ + { + "bbox": [ + 95, + 302, + 198, + 319 + ], + "score": 1.0, + "content": "7 5 Related Work", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 15 + }, + { + "type": "text", + "bbox": [ + 94, + 327, + 505, + 547 + ], + "lines": [ + { + "bbox": [ + 92, + 327, + 506, + 341 + ], + "spans": [ + { + "bbox": [ + 92, + 331, + 100, + 339 + ], + "score": 1.0, + "content": "18", + "type": "text" + }, + { + "bbox": [ + 105, + 327, + 506, + 341 + ], + "score": 1.0, + "content": "Our methods are related to K-FAC by Martens and Grosse [12]. K-FAC uses the approximation", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 93, + 339, + 506, + 351 + ], + "spans": [ + { + "bbox": [ + 93, + 342, + 99, + 349 + ], + "score": 1.0, + "content": "19", + "type": "text" + }, + { + "bbox": [ + 105, + 339, + 506, + 351 + ], + "score": 1.0, + "content": "(13) to approximate the blocks of the Hessian of the empirical risk of neural networks. In most", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 93, + 350, + 505, + 361 + ], + "spans": [ + { + "bbox": [ + 93, + 353, + 99, + 360 + ], + "score": 1.0, + "content": "20", + "type": "text" + }, + { + "bbox": [ + 106, + 350, + 505, + 361 + ], + "score": 1.0, + "content": "implementations of K-FAC, the off-diagonal blocks of the Hessian are also set to zero. One of the", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 94, + 361, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 94, + 365, + 98, + 370 + ], + "score": 1.0, + "content": "1", + "type": "text" + }, + { + "bbox": [ + 105, + 361, + 506, + 374 + ], + "score": 1.0, + "content": "main claimed benefits of K-FAC is its speed (compared to stochastic gradient descent) for large-batch", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 93, + 371, + 506, + 385 + ], + "spans": [ + { + "bbox": [ + 93, + 375, + 99, + 382 + ], + "score": 1.0, + "content": "22", + "type": "text" + }, + { + "bbox": [ + 105, + 371, + 506, + 385 + ], + "score": 1.0, + "content": "size training. That said, recent empirical work has shown that this advantage of K-FAC disappears", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 92, + 382, + 506, + 396 + ], + "spans": [ + { + "bbox": [ + 92, + 385, + 100, + 393 + ], + "score": 1.0, + "content": "23", + "type": "text" + }, + { + "bbox": [ + 105, + 382, + 506, + 396 + ], + "score": 1.0, + "content": "once the additional computational costs of hyperparameter tuning for large batch training is accounted", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 93, + 393, + 506, + 407 + ], + "spans": [ + { + "bbox": [ + 93, + 397, + 99, + 404 + ], + "score": 1.0, + "content": "24", + "type": "text" + }, + { + "bbox": [ + 104, + 393, + 506, + 407 + ], + "score": 1.0, + "content": "for. There is a line of work that extends the basic idea of K-FAC to convolutional layers [27]. Botev et", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 92, + 404, + 506, + 417 + ], + "spans": [ + { + "bbox": [ + 92, + 407, + 100, + 415 + ], + "score": 1.0, + "content": "25", + "type": "text" + }, + { + "bbox": [ + 104, + 404, + 506, + 417 + ], + "score": 1.0, + "content": "al. [18] further extend these ideas to present KFLR, a Kronecker factored low-rank approximation,", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 93, + 416, + 506, + 428 + ], + "spans": [ + { + "bbox": [ + 93, + 419, + 99, + 425 + ], + "score": 1.0, + "content": "26", + "type": "text" + }, + { + "bbox": [ + 106, + 416, + 506, + 428 + ], + "score": 1.0, + "content": "and KFRA, a Kronecker factored recursive approximation of the Gauss-Newton step. Singh and", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 94, + 425, + 506, + 439 + ], + "spans": [ + { + "bbox": [ + 94, + 431, + 98, + 435 + ], + "score": 1.0, + "content": "7", + "type": "text" + }, + { + "bbox": [ + 105, + 425, + 506, + 439 + ], + "score": 1.0, + "content": "Alistarh [28] propose WoodFisher, a Woodbury matrix inverse-based estimate of the inverse Hessian,", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 93, + 438, + 506, + 450 + ], + "spans": [ + { + "bbox": [ + 93, + 441, + 99, + 447 + ], + "score": 1.0, + "content": "28", + "type": "text" + }, + { + "bbox": [ + 106, + 438, + 506, + 450 + ], + "score": 1.0, + "content": "and apply it to neural network compression. Yao et al. [29] propose AdaHessian, a second-order", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 93, + 448, + 507, + 460 + ], + "spans": [ + { + "bbox": [ + 93, + 451, + 99, + 458 + ], + "score": 1.0, + "content": "29", + "type": "text" + }, + { + "bbox": [ + 105, + 448, + 507, + 460 + ], + "score": 1.0, + "content": "optimizer that incorporates the curvature of the loss function via an adaptive estimation of the Hessian.", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 94, + 459, + 506, + 472 + ], + "spans": [ + { + "bbox": [ + 94, + 463, + 98, + 468 + ], + "score": 1.0, + "content": "0", + "type": "text" + }, + { + "bbox": [ + 105, + 459, + 506, + 472 + ], + "score": 1.0, + "content": "Frantar et al. [6] propose M-FAC, a matrix-free approximation of the natural gradient through a queue", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 470, + 506, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 470, + 506, + 483 + ], + "score": 1.0, + "content": "of the (e.g., 1 000) recent gradients. These works fundamentally differ from our approach in that their", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 93, + 480, + 506, + 493 + ], + "spans": [ + { + "bbox": [ + 93, + 484, + 99, + 491 + ], + "score": 1.0, + "content": "32", + "type": "text" + }, + { + "bbox": [ + 105, + 480, + 506, + 493 + ], + "score": 1.0, + "content": "objective is to approximate the Fisher or Gauss-Newton matrix inverse vector products. In contrast,", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 92, + 492, + 507, + 505 + ], + "spans": [ + { + "bbox": [ + 92, + 494, + 100, + 502 + ], + "score": 1.0, + "content": "33", + "type": "text" + }, + { + "bbox": [ + 105, + 492, + 507, + 505 + ], + "score": 1.0, + "content": "this work proposes to approximate the Gauss-Newton matrix by only one of its Kronecker factors,", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 93, + 502, + 506, + 515 + ], + "spans": [ + { + "bbox": [ + 93, + 506, + 99, + 512 + ], + "score": 1.0, + "content": "34", + "type": "text" + }, + { + "bbox": [ + 105, + 502, + 506, + 515 + ], + "score": 1.0, + "content": "which we find to achieve good performance at a substantial computational speedup and reduction of", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 94, + 513, + 506, + 526 + ], + "spans": [ + { + "bbox": [ + 94, + 517, + 98, + 523 + ], + "score": 1.0, + "content": "5", + "type": "text" + }, + { + "bbox": [ + 105, + 513, + 506, + 526 + ], + "score": 1.0, + "content": "memory footprint. For an overview of this area, we refer to Kunstner et al. [30] and Martens [31].", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 92, + 525, + 506, + 537 + ], + "spans": [ + { + "bbox": [ + 92, + 527, + 100, + 535 + ], + "score": 1.0, + "content": "36", + "type": "text" + }, + { + "bbox": [ + 105, + 525, + 506, + 537 + ], + "score": 1.0, + "content": "For an overview of the technical aspects of backpropagation of second-order quantities, we refer to", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 94, + 535, + 201, + 549 + ], + "spans": [ + { + "bbox": [ + 94, + 539, + 98, + 545 + ], + "score": 1.0, + "content": "7", + "type": "text" + }, + { + "bbox": [ + 104, + 535, + 201, + 549 + ], + "score": 1.0, + "content": "Dangel et al. [15], [32]", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 25.5 + }, + { + "type": "text", + "bbox": [ + 86, + 551, + 505, + 629 + ], + "lines": [ + { + "bbox": [ + 86, + 552, + 507, + 564 + ], + "spans": [ + { + "bbox": [ + 86, + 554, + 99, + 563 + ], + "score": 1.0, + "content": "338", + "type": "text" + }, + { + "bbox": [ + 105, + 552, + 507, + 564 + ], + "score": 1.0, + "content": "Taking a step back, K-FAC is one of many Newton-type methods for training neural networks.", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 85, + 562, + 505, + 575 + ], + "spans": [ + { + "bbox": [ + 85, + 564, + 100, + 574 + ], + "score": 1.0, + "content": "339", + "type": "text" + }, + { + "bbox": [ + 106, + 562, + 505, + 575 + ], + "score": 1.0, + "content": "Other prominent examples of such methods include subsampled Newton methods [33], [34] (which", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 86, + 573, + 506, + 587 + ], + "spans": [ + { + "bbox": [ + 86, + 576, + 99, + 585 + ], + "score": 1.0, + "content": "340", + "type": "text" + }, + { + "bbox": [ + 105, + 573, + 506, + 587 + ], + "score": 1.0, + "content": "approximate the Hessian by subsampling the terms in the empirical risk function and evaluating the", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 86, + 583, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 86, + 586, + 99, + 596 + ], + "score": 1.0, + "content": "341", + "type": "text" + }, + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "score": 1.0, + "content": "Hessian of the subsampled terms) and sketched Newton methods [3]–[5] (which approximate the", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 85, + 594, + 506, + 609 + ], + "spans": [ + { + "bbox": [ + 85, + 597, + 100, + 607 + ], + "score": 1.0, + "content": "342", + "type": "text" + }, + { + "bbox": [ + 105, + 594, + 506, + 609 + ], + "score": 1.0, + "content": "Hessian by sketching, e.g., by projecting the Hessian to a lower-dimensional space by multiplying it", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 85, + 605, + 505, + 619 + ], + "spans": [ + { + "bbox": [ + 85, + 608, + 100, + 618 + ], + "score": 1.0, + "content": "343", + "type": "text" + }, + { + "bbox": [ + 105, + 605, + 505, + 619 + ], + "score": 1.0, + "content": "with a random matrix). The main features that distinguish K-FAC from this group of methods are", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 85, + 617, + 453, + 630 + ], + "spans": [ + { + "bbox": [ + 85, + 618, + 100, + 629 + ], + "score": 1.0, + "content": "344", + "type": "text" + }, + { + "bbox": [ + 106, + 617, + 453, + 630 + ], + "score": 1.0, + "content": "K-FAC’s superior empirical performance and K-FAC’s lack of theoretical justification.", + "type": "text" + } + ], + "index": 42 + } + ], + "index": 39 + }, + { + "type": "title", + "bbox": [ + 104, + 643, + 183, + 656 + ], + "lines": [ + { + "bbox": [ + 104, + 640, + 185, + 660 + ], + "spans": [ + { + "bbox": [ + 104, + 640, + 185, + 660 + ], + "score": 1.0, + "content": "6 Conclusion", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 43 + }, + { + "type": "text", + "bbox": [ + 106, + 667, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "score": 1.0, + "content": "In this work, we presented ISAAC Newton, a novel approximate curvature method based on layer-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "inputs. 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ModelGradientK-FACsS*
CPU time GPU timeMemoryCPU timeGPU t.MemoryCPU timeGPU t.MemoryCPU t.GPU t.Memory
5 layers w/100 n.2.05 s1.79 s1.0MB62.78 s17.63 s11.5 MB8.65 s 11.76 s1.6 MB3.34s4.07 s1.0MB
5 layers w/400 n.23.74 s1.84 s4.8MB218.48 s32.00 s22.4MB38.67 s 12.62 s7.7MB13.62 s4.19 s4.9 MB
5 layers w/1600 n.187.87 s1.93 s51.0MB 6985.48 s156.48 s212.2MB665.80s12.53 s85.8MB291.01 s4.49 s51.4MB
5 layers w/6 400 n. 3439.59 s8.22s691.0MB1320.81s3155.3MB9673s 31.87s 1197.8 MB 3451.61s 10.24 s 692.5 MB
Auto-Encoder78.61 s2.20 s16.2MB1207.58 s74.09 s70.7MB193.25 s 14.19 s33.8MB87.39 s4.93 s16.5MB
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In the appendix, we give a PyTorch [26]", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 90, + 278, + 289, + 290 + ], + "spans": [ + { + "bbox": [ + 90, + 278, + 268, + 290 + ], + "score": 1.0, + "content": "implementation of the proposed method16", + "type": "text" + }, + { + "bbox": [ + 269, + 278, + 285, + 290 + ], + "score": 0.86, + "content": "( \\zeta ^ { \\bar { * } } )", + "type": "inline_equation" + }, + { + "bbox": [ + 286, + 278, + 289, + 290 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 13.5, + "bbox_fs": [ + 88, + 266, + 505, + 290 + ] + }, + { + "type": "title", + "bbox": [ + 96, + 304, + 196, + 317 + ], + "lines": [ + { + "bbox": [ + 95, + 302, + 198, + 319 + ], + "spans": [ + { + "bbox": [ + 95, + 302, + 198, + 319 + ], + "score": 1.0, + "content": "7 5 Related Work", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 15 + }, + { + "type": "index", + "bbox": [ + 94, + 327, + 505, + 547 + ], + "lines": [ + { + "bbox": [ + 92, + 327, + 506, + 341 + ], + "spans": [ + { + "bbox": [ + 92, + 331, + 100, + 339 + ], + "score": 1.0, + "content": "18", + "type": "text" + }, + { + "bbox": [ + 105, + 327, + 506, + 341 + ], + "score": 1.0, + "content": "Our methods are related to K-FAC by Martens and Grosse [12]. K-FAC uses the approximation", + "type": "text" + } + ], + "index": 16, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 339, + 506, + 351 + ], + "spans": [ + { + "bbox": [ + 93, + 342, + 99, + 349 + ], + "score": 1.0, + "content": "19", + "type": "text" + }, + { + "bbox": [ + 105, + 339, + 506, + 351 + ], + "score": 1.0, + "content": "(13) to approximate the blocks of the Hessian of the empirical risk of neural networks. In most", + "type": "text" + } + ], + "index": 17, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 350, + 505, + 361 + ], + "spans": [ + { + "bbox": [ + 93, + 353, + 99, + 360 + ], + "score": 1.0, + "content": "20", + "type": "text" + }, + { + "bbox": [ + 106, + 350, + 505, + 361 + ], + "score": 1.0, + "content": "implementations of K-FAC, the off-diagonal blocks of the Hessian are also set to zero. One of the", + "type": "text" + } + ], + "index": 18, + "is_list_start_line": true + }, + { + "bbox": [ + 94, + 361, + 506, + 374 + ], + "spans": [ + { + "bbox": [ + 94, + 365, + 98, + 370 + ], + "score": 1.0, + "content": "1", + "type": "text" + }, + { + "bbox": [ + 105, + 361, + 506, + 374 + ], + "score": 1.0, + "content": "main claimed benefits of K-FAC is its speed (compared to stochastic gradient descent) for large-batch", + "type": "text" + } + ], + "index": 19, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 371, + 506, + 385 + ], + "spans": [ + { + "bbox": [ + 93, + 375, + 99, + 382 + ], + "score": 1.0, + "content": "22", + "type": "text" + }, + { + "bbox": [ + 105, + 371, + 506, + 385 + ], + "score": 1.0, + "content": "size training. That said, recent empirical work has shown that this advantage of K-FAC disappears", + "type": "text" + } + ], + "index": 20, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 382, + 506, + 396 + ], + "spans": [ + { + "bbox": [ + 92, + 385, + 100, + 393 + ], + "score": 1.0, + "content": "23", + "type": "text" + }, + { + "bbox": [ + 105, + 382, + 506, + 396 + ], + "score": 1.0, + "content": "once the additional computational costs of hyperparameter tuning for large batch training is accounted", + "type": "text" + } + ], + "index": 21, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 393, + 506, + 407 + ], + "spans": [ + { + "bbox": [ + 93, + 397, + 99, + 404 + ], + "score": 1.0, + "content": "24", + "type": "text" + }, + { + "bbox": [ + 104, + 393, + 506, + 407 + ], + "score": 1.0, + "content": "for. There is a line of work that extends the basic idea of K-FAC to convolutional layers [27]. Botev et", + "type": "text" + } + ], + "index": 22, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 404, + 506, + 417 + ], + "spans": [ + { + "bbox": [ + 92, + 407, + 100, + 415 + ], + "score": 1.0, + "content": "25", + "type": "text" + }, + { + "bbox": [ + 104, + 404, + 506, + 417 + ], + "score": 1.0, + "content": "al. [18] further extend these ideas to present KFLR, a Kronecker factored low-rank approximation,", + "type": "text" + } + ], + "index": 23, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 416, + 506, + 428 + ], + "spans": [ + { + "bbox": [ + 93, + 419, + 99, + 425 + ], + "score": 1.0, + "content": "26", + "type": "text" + }, + { + "bbox": [ + 106, + 416, + 506, + 428 + ], + "score": 1.0, + "content": "and KFRA, a Kronecker factored recursive approximation of the Gauss-Newton step. Singh and", + "type": "text" + } + ], + "index": 24, + "is_list_start_line": true + }, + { + "bbox": [ + 94, + 425, + 506, + 439 + ], + "spans": [ + { + "bbox": [ + 94, + 431, + 98, + 435 + ], + "score": 1.0, + "content": "7", + "type": "text" + }, + { + "bbox": [ + 105, + 425, + 506, + 439 + ], + "score": 1.0, + "content": "Alistarh [28] propose WoodFisher, a Woodbury matrix inverse-based estimate of the inverse Hessian,", + "type": "text" + } + ], + "index": 25, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 438, + 506, + 450 + ], + "spans": [ + { + "bbox": [ + 93, + 441, + 99, + 447 + ], + "score": 1.0, + "content": "28", + "type": "text" + }, + { + "bbox": [ + 106, + 438, + 506, + 450 + ], + "score": 1.0, + "content": "and apply it to neural network compression. Yao et al. [29] propose AdaHessian, a second-order", + "type": "text" + } + ], + "index": 26, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 448, + 507, + 460 + ], + "spans": [ + { + "bbox": [ + 93, + 451, + 99, + 458 + ], + "score": 1.0, + "content": "29", + "type": "text" + }, + { + "bbox": [ + 105, + 448, + 507, + 460 + ], + "score": 1.0, + "content": "optimizer that incorporates the curvature of the loss function via an adaptive estimation of the Hessian.", + "type": "text" + } + ], + "index": 27, + "is_list_start_line": true + }, + { + "bbox": [ + 94, + 459, + 506, + 472 + ], + "spans": [ + { + "bbox": [ + 94, + 463, + 98, + 468 + ], + "score": 1.0, + "content": "0", + "type": "text" + }, + { + "bbox": [ + 105, + 459, + 506, + 472 + ], + "score": 1.0, + "content": "Frantar et al. [6] propose M-FAC, a matrix-free approximation of the natural gradient through a queue", + "type": "text" + } + ], + "index": 28, + "is_list_start_line": true + }, + { + "bbox": [ + 105, + 470, + 506, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 470, + 506, + 483 + ], + "score": 1.0, + "content": "of the (e.g., 1 000) recent gradients. These works fundamentally differ from our approach in that their", + "type": "text" + } + ], + "index": 29, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 480, + 506, + 493 + ], + "spans": [ + { + "bbox": [ + 93, + 484, + 99, + 491 + ], + "score": 1.0, + "content": "32", + "type": "text" + }, + { + "bbox": [ + 105, + 480, + 506, + 493 + ], + "score": 1.0, + "content": "objective is to approximate the Fisher or Gauss-Newton matrix inverse vector products. In contrast,", + "type": "text" + } + ], + "index": 30, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 492, + 507, + 505 + ], + "spans": [ + { + "bbox": [ + 92, + 494, + 100, + 502 + ], + "score": 1.0, + "content": "33", + "type": "text" + }, + { + "bbox": [ + 105, + 492, + 507, + 505 + ], + "score": 1.0, + "content": "this work proposes to approximate the Gauss-Newton matrix by only one of its Kronecker factors,", + "type": "text" + } + ], + "index": 31, + "is_list_start_line": true + }, + { + "bbox": [ + 93, + 502, + 506, + 515 + ], + "spans": [ + { + "bbox": [ + 93, + 506, + 99, + 512 + ], + "score": 1.0, + "content": "34", + "type": "text" + }, + { + "bbox": [ + 105, + 502, + 506, + 515 + ], + "score": 1.0, + "content": "which we find to achieve good performance at a substantial computational speedup and reduction of", + "type": "text" + } + ], + "index": 32, + "is_list_start_line": true + }, + { + "bbox": [ + 94, + 513, + 506, + 526 + ], + "spans": [ + { + "bbox": [ + 94, + 517, + 98, + 523 + ], + "score": 1.0, + "content": "5", + "type": "text" + }, + { + "bbox": [ + 105, + 513, + 506, + 526 + ], + "score": 1.0, + "content": "memory footprint. For an overview of this area, we refer to Kunstner et al. [30] and Martens [31].", + "type": "text" + } + ], + "index": 33, + "is_list_start_line": true + }, + { + "bbox": [ + 92, + 525, + 506, + 537 + ], + "spans": [ + { + "bbox": [ + 92, + 527, + 100, + 535 + ], + "score": 1.0, + "content": "36", + "type": "text" + }, + { + "bbox": [ + 105, + 525, + 506, + 537 + ], + "score": 1.0, + "content": "For an overview of the technical aspects of backpropagation of second-order quantities, we refer to", + "type": "text" + } + ], + "index": 34, + "is_list_start_line": true + }, + { + "bbox": [ + 94, + 535, + 201, + 549 + ], + "spans": [ + { + "bbox": [ + 94, + 539, + 98, + 545 + ], + "score": 1.0, + "content": "7", + "type": "text" + }, + { + "bbox": [ + 104, + 535, + 201, + 549 + ], + "score": 1.0, + "content": "Dangel et al. [15], [32]", + "type": "text" + } + ], + "index": 35, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 552, + 507, + 564 + ], + "spans": [ + { + "bbox": [ + 86, + 554, + 99, + 563 + ], + "score": 1.0, + "content": "338", + "type": "text" + }, + { + "bbox": [ + 105, + 552, + 507, + 564 + ], + "score": 1.0, + "content": "Taking a step back, K-FAC is one of many Newton-type methods for training neural networks.", + "type": "text" + } + ], + "index": 36, + "is_list_start_line": true + }, + { + "bbox": [ + 85, + 562, + 505, + 575 + ], + "spans": [ + { + "bbox": [ + 85, + 564, + 100, + 574 + ], + "score": 1.0, + "content": "339", + "type": "text" + }, + { + "bbox": [ + 106, + 562, + 505, + 575 + ], + "score": 1.0, + "content": "Other prominent examples of such methods include subsampled Newton methods [33], [34] (which", + "type": "text" + } + ], + "index": 37, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 573, + 506, + 587 + ], + "spans": [ + { + "bbox": [ + 86, + 576, + 99, + 585 + ], + "score": 1.0, + "content": "340", + "type": "text" + }, + { + "bbox": [ + 105, + 573, + 506, + 587 + ], + "score": 1.0, + "content": "approximate the Hessian by subsampling the terms in the empirical risk function and evaluating the", + "type": "text" + } + ], + "index": 38, + "is_list_start_line": true + }, + { + "bbox": [ + 86, + 583, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 86, + 586, + 99, + 596 + ], + "score": 1.0, + "content": "341", + "type": "text" + }, + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "score": 1.0, + "content": "Hessian of the subsampled terms) and sketched Newton methods [3]–[5] (which approximate the", + "type": "text" + } + ], + "index": 39, + "is_list_start_line": true + }, + { + "bbox": [ + 85, + 594, + 506, + 609 + ], + "spans": [ + { + "bbox": [ + 85, + 597, + 100, + 607 + ], + "score": 1.0, + "content": "342", + "type": "text" + }, + { + "bbox": [ + 105, + 594, + 506, + 609 + ], + "score": 1.0, + "content": "Hessian by sketching, e.g., by projecting the Hessian to a lower-dimensional space by multiplying it", + "type": "text" + } + ], + "index": 40, + "is_list_start_line": true + }, + { + "bbox": [ + 85, + 605, + 505, + 619 + ], + "spans": [ + { + "bbox": [ + 85, + 608, + 100, + 618 + ], + "score": 1.0, + "content": "343", + "type": "text" + }, + { + "bbox": [ + 105, + 605, + 505, + 619 + ], + "score": 1.0, + "content": "with a random matrix). The main features that distinguish K-FAC from this group of methods are", + "type": "text" + } + ], + "index": 41, + "is_list_start_line": true + }, + { + "bbox": [ + 85, + 617, + 453, + 630 + ], + "spans": [ + { + "bbox": [ + 85, + 618, + 100, + 629 + ], + "score": 1.0, + "content": "344", + "type": "text" + }, + { + "bbox": [ + 106, + 617, + 453, + 630 + ], + "score": 1.0, + "content": "K-FAC’s superior empirical performance and K-FAC’s lack of theoretical justification.", + "type": "text" + } + ], + "index": 42, + "is_list_start_line": true + } + ], + "index": 25.5, + "bbox_fs": [ + 92, + 327, + 507, + 549 + ] + }, + { + "type": "index", + "bbox": [ + 86, + 551, + 505, + 629 + ], + "lines": [], + "index": 39, + "bbox_fs": [ + 85, + 552, + 507, + 630 + ], + "lines_deleted": true + }, + { + "type": "title", + "bbox": [ + 104, + 643, + 183, + 656 + ], + "lines": [ + { + "bbox": [ + 104, + 640, + 185, + 660 + ], + "spans": [ + { + "bbox": [ + 104, + 640, + 185, + 660 + ], + "score": 1.0, + "content": "6 Conclusion", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 43 + }, + { + "type": "text", + "bbox": [ + 106, + 667, + 505, + 722 + ], + "lines": [ + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 506, + 680 + ], + "score": 1.0, + "content": "In this work, we presented ISAAC Newton, a novel approximate curvature method based on layer-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "inputs. We demonstrated it to be a special case of the regularization-generalized Gauss-Newton", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 688, + 504, + 701 + ], + "spans": [ + { + "bbox": [ + 106, + 688, + 504, + 701 + ], + "score": 1.0, + "content": "method and empirically demonstrate its utility. 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Indeed by", + "type": "text" + } + ], + "index": 13, + "is_list_start_line": true + }, + { + "bbox": [ + 84, + 299, + 468, + 311 + ], + "spans": [ + { + "bbox": [ + 84, + 299, + 468, + 311 + ], + "score": 1.0, + "content": "474 using (19), the Woodbury matrix identity and by regularizing the inverses, we can see that", + "type": "text" + } + ], + "index": 14, + "is_list_start_line": true + } + ], + "index": 13.5, + "bbox_fs": [ + 84, + 288, + 506, + 311 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 194, + 309, + 417, + 621 + ], + "lines": [ + { + "bbox": [ + 194, + 309, + 417, + 621 + ], + "spans": [ + { + "bbox": [ + 194, + 309, + 417, + 621 + ], + "score": 0.94, + "content": "\\begin{array} { r l } & { \\quad = - \\lambda _ { 2 , 3 , 4 } \\lambda _ { 3 } \\nabla \\tilde { \\lambda } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\lambda _ { 1 } ^ { 3 } \\nabla \\lambda _ { 2 } ^ { 3 } \\nabla \\lambda _ { 3 } ^ { 3 } \\nabla \\lambda _ { 3 } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 2 , 3 } \\lambda _ { 4 } - \\tilde { \\lambda } _ { 2 , 4 } \\lambda _ { 5 } \\tilde { \\lambda } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } + \\nabla \\tilde { \\lambda } ^ { 2 } \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 3 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 2 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad \\times \\tilde { \\lambda } ^ { 2 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad = \\tilde { \\lambda } _ { 3 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & { \\quad \\times \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ( \\frac { 1 } { \\lambda _ { 1 } } \\lambda _ { 1 } ^ { 2 } \\nabla \\tilde { \\lambda } ^ { 3 } \\nabla \\tilde { \\lambda } ^ { 3 } ) ^ { 2 } \\tilde { \\lambda } ^ { 3 } } \\\\ & \\quad \\times ( \\tilde { \\lambda } ^ { 3 } - 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1 } \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } / b + \\lambda _ { \\mathbf { a } } \\mathbf { I } ) ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } } \\\\ & { \\quad = ( \\bar { \\mathbf { g } } ^ { \\top } \\bar { \\mathbf { g } } ) ^ { - 1 } \\otimes ( \\mathbf { a } ^ { \\top } \\mathbf { a } ) ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } } \\\\ & { \\quad \\approx \\mathbf { G } ^ { - 1 } \\mathbf { g } ^ { \\top } \\mathbf { a } , } \\end{array}", + "type": "interline_equation", + "image_path": "2cd0d1dc43e05aeb981d596adfa3b716f52fb8bd0108cf134936f4eaa3e659cb.jpg" + } + ] + } + ], + "index": 40, + "virtual_lines": [ + { + "bbox": [ + 190, + 639, + 422, + 655.4 + ], + "spans": [], + "index": 38 + }, + { + "bbox": [ + 190, + 655.4, + 422, + 671.8 + ], + "spans": [], + "index": 39 + }, + { + "bbox": [ + 190, + 671.8, + 422, + 688.1999999999999 + ], + "spans": [], + "index": 40 + }, + { + "bbox": [ + 190, + 688.1999999999999, + 422, + 704.5999999999999 + ], + "spans": [], + "index": 41 + }, + { + "bbox": [ + 190, + 704.5999999999999, + 422, + 720.9999999999999 + ], + "spans": [], + "index": 42 + } + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 88, + 72, + 506, + 96 + ], + "lines": [ + { + "bbox": [ + 84, + 73, + 506, + 85 + ], + "spans": [ + { + "bbox": [ + 84, + 73, + 282, + 85 + ], + "score": 1.0, + "content": "476 where the first equality uses the definition of", + "type": "text" + }, + { + "bbox": [ + 282, + 73, + 289, + 84 + ], + "score": 0.85, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 289, + 73, + 506, + 85 + ], + "score": 1.0, + "content": "in (17). The second equality is due to the continuity of", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 85, + 83, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 85, + 83, + 506, + 96 + ], + "score": 1.0, + "content": "477 the matrix inversion and the last approximate equality follows from the K-FAC approximation (15).", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "text", + "bbox": [ + 86, + 99, + 439, + 113 + ], + "lines": [ + { + "bbox": [ + 84, + 99, + 439, + 114 + ], + "spans": [ + { + "bbox": [ + 84, + 99, + 250, + 114 + ], + "score": 1.0, + "content": "478 To show Assertion (ii), we consider", + "type": "text" + }, + { + "bbox": [ + 251, + 100, + 291, + 113 + ], + "score": 0.91, + "content": "\\operatorname* { l i m } _ { \\lambda _ { \\mathbf { g } } \\to \\infty }", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 99, + 309, + 114 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 309, + 100, + 349, + 112 + ], + "score": 0.9, + "content": "\\operatorname* { l i m } _ { \\lambda _ { \\mathbf { a } } \\to \\infty }", + "type": "inline_equation" + }, + { + "bbox": [ + 350, + 99, + 439, + 114 + ], + "score": 1.0, + "content": "independently, that is", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 2 + }, + { + "type": "interline_equation", + "bbox": [ + 227, + 117, + 384, + 173 + ], + "lines": [ + { + "bbox": [ + 227, + 117, + 384, + 173 + ], + "spans": [ + { + "bbox": [ + 227, + 117, + 384, + 173 + ], + "score": 0.93, + "content": "\\begin{array} { r l } & { \\underset { \\lambda _ { \\mathbf { g } } \\to \\infty } { \\operatorname* { l i m } } \\lambda _ { \\mathbf { g } } \\cdot \\left( \\lambda _ { \\mathbf { g } } \\mathbf { I } _ { m } + \\bar { \\pmb { g } } ^ { \\top } \\bar { \\pmb { g } } / b \\right) ^ { - 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1 } \\cdot \\mathbf { g } ^ { \\top } } \\\\ { \\displaystyle \\quad \\cdot \\mathbf { a } \\cdot \\lambda _ { \\mathbf { a } } \\left( \\lambda _ { \\mathbf { a } } \\mathbf { I } _ { n } + \\mathbf { a } ^ { \\top } \\mathbf { a } / b \\right) ^ { - 1 } } \\\\ { \\displaystyle = \\mathbf { I } _ { m } \\cdot \\mathbf { g } ^ { \\top } \\mathbf { a } \\cdot \\mathbf { I } _ { n } = \\mathbf { g } ^ { \\top } \\mathbf { a } , } \\end{array}", + "type": "interline_equation", + "image_path": "88ae227931818eb089d17874316ab0afd024be37ff0b575b1bf2763439e546b2.jpg" + } + ] + } + ], + "index": 11.5, + "virtual_lines": [ + { + "bbox": [ + 229, + 265, + 382, + 295.5 + ], + "spans": [], + "index": 11 + }, + { + "bbox": [ + 229, + 295.5, + 382, + 326.0 + ], + "spans": [], + "index": 12 + } + ] + }, + { + "type": "text", + "bbox": [ + 87, + 329, + 216, + 340 + ], + "lines": [ + { + "bbox": [ + 85, + 328, + 216, + 341 + ], + "spans": [ + { + "bbox": [ + 85, + 328, + 216, + 341 + ], + "score": 1.0, + "content": "481 which concludes the proof.", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + } + ], + "page_idx": 14, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 494, + 329, + 505, + 340 + ], + "lines": [ + { + "bbox": [ + 496, + 330, + 505, + 340 + ], + "spans": [ + { + "bbox": [ + 496, + 330, + 505, + 340 + ], + "score": 1.0, + "content": "□", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 741, + 311, + 750 + ], + "lines": [ + { + "bbox": [ + 299, + 740, + 313, + 754 + ], + "spans": [ + { + "bbox": [ + 299, + 740, + 313, + 754 + ], + "score": 1.0, + "content": "15", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "index", + "bbox": [ + 88, + 72, + 506, + 96 + ], + "lines": [ + { + "bbox": [ + 84, + 73, + 506, + 85 + ], + "spans": [ + { + "bbox": [ + 84, + 73, + 282, + 85 + ], + "score": 1.0, + "content": "476 where the first equality uses the definition of", + "type": "text" + }, + { + "bbox": [ + 282, + 73, + 289, + 84 + ], + "score": 0.85, + "content": "\\zeta", + "type": "inline_equation" + }, + { + "bbox": [ + 289, + 73, + 506, + 85 + ], + "score": 1.0, + "content": "in (17). 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Method /SettingCoLA (B-B)CoLA (B-M)MRPC (B-B)STS-B (B-M)
MetricMCCMCCAcc.F1PearsonSpearman
Gradient baseline54.20 ± 7.5621.08 ± 2.8882.52 ±1.2287.88 ±0.7476.98 ± 1.1076.88 ±0.79
s*57.62 ± 1.5924.67 ± 2.6283.28±0.8988.28±0.7081.09 ± 1.5880.82 ±1.57
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ModelGradientK-FACsS*
CPU time GPU timeMemoryCPU timeGPU t.MemoryCPU timeGPU t.MemoryCPU t.GPU t.Memory
5 layers w/100 n.2.05 s1.79 s1.0MB62.78 s17.63 s11.5 MB8.65 s 11.76 s1.6 MB3.34s4.07 s1.0MB
5 layers w/400 n.23.74 s1.84 s4.8MB218.48 s32.00 s22.4MB38.67 s 12.62 s7.7MB13.62 s4.19 s4.9 MB
5 layers w/1600 n.187.87 s1.93 s51.0MB 6985.48 s156.48 s212.2MB665.80s12.53 s85.8MB291.01 s4.49 s51.4MB
5 layers w/6 400 n. 3439.59 s8.22s691.0MB1320.81s3155.3MB9673s 31.87s 1197.8 MB 3451.61s 10.24 s 692.5 MB
Auto-Encoder78.61 s2.20 s16.2MB1207.58 s74.09 s70.7MB193.25 s 14.19 s33.8MB87.39 s4.93 s16.5MB
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These algorithms are", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 506, + 505, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 506, + 505, + 518 + ], + "score": 1.0, + "content": "referred to as trust region or proximity-based, resonating the fact that they make the new policy to lie", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 516, + 505, + 529 + ], + "spans": [ + { + "bbox": [ + 105, + 516, + 505, + 529 + ], + "score": 1.0, + "content": "within a trust-region around the old one. This class includes the theoretically grounded conservative", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 527, + 506, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 527, + 506, + 540 + ], + "score": 1.0, + "content": "policy iteration (CPI) algorithm [15], as well as the state-of-the-art deep RL algorithms, such as", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "score": 1.0, + "content": "trust-region policy optimization (TRPO) [26] and proximal policy optimization (PPO) [28]. The main", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 549, + 505, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 505, + 562 + ], + "score": 1.0, + "content": "difference between these algorithms is in the way that they enforce the trust-region constraint. 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PPO takes a more relaxed", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 582, + 506, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 595 + ], + "score": 1.0, + "content": "approach and updates its policies by solving an unconstrained optimization problem in which the", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "score": 1.0, + "content": "ratio of the new to old policies is clipped to remain bounded. It has been shown that this procedure", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 604, + 479, + 617 + ], + "spans": [ + { + "bbox": [ + 106, + 604, + 479, + 617 + ], + "score": 1.0, + "content": "does not prevent the policy ratios to go out of bound, and only reduces its probability [31, 9].", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 40.5 + }, + { + "type": "text", + "bbox": [ + 107, + 621, + 505, + 687 + ], + "lines": [ + { + "bbox": [ + 106, + 621, + 506, + 633 + ], + "spans": [ + { + "bbox": [ + 106, + 621, + 506, + 633 + ], + "score": 1.0, + "content": "Mirror descent (MD) [6, 4] is a first-order optimization method for solving constrained convex", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 632, + 506, + 645 + ], + "spans": [ + { + "bbox": [ + 105, + 632, + 506, + 645 + ], + "score": 1.0, + "content": "problems. Although MD is theoretically well-understood in optimization [3, 14], only recently, has it", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 642, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 505, + 656 + ], + "score": 1.0, + "content": "been investigated for policy optimization in RL [25, 12, 20, 29, 1]. Despite the progress made by", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 106, + 654, + 506, + 667 + ], + "spans": [ + { + "bbox": [ + 106, + 654, + 506, + 667 + ], + "score": 1.0, + "content": "these results in establishing connections between MD and trust-region policy optimization, there are", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 665, + 505, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 665, + 505, + 677 + ], + "score": 1.0, + "content": "still considerable gaps between the trust-region RL algorithms that have been theoretically analyzed", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 676, + 451, + 687 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 451, + 687 + ], + "score": 1.0, + "content": "in their tabular form [29] and those that are used in practice, such as TRPO and PPO.", + "type": "text" + } + ], + "index": 52 + } + ], + "index": 49.5 + }, + { + "type": "text", + "bbox": [ + 108, + 693, + 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264 + ], + "spans": [ + { + "bbox": [ + 141, + 252, + 469, + 264 + ], + "score": 1.0, + "content": "algorithms in reinforcement learning (RL). However, there remains a considerable", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 141, + 263, + 471, + 275 + ], + "spans": [ + { + "bbox": [ + 141, + 263, + 471, + 275 + ], + "score": 1.0, + "content": "gap between such theoretically analyzed algorithms and the ones used in practice.", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 141, + 274, + 470, + 287 + ], + "spans": [ + { + "bbox": [ + 141, + 274, + 470, + 287 + ], + "score": 1.0, + "content": "Inspired by this, we propose an efficient RL algorithm, called mirror descent policy", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 141, + 284, + 470, + 298 + ], + "spans": [ + { + "bbox": [ + 141, + 284, + 470, + 298 + ], + "score": 1.0, + "content": "optimization (MDPO). MDPO iteratively updates the policy by approximately", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 142, + 296, + 470, + 308 + ], + "spans": [ + { + "bbox": [ + 142, + 296, + 470, + 308 + ], + "score": 1.0, + "content": "solving a trust-region problem, whose objective function consists of two terms:", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 141, + 307, + 469, + 318 + ], + "spans": [ + { + "bbox": [ + 141, + 307, + 469, + 318 + ], + "score": 1.0, + "content": "a linearization of the standard RL objective and a proximity term that restricts", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 141, + 318, + 469, + 330 + ], + "spans": [ + { + "bbox": [ + 141, + 318, + 469, + 330 + ], + "score": 1.0, + "content": "two consecutive policies to be close to each other. Each update performs this", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 141, + 329, + 470, + 341 + ], + "spans": [ + { + "bbox": [ + 141, + 329, + 470, + 341 + ], + "score": 1.0, + "content": "approximation by taking multiple gradient steps on this objective function. We", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 141, + 339, + 469, + 352 + ], + "spans": [ + { + "bbox": [ + 141, + 339, + 469, + 352 + ], + "score": 1.0, + "content": "derive on-policy and off-policy variants of MDPO, while emphasizing important", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 141, + 350, + 470, + 364 + ], + "spans": [ + { + "bbox": [ + 141, + 350, + 470, + 364 + ], + "score": 1.0, + "content": "design choices motivated by the existing theory of MD in RL. We highlight the", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 141, + 362, + 470, + 375 + ], + "spans": [ + { + "bbox": [ + 141, + 362, + 470, + 375 + ], + "score": 1.0, + "content": "connections between on-policy MDPO and two popular trust-region RL algorithms:", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 141, + 372, + 469, + 385 + ], + "spans": [ + { + "bbox": [ + 141, + 372, + 469, + 385 + ], + "score": 1.0, + "content": "TRPO and PPO, and show that explicitly enforcing the trust-region constraint is in", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 141, + 383, + 470, + 396 + ], + "spans": [ + { + "bbox": [ + 141, + 383, + 470, + 396 + ], + "score": 1.0, + "content": "fact not a necessity for high performance gains in TRPO. We then show how the", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 141, + 394, + 470, + 407 + ], + "spans": [ + { + "bbox": [ + 141, + 394, + 470, + 407 + ], + "score": 1.0, + "content": "popular soft actor-critic (SAC) algorithm can be derived by slight modifications", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 141, + 405, + 470, + 418 + ], + "spans": [ + { + "bbox": [ + 141, + 405, + 470, + 418 + ], + "score": 1.0, + "content": "of off-policy MDPO. Overall, MDPO is derived from the MD principles, offers", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 141, + 417, + 469, + 429 + ], + "spans": [ + { + "bbox": [ + 141, + 417, + 469, + 429 + ], + "score": 1.0, + "content": "a unified approach to viewing a number of popular RL algorithms, and performs", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 142, + 428, + 469, + 439 + ], + "spans": [ + { + "bbox": [ + 142, + 428, + 469, + 439 + ], + "score": 1.0, + "content": "better than or on-par with TRPO, PPO, and SAC in a number of continuous and", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 142, + 439, + 231, + 449 + ], + "spans": [ + { + "bbox": [ + 142, + 439, + 231, + 449 + ], + "score": 1.0, + "content": "discrete control tasks.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 23.5, + "bbox_fs": [ + 141, + 229, + 471, + 449 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 463, + 206, + 475 + ], + "lines": [ + { + "bbox": [ + 105, + 461, + 208, + 478 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 208, + 478 + ], + "score": 1.0, + "content": "1 INTRODUCTION", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 107, + 483, + 505, + 615 + ], + "lines": [ + { + "bbox": [ + 105, + 484, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 105, + 484, + 505, + 496 + ], + "score": 1.0, + "content": "An important class of RL algorithms consider an additional objective in their policy optimization", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 495, + 505, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 495, + 505, + 507 + ], + "score": 1.0, + "content": "that aims at constraining the consecutive policies to remain close to each other. These algorithms are", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 506, + 505, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 506, + 505, + 518 + ], + "score": 1.0, + "content": "referred to as trust region or proximity-based, resonating the fact that they make the new policy to lie", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 516, + 505, + 529 + ], + "spans": [ + { + "bbox": [ + 105, + 516, + 505, + 529 + ], + "score": 1.0, + "content": "within a trust-region around the old one. This class includes the theoretically grounded conservative", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 527, + 506, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 527, + 506, + 540 + ], + "score": 1.0, + "content": "policy iteration (CPI) algorithm [15], as well as the state-of-the-art deep RL algorithms, such as", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 505, + 551 + ], + "score": 1.0, + "content": "trust-region policy optimization (TRPO) [26] and proximal policy optimization (PPO) [28]. The main", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 549, + 505, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 505, + 562 + ], + "score": 1.0, + "content": "difference between these algorithms is in the way that they enforce the trust-region constraint. TRPO", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 505, + 573 + ], + "score": 1.0, + "content": "enforces it explicitly through a line-search procedure that ensures the new policy is selected such", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 571, + 505, + 583 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 505, + 583 + ], + "score": 1.0, + "content": "that its KL-divergence with the old policy is below a certain threshold. PPO takes a more relaxed", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 582, + 506, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 595 + ], + "score": 1.0, + "content": "approach and updates its policies by solving an unconstrained optimization problem in which the", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 606 + ], + "score": 1.0, + "content": "ratio of the new to old policies is clipped to remain bounded. It has been shown that this procedure", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 604, + 479, + 617 + ], + "spans": [ + { + "bbox": [ + 106, + 604, + 479, + 617 + ], + "score": 1.0, + "content": "does not prevent the policy ratios to go out of bound, and only reduces its probability [31, 9].", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 40.5, + "bbox_fs": [ + 105, + 484, + 506, + 617 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 621, + 505, + 687 + ], + "lines": [ + { + "bbox": [ + 106, + 621, + 506, + 633 + ], + "spans": [ + { + "bbox": [ + 106, + 621, + 506, + 633 + ], + "score": 1.0, + "content": "Mirror descent (MD) [6, 4] is a first-order optimization method for solving constrained convex", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 632, + 506, + 645 + ], + "spans": [ + { + "bbox": [ + 105, + 632, + 506, + 645 + ], + "score": 1.0, + "content": "problems. Although MD is theoretically well-understood in optimization [3, 14], only recently, has it", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 642, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 642, + 505, + 656 + ], + "score": 1.0, + "content": "been investigated for policy optimization in RL [25, 12, 20, 29, 1]. Despite the progress made by", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 106, + 654, + 506, + 667 + ], + "spans": [ + { + "bbox": [ + 106, + 654, + 506, + 667 + ], + "score": 1.0, + "content": "these results in establishing connections between MD and trust-region policy optimization, there are", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 665, + 505, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 665, + 505, + 677 + ], + "score": 1.0, + "content": "still considerable gaps between the trust-region RL algorithms that have been theoretically analyzed", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 676, + 451, + 687 + ], + "spans": [ + { + "bbox": [ + 106, + 676, + 451, + 687 + ], + "score": 1.0, + "content": "in their tabular form [29] and those that are used in practice, such as TRPO and PPO.", + "type": "text" + } + ], + "index": 52 + } + ], + "index": 49.5, + "bbox_fs": [ + 105, + 621, + 506, + 687 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 693, + 505, + 715 + ], + "lines": [ + { + "bbox": [ + 106, + 693, + 505, + 705 + ], + "spans": [ + { + "bbox": [ + 106, + 693, + 505, + 705 + ], + "score": 1.0, + "content": "In this paper, motivated by the theory of MD in tabular RL, our goal is to derive scaleable and", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 703, + 505, + 717 + ], + "spans": [ + { + "bbox": [ + 105, + 703, + 505, + 717 + ], + "score": 1.0, + "content": "practical RL algorithms from the MD principles, and to use the MD theory to better understand and", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "score": 1.0, + "content": "explain the popular trust-region policy optimization methods. Going beyond the tabular case, when", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 106, + 93, + 505, + 106 + ], + "score": 1.0, + "content": "the policy belongs to a parametric class, the trust-region problems for policy update in RL cannot", + "type": "text", + "cross_page": true + } + ], + "index": 1 + }, + { + "bbox": [ + 104, + 103, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 104, + 103, + 506, + 118 + ], + "score": 1.0, + "content": "be solved in closed-form. We propose an algorithm, called mirror descent policy optimization", + "type": "text", + "cross_page": true + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 114, + 506, + 129 + ], + "spans": [ + { + "bbox": [ + 105, + 114, + 506, + 129 + ], + "score": 1.0, + "content": "(MDPO), that addresses this issue by approximately solving these trust-region problems via taking", + "type": "text", + "cross_page": true + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "score": 1.0, + "content": "multiple gradient steps on their objective functions. We derive on-policy and off-policy variants", + "type": "text", + "cross_page": true + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 136, + 506, + 151 + ], + "spans": [ + { + "bbox": [ + 105, + 136, + 506, + 151 + ], + "score": 1.0, + "content": "of MDPO (Section 4). We highlight the connection between on-policy MDPO and TRPO and PPO", + "type": "text", + "cross_page": true + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 148, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 106, + 148, + 505, + 161 + ], + "score": 1.0, + "content": "(Section 4.1), and empirically compare it against these algorithms on several continuous control tasks", + "type": "text", + "cross_page": true + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 159, + 506, + 172 + ], + "spans": [ + { + "bbox": [ + 106, + 159, + 506, + 172 + ], + "score": 1.0, + "content": "from OpenAI Gym [7] (Section 5.3). We then show that if we define the trust-region w.r.t. the uniform", + "type": "text", + "cross_page": true + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 171, + 505, + 183 + ], + "spans": [ + { + "bbox": [ + 105, + 171, + 505, + 183 + ], + "score": 1.0, + "content": "policy, instead of the old one, our off-policy MDPO coincides with the popular soft actor-critic (SAC)", + "type": "text", + "cross_page": true + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 181, + 505, + 194 + ], + "spans": [ + { + "bbox": [ + 106, + 181, + 505, + 194 + ], + "score": 1.0, + "content": "algorithm [13]. We discuss this connection in detail (Section 4.2) and empirically compare these", + "type": "text", + "cross_page": true + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 192, + 410, + 204 + ], + "spans": [ + { + "bbox": [ + 106, + 192, + 410, + 204 + ], + "score": 1.0, + "content": "algorithms using the same set of continuous control problems (Section 5.4).", + "type": "text", + "cross_page": true + } + ], + "index": 10 + } + ], + "index": 53.5, + "bbox_fs": [ + 105, + 693, + 505, + 717 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 203 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 506, + 95 + ], + "score": 1.0, + "content": "explain the popular trust-region policy optimization methods. Going beyond the tabular case, when", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 106, + 93, + 505, + 106 + ], + "score": 1.0, + "content": "the policy belongs to a parametric class, the trust-region problems for policy update in RL cannot", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 104, + 103, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 104, + 103, + 506, + 118 + ], + "score": 1.0, + "content": "be solved in closed-form. We propose an algorithm, called mirror descent policy optimization", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 114, + 506, + 129 + ], + "spans": [ + { + "bbox": [ + 105, + 114, + 506, + 129 + ], + "score": 1.0, + "content": "(MDPO), that addresses this issue by approximately solving these trust-region problems via taking", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "score": 1.0, + "content": "multiple gradient steps on their objective functions. We derive on-policy and off-policy variants", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 136, + 506, + 151 + ], + "spans": [ + { + "bbox": [ + 105, + 136, + 506, + 151 + ], + "score": 1.0, + "content": "of MDPO (Section 4). We highlight the connection between on-policy MDPO and TRPO and PPO", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 148, + 505, + 161 + ], + "spans": [ + { + "bbox": [ + 106, + 148, + 505, + 161 + ], + "score": 1.0, + "content": "(Section 4.1), and empirically compare it against these algorithms on several continuous control tasks", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 159, + 506, + 172 + ], + "spans": [ + { + "bbox": [ + 106, + 159, + 506, + 172 + ], + "score": 1.0, + "content": "from OpenAI Gym [7] (Section 5.3). We then show that if we define the trust-region w.r.t. the uniform", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 171, + 505, + 183 + ], + "spans": [ + { + "bbox": [ + 105, + 171, + 505, + 183 + ], + "score": 1.0, + "content": "policy, instead of the old one, our off-policy MDPO coincides with the popular soft actor-critic (SAC)", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 181, + 505, + 194 + ], + "spans": [ + { + "bbox": [ + 106, + 181, + 505, + 194 + ], + "score": 1.0, + "content": "algorithm [13]. We discuss this connection in detail (Section 4.2) and empirically compare these", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 192, + 410, + 204 + ], + "spans": [ + { + "bbox": [ + 106, + 192, + 410, + 204 + ], + "score": 1.0, + "content": "algorithms using the same set of continuous control problems (Section 5.4).", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 5 + }, + { + "type": "text", + "bbox": [ + 107, + 209, + 297, + 384 + ], + "lines": [ + { + "bbox": [ + 106, + 209, + 297, + 221 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 297, + 221 + ], + "score": 1.0, + "content": "Our observations on the comparison between", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 219, + 297, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 219, + 297, + 232 + ], + "score": 1.0, + "content": "the MDPO algorithms and TRPO, PPO, and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 231, + 297, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 297, + 243 + ], + "score": 1.0, + "content": "SAC are a result of extensive empirical studies", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 241, + 298, + 254 + ], + "spans": [ + { + "bbox": [ + 105, + 241, + 298, + 254 + ], + "score": 1.0, + "content": "on different versions of these algorithms (Sec-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 253, + 298, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 298, + 265 + ], + "score": 1.0, + "content": "tion 5 and Appendices E and F). In particular,", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 264, + 298, + 276 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 298, + 276 + ], + "score": 1.0, + "content": "we first compare the vanilla versions of these", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 275, + 297, + 286 + ], + "spans": [ + { + "bbox": [ + 106, + 275, + 297, + 286 + ], + "score": 1.0, + "content": "algorithms in order to better understand how the", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 287, + 298, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 287, + 298, + 297 + ], + "score": 1.0, + "content": "core of these methods work relative to each other.", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 296, + 298, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 298, + 308 + ], + "score": 1.0, + "content": "We then add a number of code-level optimiza-", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 308, + 298, + 319 + ], + "spans": [ + { + "bbox": [ + 106, + 308, + 298, + 319 + ], + "score": 1.0, + "content": "tion techniques derived from the code-bases of", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 318, + 298, + 331 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 298, + 331 + ], + "score": 1.0, + "content": "TRPO, PPO, and SAC to these algorithms to", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 330, + 297, + 340 + ], + "spans": [ + { + "bbox": [ + 105, + 330, + 297, + 340 + ], + "score": 1.0, + "content": "compare their best form (those that obtain the", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 341, + 297, + 352 + ], + "spans": [ + { + "bbox": [ + 106, + 341, + 297, + 352 + ], + "score": 1.0, + "content": "best results reported in the literature) against", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 352, + 297, + 363 + ], + "spans": [ + { + "bbox": [ + 106, + 352, + 297, + 363 + ], + "score": 1.0, + "content": "each other, while also evaluating MDPO with", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 362, + 298, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 298, + 375 + ], + "score": 1.0, + "content": "PPO on 21 Atari games. We address the com-", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 373, + 297, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 373, + 297, + 387 + ], + "score": 1.0, + "content": "mon belief within the community that explicitly", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 18.5 + }, + { + "type": "image", + "bbox": [ + 308, + 212, + 501, + 311 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 308, + 212, + 501, + 311 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 308, + 212, + 501, + 311 + ], + "spans": [ + { + "bbox": [ + 308, + 212, + 501, + 311 + ], + "score": 0.97, + "type": "image", + "image_path": "98556dc887fc782d5df6722bf418348e2576929ca714b969880c5cc0ee66ecf4.jpg" + } + ] + } + ], + "index": 30, + "virtual_lines": [ + { + "bbox": [ + 308, + 212, + 501, + 226.14285714285714 + ], + "spans": [], + "index": 27 + }, + { + "bbox": [ + 308, + 226.14285714285714, + 501, + 240.28571428571428 + ], + "spans": [], + "index": 28 + }, + { + "bbox": [ + 308, + 240.28571428571428, + 501, + 254.42857142857142 + ], + "spans": [], + "index": 29 + }, + { + "bbox": [ + 308, + 254.42857142857142, + 501, + 268.57142857142856 + ], + "spans": [], + "index": 30 + }, + { + "bbox": [ + 308, + 268.57142857142856, + 501, + 282.7142857142857 + ], + "spans": [], + "index": 31 + }, + { + "bbox": [ + 308, + 282.7142857142857, + 501, + 296.8571428571429 + ], + "spans": [], + "index": 32 + }, + { + "bbox": [ + 308, + 296.8571428571429, + 501, + 311.00000000000006 + ], + "spans": [], + "index": 33 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 304, + 314, + 505, + 364 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 304, + 314, + 506, + 326 + ], + "spans": [ + { + "bbox": [ + 304, + 314, + 506, + 326 + ], + "score": 1.0, + "content": "Figure 1: Overall Comparison. Between MDPO, PPO,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 304, + 324, + 506, + 335 + ], + "spans": [ + { + "bbox": [ + 304, + 324, + 506, + 335 + ], + "score": 1.0, + "content": "and TRPO, MDPO provides the best trade-off in terms of", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 303, + 335, + 505, + 344 + ], + "spans": [ + { + "bbox": [ + 303, + 335, + 505, + 344 + ], + "score": 1.0, + "content": "best average performance, less (normalized) wall clock", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 304, + 343, + 506, + 356 + ], + "spans": [ + { + "bbox": [ + 304, + 343, + 506, + 356 + ], + "score": 1.0, + "content": "times, and least number of algorithm specific hyper pa-", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 303, + 355, + 358, + 364 + ], + "spans": [ + { + "bbox": [ + 303, + 355, + 358, + 364 + ], + "score": 1.0, + "content": "rameters used.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 36 + } + ], + "index": 33.0 + }, + { + "type": "text", + "bbox": [ + 106, + 385, + 505, + 505 + ], + "lines": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "score": 1.0, + "content": "enforcing the trust-region constraint is a necessity for good performance in TRPO, by showing", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "spans": [ + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "score": 1.0, + "content": "that MDPO, a trust-region method based on the MD principles, does not require enforcing a hard", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 406, + 505, + 419 + ], + "spans": [ + { + "bbox": [ + 106, + 406, + 505, + 419 + ], + "score": 1.0, + "content": "constraint and achieves strong performance by solely solving an unconstrained problem. We address", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 417, + 505, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 417, + 505, + 431 + ], + "score": 1.0, + "content": "another common belief that PPO is a better performing algorithm than TRPO. By reporting results", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 428, + 505, + 440 + ], + "spans": [ + { + "bbox": [ + 106, + 428, + 505, + 440 + ], + "score": 1.0, + "content": "of both the vanilla version and the version loaded with code-level optimization techniques for all", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 439, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 105, + 439, + 505, + 451 + ], + "score": 1.0, + "content": "algorithms, we show that in both cases, TRPO consistently outperforms PPO. This is in line with", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "score": 1.0, + "content": "some of the findings from a recent study on PPO and TRPO [9]. Finally, we provide an optimization", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 104, + 460, + 506, + 475 + ], + "spans": [ + { + "bbox": [ + 104, + 460, + 506, + 475 + ], + "score": 1.0, + "content": "perspective for SAC, instead of its initial motivation as an entropy-regularized (soft) approximate", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 472, + 505, + 484 + ], + "spans": [ + { + "bbox": [ + 105, + 472, + 505, + 484 + ], + "score": 1.0, + "content": "dynamic programming algorithm. Through comprehensive experiments, we show that on-policy and", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "score": 1.0, + "content": "off-policy MDPO achieve state-of-the-art performance across a number of benchmark tasks, and can", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 493, + 503, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 493, + 503, + 507 + ], + "score": 1.0, + "content": "be excellent alternatives to popular policy optimization algorithms, such as TRPO, PPO, and SAC.", + "type": "text" + } + ], + "index": 49 + } + ], + "index": 44 + }, + { + "type": "title", + "bbox": [ + 108, + 520, + 207, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 518, + 209, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 518, + 209, + 534 + ], + "score": 1.0, + "content": "2 PRELIMINARIES", + "type": "text" + } + ], + "index": 50 + } + ], + "index": 50 + }, + { + "type": "text", + "bbox": [ + 106, + 543, + 506, + 661 + ], + "lines": [ + { + "bbox": [ + 105, + 544, + 505, + 556 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 451, + 556 + ], + "score": 1.0, + "content": "In this paper, we assume that the agent’s interaction with the environment is modeled as a", + "type": "text" + }, + { + "bbox": [ + 451, + 546, + 458, + 555 + ], + "score": 0.83, + "content": "\\gamma", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 544, + 505, + 556 + ], + "score": 1.0, + "content": "-discounted", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 554, + 505, + 567 + ], + "spans": [ + { + "bbox": [ + 106, + 554, + 290, + 567 + ], + "score": 1.0, + "content": "Markov decision process (MDP), denoted by", + "type": "text" + }, + { + "bbox": [ + 290, + 555, + 387, + 567 + ], + "score": 0.92, + "content": "\\mathcal { M } = ( \\mathcal { S } , \\mathcal { A } , P , R , \\gamma , \\mu )", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 554, + 417, + 567 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 418, + 555, + 426, + 565 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 554, + 444, + 567 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 444, + 556, + 453, + 565 + ], + "score": 0.77, + "content": "\\mathcal { A }", + "type": "inline_equation" + }, + { + "bbox": [ + 454, + 554, + 505, + 567 + ], + "score": 1.0, + "content": "are the state", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 565, + 506, + 579 + ], + "spans": [ + { + "bbox": [ + 105, + 565, + 186, + 579 + ], + "score": 1.0, + "content": "and action spaces;", + "type": "text" + }, + { + "bbox": [ + 187, + 566, + 252, + 578 + ], + "score": 0.93, + "content": "P \\equiv P ( s ^ { \\prime } | s , a )", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 565, + 354, + 579 + ], + "score": 1.0, + "content": "is the transition kernel;", + "type": "text" + }, + { + "bbox": [ + 355, + 566, + 407, + 578 + ], + "score": 0.93, + "content": "R \\equiv r ( s , a )", + "type": "inline_equation" + }, + { + "bbox": [ + 407, + 565, + 506, + 579 + ], + "score": 1.0, + "content": "is the reward function;", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 106, + 576, + 506, + 590 + ], + "spans": [ + { + "bbox": [ + 106, + 577, + 147, + 588 + ], + "score": 0.92, + "content": "\\gamma \\in ( 0 , 1 )", + "type": "inline_equation" + }, + { + "bbox": [ + 148, + 576, + 250, + 590 + ], + "score": 1.0, + "content": "is the discount factor; and", + "type": "text" + }, + { + "bbox": [ + 251, + 579, + 258, + 588 + ], + "score": 0.83, + "content": "\\mu", + "type": "inline_equation" + }, + { + "bbox": [ + 258, + 576, + 392, + 590 + ], + "score": 1.0, + "content": "is the initial state distribution. Let", + "type": "text" + }, + { + "bbox": [ + 392, + 577, + 445, + 588 + ], + "score": 0.91, + "content": "\\pi : { \\mathcal { S } } \\Delta _ { \\mathcal { A } }", + "type": "inline_equation" + }, + { + "bbox": [ + 446, + 576, + 506, + 590 + ], + "score": 1.0, + "content": "be a stationary", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 587, + 205, + 600 + ], + "score": 1.0, + "content": "Markovian policy, where", + "type": "text" + }, + { + "bbox": [ + 206, + 588, + 222, + 599 + ], + "score": 0.9, + "content": "\\Delta _ { \\mathcal { A } }", + "type": "inline_equation" + }, + { + "bbox": [ + 222, + 587, + 378, + 600 + ], + "score": 1.0, + "content": "is the set of probability distributions on", + "type": "text" + }, + { + "bbox": [ + 378, + 588, + 387, + 598 + ], + "score": 0.77, + "content": "\\mathcal { A }", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 587, + 505, + 600 + ], + "score": 1.0, + "content": ". 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Setting", + "type": "text" + } + ], + "index": 66 + } + ], + "index": 63.5 + } + ], + "page_idx": 1, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 301, + 750, + 310, + 763 + ], + "spans": [ + { + "bbox": [ + 301, + 750, + 310, + 763 + ], + "score": 1.0, + "content": "2", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 203 + ], + "lines": [], + "index": 5, + "bbox_fs": [ + 104, + 82, + 506, + 204 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 107, + 209, + 297, + 384 + ], + "lines": [ + { + "bbox": [ + 106, + 209, + 297, + 221 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 297, + 221 + ], + "score": 1.0, + "content": "Our observations on the comparison between", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 219, + 297, + 232 + ], + "spans": [ + { + "bbox": [ + 106, + 219, + 297, + 232 + ], + "score": 1.0, + "content": "the MDPO algorithms and TRPO, PPO, and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 231, + 297, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 297, + 243 + ], + "score": 1.0, + "content": "SAC are a result of extensive empirical studies", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 241, + 298, + 254 + ], + "spans": [ + { + "bbox": [ + 105, + 241, + 298, + 254 + ], + "score": 1.0, + "content": "on different versions of these algorithms (Sec-", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 253, + 298, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 298, + 265 + ], + "score": 1.0, + "content": "tion 5 and Appendices E and F). In particular,", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 264, + 298, + 276 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 298, + 276 + ], + "score": 1.0, + "content": "we first compare the vanilla versions of these", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 275, + 297, + 286 + ], + "spans": [ + { + "bbox": [ + 106, + 275, + 297, + 286 + ], + "score": 1.0, + "content": "algorithms in order to better understand how the", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 287, + 298, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 287, + 298, + 297 + ], + "score": 1.0, + "content": "core of these methods work relative to each other.", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 296, + 298, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 298, + 308 + ], + "score": 1.0, + "content": "We then add a number of code-level optimiza-", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 308, + 298, + 319 + ], + "spans": [ + { + "bbox": [ + 106, + 308, + 298, + 319 + ], + "score": 1.0, + "content": "tion techniques derived from the code-bases of", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 318, + 298, + 331 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 298, + 331 + ], + "score": 1.0, + "content": "TRPO, PPO, and SAC to these algorithms to", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 330, + 297, + 340 + ], + "spans": [ + { + "bbox": [ + 105, + 330, + 297, + 340 + ], + "score": 1.0, + "content": "compare their best form (those that obtain the", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 341, + 297, + 352 + ], + "spans": [ + { + "bbox": [ + 106, + 341, + 297, + 352 + ], + "score": 1.0, + "content": "best results reported in the literature) against", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 352, + 297, + 363 + ], + "spans": [ + { + "bbox": [ + 106, + 352, + 297, + 363 + ], + "score": 1.0, + "content": "each other, while also evaluating MDPO with", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 362, + 298, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 298, + 375 + ], + "score": 1.0, + "content": "PPO on 21 Atari games. 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Between MDPO, PPO,", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 304, + 324, + 506, + 335 + ], + "spans": [ + { + "bbox": [ + 304, + 324, + 506, + 335 + ], + "score": 1.0, + "content": "and TRPO, MDPO provides the best trade-off in terms of", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 303, + 335, + 505, + 344 + ], + "spans": [ + { + "bbox": [ + 303, + 335, + 505, + 344 + ], + "score": 1.0, + "content": "best average performance, less (normalized) wall clock", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 304, + 343, + 506, + 356 + ], + "spans": [ + { + "bbox": [ + 304, + 343, + 506, + 356 + ], + "score": 1.0, + "content": "times, and least number of algorithm specific hyper pa-", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 303, + 355, + 358, + 364 + ], + "spans": [ + { + "bbox": [ + 303, + 355, + 358, + 364 + ], + "score": 1.0, + "content": "rameters used.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 36 + } + ], + "index": 33.0 + }, + { + "type": "text", + "bbox": [ + 106, + 385, + 505, + 505 + ], + "lines": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "score": 1.0, + "content": "enforcing the trust-region constraint is a necessity for good performance in TRPO, by showing", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "spans": [ + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "score": 1.0, + "content": "that MDPO, a trust-region method based on the MD principles, does not require enforcing a hard", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 406, + 505, + 419 + ], + "spans": [ + { + "bbox": [ + 106, + 406, + 505, + 419 + ], + "score": 1.0, + "content": "constraint and achieves strong performance by solely solving an unconstrained problem. 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This is in line with", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 463 + ], + "score": 1.0, + "content": "some of the findings from a recent study on PPO and TRPO [9]. Finally, we provide an optimization", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 104, + 460, + 506, + 475 + ], + "spans": [ + { + "bbox": [ + 104, + 460, + 506, + 475 + ], + "score": 1.0, + "content": "perspective for SAC, instead of its initial motivation as an entropy-regularized (soft) approximate", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 472, + 505, + 484 + ], + "spans": [ + { + "bbox": [ + 105, + 472, + 505, + 484 + ], + "score": 1.0, + "content": "dynamic programming algorithm. Through comprehensive experiments, we show that on-policy and", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 105, + 483, + 505, + 496 + ], + "score": 1.0, + "content": "off-policy MDPO achieve state-of-the-art performance across a number of benchmark tasks, and can", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 493, + 503, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 493, + 503, + 507 + ], + "score": 1.0, + "content": "be excellent alternatives to popular policy optimization algorithms, such as TRPO, PPO, and SAC.", + "type": "text" + } + ], + "index": 49 + } + ], + "index": 44, + "bbox_fs": [ + 104, + 383, + 506, + 507 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 520, + 207, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 518, + 209, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 518, + 209, + 534 + ], + "score": 1.0, + "content": "2 PRELIMINARIES", + "type": "text" + } + ], + "index": 50 + } + ], + "index": 50 + }, + { + "type": "text", + "bbox": [ + 106, + 543, + 506, + 661 + ], + "lines": [ + { + "bbox": [ + 105, + 544, + 505, + 556 + ], + "spans": [ + { + "bbox": [ + 105, + 544, + 451, + 556 + ], + "score": 1.0, + "content": "In this paper, we assume that the agent’s interaction with the environment is modeled as a", + "type": "text" + }, + { + "bbox": [ + 451, + 546, + 458, + 555 + ], + "score": 0.83, + "content": "\\gamma", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 544, + 505, + 556 + ], + "score": 1.0, + "content": "-discounted", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 554, + 505, + 567 + ], + "spans": [ + { + "bbox": [ + 106, + 554, + 290, + 567 + ], + "score": 1.0, + "content": "Markov decision process (MDP), denoted by", + "type": "text" + }, + { + "bbox": [ + 290, + 555, + 387, + 567 + ], + "score": 0.92, + "content": "\\mathcal { M } = ( \\mathcal { S } , \\mathcal { A } , P , R , \\gamma , \\mu )", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 554, + 417, + 567 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 418, + 555, + 426, + 565 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 554, + 444, + 567 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 444, + 556, + 453, + 565 + ], + "score": 0.77, + "content": "\\mathcal { A }", + "type": "inline_equation" + }, + { + "bbox": [ + 454, + 554, + 505, + 567 + ], + "score": 1.0, + "content": "are the state", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 565, + 506, + 579 + ], + "spans": [ + { + "bbox": [ + 105, + 565, + 186, + 579 + ], + "score": 1.0, + "content": "and action spaces;", + "type": "text" + }, + { + "bbox": [ + 187, + 566, + 252, + 578 + ], + "score": 0.93, + "content": "P \\equiv P ( s ^ { \\prime } | s , a )", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 565, + 354, + 579 + ], + "score": 1.0, + "content": "is the transition kernel;", + "type": "text" + }, + { + "bbox": [ + 355, + 566, + 407, + 578 + ], + "score": 0.93, + "content": "R \\equiv r ( s , a )", + "type": "inline_equation" + }, + { + "bbox": [ + 407, + 565, + 506, + 579 + ], + "score": 1.0, + "content": "is the reward function;", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 106, + 576, + 506, + 590 + ], + "spans": [ + { + "bbox": [ + 106, + 577, + 147, + 588 + ], + "score": 0.92, + "content": "\\gamma \\in ( 0 , 1 )", + "type": "inline_equation" + }, + { + "bbox": [ + 148, + 576, + 250, + 590 + ], + "score": 1.0, + "content": "is the discount factor; and", + "type": "text" + }, + { + "bbox": [ + 251, + 579, + 258, + 588 + ], + "score": 0.83, + "content": "\\mu", + "type": "inline_equation" + }, + { + "bbox": [ + 258, + 576, + 392, + 590 + ], + "score": 1.0, + "content": "is the initial state distribution. Let", + "type": "text" + }, + { + "bbox": [ + 392, + 577, + 445, + 588 + ], + "score": 0.91, + "content": "\\pi : { \\mathcal { S } } \\Delta _ { \\mathcal { A } }", + "type": "inline_equation" + }, + { + "bbox": [ + 446, + 576, + 506, + 590 + ], + "score": 1.0, + "content": "be a stationary", + "type": "text" + } + ], + "index": 54 + }, + { + "bbox": [ + 105, + 587, + 505, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 587, + 205, + 600 + ], + "score": 1.0, + "content": "Markovian policy, where", + "type": "text" + }, + { + "bbox": [ + 206, + 588, + 222, + 599 + ], + "score": 0.9, + "content": "\\Delta _ { \\mathcal { A } }", + "type": "inline_equation" + }, + { + "bbox": [ + 222, + 587, + 378, + 600 + ], + "score": 1.0, + "content": "is the set of probability distributions on", + "type": "text" + }, + { + "bbox": [ + 378, + 588, + 387, + 598 + ], + "score": 0.77, + "content": "\\mathcal { A }", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 587, + 505, + 600 + ], + "score": 1.0, + "content": ". The discounted frequency of", + "type": "text" + } + ], + "index": 55 + }, + { + "bbox": [ + 104, + 597, + 506, + 614 + ], + "spans": [ + { + "bbox": [ + 104, + 597, + 164, + 614 + ], + "score": 1.0, + "content": "visiting a state", + "type": "text" + }, + { + "bbox": [ + 164, + 601, + 170, + 609 + ], + "score": 0.7, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 170, + 597, + 254, + 614 + ], + "score": 1.0, + "content": "by following a policy", + "type": "text" + }, + { + "bbox": [ + 255, + 601, + 262, + 609 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 597, + 312, + 614 + ], + "score": 1.0, + "content": "is defined as", + "type": "text" + }, + { + "bbox": [ + 313, + 598, + 483, + 612 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\rho _ { \\pi } ( s ) \\equiv ( 1 - \\gamma ) \\mathbb { E } [ \\sum _ { t \\geq 0 } \\gamma ^ { t } \\mathbb { I } \\{ s _ { t } = s \\} | \\dot { \\mu } , \\pi ] } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 484, + 597, + 506, + 614 + ], + "score": 1.0, + "content": ". The", + "type": "text" + } + ], + "index": 56 + }, + { + "bbox": [ + 104, + 610, + 507, + 627 + ], + "spans": [ + { + "bbox": [ + 104, + 610, + 213, + 627 + ], + "score": 1.0, + "content": "value function of a policy", + "type": "text" + }, + { + "bbox": [ + 213, + 614, + 221, + 622 + ], + "score": 0.73, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 221, + 610, + 260, + 627 + ], + "score": 1.0, + "content": "at a state", + "type": "text" + }, + { + "bbox": [ + 261, + 612, + 286, + 622 + ], + "score": 0.91, + "content": "s \\in S", + "type": "inline_equation" + }, + { + "bbox": [ + 286, + 610, + 340, + 627 + ], + "score": 1.0, + "content": "is defined as", + "type": "text" + }, + { + "bbox": [ + 341, + 612, + 502, + 625 + ], + "score": 0.89, + "content": "\\begin{array} { r } { V ^ { \\pi } ( s ) \\equiv \\mathbb { E } [ \\sum _ { t \\geq 0 } \\gamma ^ { t } r ( s _ { t } , a _ { t } ) \\vert s _ { 0 } = s , \\pi ] } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 610, + 507, + 627 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 57 + }, + { + "bbox": [ + 104, + 623, + 505, + 640 + ], + "spans": [ + { + "bbox": [ + 104, + 623, + 260, + 640 + ], + "score": 1.0, + "content": "Similarly, the action-value function of", + "type": "text" + }, + { + "bbox": [ + 261, + 627, + 268, + 635 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 268, + 623, + 320, + 640 + ], + "score": 1.0, + "content": "is defined as", + "type": "text" + }, + { + "bbox": [ + 321, + 625, + 505, + 639 + ], + "score": 0.89, + "content": "\\begin{array} { r } { Q ^ { \\pi } ( s , a ) = \\mathbb { E } [ \\sum _ { t \\geq 0 } \\gamma ^ { t } r ( s _ { t } , a _ { t } ) | s _ { 0 } = s , a _ { 0 } = } \\end{array}", + "type": "inline_equation" + } + ], + "index": 58 + }, + { + "bbox": [ + 106, + 637, + 505, + 650 + ], + "spans": [ + { + "bbox": [ + 106, + 638, + 126, + 650 + ], + "score": 0.9, + "content": "a , \\pi ]", + "type": "inline_equation" + }, + { + "bbox": [ + 127, + 637, + 288, + 650 + ], + "score": 1.0, + "content": ". 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In this formulation, the reward function is modified as", + "type": "text" + } + ], + "index": 64 + }, + { + "bbox": [ + 106, + 709, + 506, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 237, + 722 + ], + "score": 0.92, + "content": "r _ { \\lambda } \\bar { ( } s , a ) = r ( s , a ) + \\lambda H ( \\pi ( \\cdot \\bar { | } s ) )", + "type": "inline_equation" + }, + { + "bbox": [ + 237, + 709, + 266, + 722 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 267, + 711, + 273, + 720 + ], + "score": 0.83, + "content": "\\lambda", + "type": "inline_equation" + }, + { + "bbox": [ + 274, + 709, + 411, + 722 + ], + "score": 1.0, + "content": "is the regularization parameter and", + "type": "text" + }, + { + "bbox": [ + 412, + 710, + 422, + 720 + ], + "score": 0.8, + "content": "H", + "type": "inline_equation" + }, + { + "bbox": [ + 422, + 709, + 506, + 722 + ], + "score": 1.0, + "content": "is an entropy-related", + "type": "text" + } + ], + "index": 65 + }, + { + "bbox": [ + 105, + 720, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 733 + ], + "score": 1.0, + "content": "term, such as Shannon entropy [10, 23], Tsallis entropy [17, 24], or relative entropy [2, 22]. Setting", + "type": "text" + } + ], + "index": 66 + }, + { + "bbox": [ + 107, + 81, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 107, + 83, + 132, + 93 + ], + "score": 0.88, + "content": "\\lambda = 0", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 132, + 81, + 506, + 96 + ], + "score": 1.0, + "content": ", we return to the original formulation, also referred to as the hard MDP. In what follows, we", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 93, + 324, + 106 + ], + "spans": [ + { + "bbox": [ + 106, + 93, + 324, + 106 + ], + "score": 1.0, + "content": "use the terms ‘regularized’ and ‘soft’ interchangeably.", + "type": "text", + "cross_page": true + } + ], + "index": 1 + } + ], + "index": 63.5, + "bbox_fs": [ + 104, + 666, + 507, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 105 + ], + "lines": [ + { + "bbox": [ + 107, + 81, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 107, + 83, + 132, + 93 + ], + "score": 0.88, + "content": "\\lambda = 0", + "type": "inline_equation" + }, + { + "bbox": [ + 132, + 81, + 506, + 96 + ], + "score": 1.0, + "content": ", we return to the original formulation, also referred to as the hard MDP. In what follows, we", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 106, + 93, + 324, + 106 + ], + "spans": [ + { + "bbox": [ + 106, + 93, + 324, + 106 + ], + "score": 1.0, + "content": "use the terms ‘regularized’ and ‘soft’ interchangeably.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "title", + "bbox": [ + 107, + 115, + 329, + 127 + ], + "lines": [ + { + "bbox": [ + 105, + 114, + 330, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 114, + 330, + 128 + ], + "score": 1.0, + "content": "2.1 MIRROR DESCENT IN CONVEX OPTIMIZATION", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 2 + }, + { + "type": "text", + "bbox": [ + 106, + 133, + 506, + 211 + ], + "lines": [ + { + "bbox": [ + 106, + 134, + 505, + 146 + ], + "spans": [ + { + "bbox": [ + 106, + 134, + 505, + 146 + ], + "score": 1.0, + "content": "Mirror Descent (MD) [4] is a first-order trust-region optimization method for solving constrained", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 104, + 144, + 504, + 159 + ], + "spans": [ + { + "bbox": [ + 104, + 144, + 194, + 159 + ], + "score": 1.0, + "content": "convex problems, i.e.,", + "type": "text" + }, + { + "bbox": [ + 195, + 145, + 291, + 157 + ], + "score": 0.81, + "content": "x ^ { * } \\in \\arg \\operatorname* { m i n } _ { x \\in C } f ( x )", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 144, + 320, + 159 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 321, + 145, + 328, + 156 + ], + "score": 0.87, + "content": "f", + "type": "inline_equation" + }, + { + "bbox": [ + 328, + 144, + 495, + 159 + ], + "score": 1.0, + "content": "is a convex function and the constraint set", + "type": "text" + }, + { + "bbox": [ + 495, + 146, + 504, + 155 + ], + "score": 0.8, + "content": "C", + "type": "inline_equation" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 156, + 505, + 168 + ], + "spans": [ + { + "bbox": [ + 105, + 156, + 505, + 168 + ], + "score": 1.0, + "content": "is convex compact. 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We may write the MD", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 200, + 147, + 213 + ], + "spans": [ + { + "bbox": [ + 106, + 200, + 147, + 213 + ], + "score": 1.0, + "content": "update as", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 6 + }, + { + "type": "interline_equation", + "bbox": [ + 199, + 209, + 411, + 235 + ], + "lines": [ + { + "bbox": [ + 199, + 209, + 411, + 235 + ], + "spans": [ + { + "bbox": [ + 199, + 209, + 411, + 235 + ], + "score": 0.93, + "content": "x _ { k + 1 } \\in \\mathop { \\arg \\operatorname* { m i n } } _ { x \\in C } \\langle \\nabla f ( x _ { k } ) , x - x _ { k } \\rangle + \\frac { 1 } { t _ { k } } B _ { \\psi } ( x , x _ { k } ) ,", + "type": "interline_equation", + "image_path": "aedf59067d006640ffa99046e78af21a979f747052a15d84d8c26c52cdbf74b3.jpg" + } + ] + } + ], + "index": 10, + "virtual_lines": [ + { + "bbox": [ + 199, + 209, + 411, + 235 + ], + "spans": [], + "index": 10 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 238, + 505, + 316 + ], + "lines": [ + { + "bbox": [ + 105, + 237, + 506, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 237, + 133, + 252 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 239, + 321, + 250 + ], + "score": 0.92, + "content": "B _ { \\psi } ( x , x _ { k } ) : = \\psi ( x ) - \\psi ( x _ { k } ) - \\langle \\nabla \\psi ( x _ { k } ) , x - x _ { k } \\rangle", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 237, + 506, + 252 + ], + "score": 1.0, + "content": "is the Bregman divergence associated with a", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 249, + 505, + 262 + ], + "spans": [ + { + "bbox": [ + 106, + 249, + 249, + 262 + ], + "score": 1.0, + "content": "strongly convex potential function", + "type": "text" + }, + { + "bbox": [ + 249, + 250, + 257, + 261 + ], + "score": 0.86, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 257, + 249, + 278, + 262 + ], + "score": 1.0, + "content": ", and", + "type": "text" + }, + { + "bbox": [ + 279, + 251, + 288, + 260 + ], + "score": 0.86, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 249, + 505, + 262 + ], + "score": 1.0, + "content": "is a step-size determined by the MD analysis. 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In", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 292, + 506, + 306 + ], + "spans": [ + { + "bbox": [ + 105, + 292, + 242, + 306 + ], + "score": 1.0, + "content": "this case, when the constraint set", + "type": "text" + }, + { + "bbox": [ + 242, + 294, + 251, + 303 + ], + "score": 0.84, + "content": "C", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 292, + 332, + 306 + ], + "score": 1.0, + "content": "is the unit simplex,", + "type": "text" + }, + { + "bbox": [ + 332, + 293, + 370, + 304 + ], + "score": 0.9, + "content": "C = \\Delta _ { \\mathcal { X } }", + "type": "inline_equation" + }, + { + "bbox": [ + 370, + 292, + 506, + 306 + ], + "score": 1.0, + "content": ", MD becomes the exponentiated", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 303, + 385, + 317 + ], + "spans": [ + { + "bbox": [ + 105, + 303, + 385, + 317 + ], + "score": 1.0, + "content": "gradient descent algorithm and (1) has the following closed form [4]:", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 14 + }, + { + "type": "interline_equation", + "bbox": [ + 223, + 320, + 387, + 353 + ], + "lines": [ + { + "bbox": [ + 223, + 320, + 387, + 353 + ], + "spans": [ + { + "bbox": [ + 223, + 320, + 387, + 353 + ], + "score": 0.95, + "content": "x _ { k + 1 } ^ { i } = \\frac { x _ { k } ^ { i } \\exp \\big ( - t _ { k } \\nabla _ { i } f ( x _ { k } ) \\big ) } { \\sum _ { j = 1 } ^ { n } x _ { k } ^ { j } \\exp \\big ( - t _ { k } \\nabla _ { j } f ( x _ { k } ) \\big ) } ,", + "type": "interline_equation", + "image_path": "f59592b84434846adb5a823d9a7b929746d936026166cbfce474fa4418bd6325.jpg" + } + ] + } + ], + "index": 18.5, + "virtual_lines": [ + { + "bbox": [ + 223, + 320, + 387, + 336.5 + ], + "spans": [], + "index": 18 + }, + { + "bbox": [ + 223, + 336.5, + 387, + 353.0 + ], + "spans": [], + "index": 19 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 358, + 332, + 371 + ], + "lines": [ + { + "bbox": [ + 106, + 357, + 333, + 373 + ], + "spans": [ + { + "bbox": [ + 106, + 357, + 133, + 373 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 359, + 145, + 372 + ], + "score": 0.89, + "content": "\\ v x _ { k } ^ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 145, + 357, + 163, + 373 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 163, + 359, + 182, + 371 + ], + "score": 0.9, + "content": "\\nabla _ { i } f", + "type": "inline_equation" + }, + { + "bbox": [ + 182, + 357, + 212, + 373 + ], + "score": 1.0, + "content": "are the", + "type": "text" + }, + { + "bbox": [ + 212, + 359, + 223, + 369 + ], + "score": 0.87, + "content": "i ^ { \\mathrm { { t h } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 357, + 283, + 373 + ], + "score": 1.0, + "content": "coordinates of", + "type": "text" + }, + { + "bbox": [ + 284, + 361, + 295, + 370 + ], + "score": 0.84, + "content": "x _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 295, + 357, + 313, + 373 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 314, + 359, + 329, + 371 + ], + "score": 0.89, + "content": "\\nabla f", + "type": "inline_equation" + }, + { + "bbox": [ + 329, + 357, + 333, + 373 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 20 + }, + { + "type": "title", + "bbox": [ + 108, + 379, + 254, + 393 + ], + "lines": [ + { + "bbox": [ + 105, + 379, + 256, + 394 + ], + "spans": [ + { + "bbox": [ + 105, + 379, + 256, + 394 + ], + "score": 1.0, + "content": "3 MIRROR DESCENT IN RL", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 104, + 401, + 505, + 424 + ], + "lines": [ + { + "bbox": [ + 105, + 400, + 506, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 400, + 280, + 415 + ], + "score": 1.0, + "content": "The goal in RL is to find an optimal policy", + "type": "text" + }, + { + "bbox": [ + 281, + 402, + 292, + 412 + ], + "score": 0.85, + "content": "\\pi ^ { * }", + "type": "inline_equation" + }, + { + "bbox": [ + 293, + 400, + 506, + 415 + ], + "score": 1.0, + "content": ". Two common notions of optimality, and as a result,", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 412, + 417, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 412, + 417, + 425 + ], + "score": 1.0, + "content": "two distinct ways to formulate RL as an optimization problem are as follows:", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 22.5 + }, + { + "type": "interline_equation", + "bbox": [ + 146, + 429, + 482, + 450 + ], + "lines": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "spans": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "score": 0.89, + "content": "\\pi ^ { * } ( \\cdot | s ) \\in \\arg \\operatorname* { m a x } _ { \\pi } V ^ { \\pi } ( s ) , \\forall s \\in \\mathcal { S } , \\qquad \\quad \\mathbf { ( b ) } \\quad \\pi ^ { * } \\in \\arg \\operatorname* { m a x } _ { \\pi } \\mathbb { E } _ { s \\sim \\mu } \\left[ V ^ { \\pi } ( s ) \\right] .", + "type": "interline_equation", + "image_path": "71a5bf584caf895e15c62f38a4fb1ff4f1faff4456e7d7f6dd5cdd9f87c77bd5.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 454, + 506, + 488 + ], + "lines": [ + { + "bbox": [ + 106, + 455, + 506, + 466 + ], + "spans": [ + { + "bbox": [ + 106, + 455, + 365, + 466 + ], + "score": 1.0, + "content": "In (3a), the value function is optimized over the entire state space", + "type": "text" + }, + { + "bbox": [ + 365, + 455, + 373, + 465 + ], + "score": 0.76, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 374, + 455, + 506, + 466 + ], + "score": 1.0, + "content": ". This formulation is mainly used", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 466, + 505, + 477 + ], + "spans": [ + { + "bbox": [ + 106, + 466, + 505, + 477 + ], + "score": 1.0, + "content": "in value function based RL algorithms. On the other hand, the formulation in (3b) is more common in", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 477, + 506, + 489 + ], + "spans": [ + { + "bbox": [ + 106, + 477, + 422, + 489 + ], + "score": 1.0, + "content": "policy optimization, where a scalar that is the value function at the initial state", + "type": "text" + }, + { + "bbox": [ + 422, + 477, + 450, + 488 + ], + "score": 0.84, + "content": "( s \\sim \\mu )", + "type": "inline_equation" + }, + { + "bbox": [ + 450, + 477, + 506, + 489 + ], + "score": 1.0, + "content": ") is optimized.", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 26 + }, + { + "type": "text", + "bbox": [ + 108, + 493, + 505, + 527 + ], + "lines": [ + { + "bbox": [ + 106, + 493, + 505, + 506 + ], + "spans": [ + { + "bbox": [ + 106, + 493, + 410, + 506 + ], + "score": 1.0, + "content": "Unlike the MD optimization problem, the objective function is not convex in", + "type": "text" + }, + { + "bbox": [ + 411, + 496, + 418, + 504 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 418, + 493, + 505, + 506 + ], + "score": 1.0, + "content": "in either of the above", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "spans": [ + { + "bbox": [ + 105, + 504, + 505, + 516 + ], + "score": 1.0, + "content": "two RL optimization problems. Despite this issue, [12] and [29] have shown that we can still use the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 515, + 449, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 515, + 449, + 527 + ], + "score": 1.0, + "content": "general MD update rule (1) and derive MD-style RL algorithms with the update rules", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29 + }, + { + "type": "interline_equation", + "bbox": [ + 161, + 532, + 449, + 586 + ], + "lines": [ + { + "bbox": [ + 161, + 532, + 449, + 586 + ], + "spans": [ + { + "bbox": [ + 161, + 532, + 449, + 586 + ], + "score": 0.91, + "content": "\\begin{array} { r l } & { \\pi _ { k + 1 } ( \\cdot | s ) \\gets \\underset { \\pi \\in \\Pi } { \\mathrm { a r g ~ m a x ~ } } \\mathbb { E } _ { a \\sim \\pi } \\big [ A ^ { \\pi _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi , \\pi _ { k } ) , \\quad \\forall s \\in \\mathcal { S } , } \\\\ & { \\pi _ { k + 1 } \\gets \\underset { \\pi \\in \\Pi } { \\mathrm { a r g ~ m a x ~ } } \\mathbb { E } _ { s \\sim \\rho _ { \\pi _ { k } } } \\Big [ \\mathbb { E } _ { a \\sim \\pi } \\big [ A ^ { \\pi _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi , \\pi _ { k } ) \\Big ] , } \\end{array}", + "type": "interline_equation", + "image_path": "a23ed3931be89c1118405ae509e1d54b3b6aa4151e2c106f9e2ef52a24acbc9c.jpg" + } + ] + } + ], + "index": 32, + "virtual_lines": [ + { + "bbox": [ + 161, + 532, + 449, + 550.0 + ], + "spans": [], + "index": 31 + }, + { + "bbox": [ + 161, + 550.0, + 449, + 568.0 + ], + "spans": [], + "index": 32 + }, + { + "bbox": [ + 161, + 568.0, + 449, + 586.0 + ], + "spans": [], + "index": 33 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 591, + 505, + 625 + ], + "lines": [ + { + "bbox": [ + 106, + 591, + 505, + 603 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 505, + 603 + ], + "score": 1.0, + "content": "for the optimization problems (3a) and (3b), respectively. 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We refer to our algorithms as mirror descent policy optimization (MDPO). Since the", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "trust-region optimization problems in the update rules (4) and (5) cannot be solved in closed-form, we", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 688, + 506, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 506, + 700 + ], + "score": 1.0, + "content": "approximate these updates with multiple steps of stochastic gradient descent (SGD) on the objective", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 699, + 506, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 699, + 506, + 711 + ], + "score": 1.0, + "content": "functions of these optimization problems. In our on-policy MDPO algorithm, described in Section 4.1,", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 710, + 506, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 506, + 722 + ], + "score": 1.0, + "content": "we use the update rule (5) and compute the SGD updates using the Monte-Carlo (MC) estimate of", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 721, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 203, + 733 + ], + "score": 1.0, + "content": "the advantage function", + "type": "text" + }, + { + "bbox": [ + 203, + 721, + 220, + 731 + ], + "score": 0.88, + "content": "A ^ { \\pi _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 221, + 721, + 391, + 733 + ], + "score": 1.0, + "content": "gathered by following the current policy", + "type": "text" + }, + { + "bbox": [ + 391, + 722, + 403, + 732 + ], + "score": 0.85, + "content": "\\pi _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 721, + 505, + 733 + ], + "score": 1.0, + "content": ". 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Two common notions of optimality, and as a result,", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 412, + 417, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 412, + 417, + 425 + ], + "score": 1.0, + "content": "two distinct ways to formulate RL as an optimization problem are as follows:", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 22.5, + "bbox_fs": [ + 105, + 400, + 506, + 425 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 146, + 429, + 482, + 450 + ], + "lines": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "spans": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "score": 0.89, + "content": "\\pi ^ { * } ( \\cdot | s ) \\in \\arg \\operatorname* { m a x } _ { \\pi } V ^ { \\pi } ( s ) , \\forall s \\in \\mathcal { S } , \\qquad \\quad \\mathbf { ( b ) } \\quad \\pi ^ { * } \\in \\arg \\operatorname* { m a x } _ { \\pi } \\mathbb { E } _ { s \\sim \\mu } \\left[ V ^ { \\pi } ( s ) \\right] .", + "type": "interline_equation", + "image_path": "71a5bf584caf895e15c62f38a4fb1ff4f1faff4456e7d7f6dd5cdd9f87c77bd5.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 146, + 429, + 482, + 450 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 454, + 506, + 488 + ], + "lines": [ + { + "bbox": [ + 106, + 455, + 506, + 466 + ], + "spans": [ + { + "bbox": [ + 106, + 455, + 365, + 466 + ], + "score": 1.0, + "content": "In (3a), the value function is optimized over the entire state space", + "type": "text" + }, + { + "bbox": [ + 365, + 455, + 373, + 465 + ], + "score": 0.76, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 374, + 455, + 506, + 466 + ], + "score": 1.0, + "content": ". This formulation is mainly used", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 466, + 505, + 477 + ], + "spans": [ + { + "bbox": [ + 106, + 466, + 505, + 477 + ], + "score": 1.0, + "content": "in value function based RL algorithms. 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Despite this issue, [12] and [29] have shown that we can still use the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 515, + 449, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 515, + 449, + 527 + ], + "score": 1.0, + "content": "general MD update rule (1) and derive MD-style RL algorithms with the update rules", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29, + "bbox_fs": [ + 105, + 493, + 505, + 527 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 161, + 532, + 449, + 586 + ], + "lines": [ + { + "bbox": [ + 161, + 532, + 449, + 586 + ], + "spans": [ + { + "bbox": [ + 161, + 532, + 449, + 586 + ], + "score": 0.91, + "content": "\\begin{array} { r l } & { \\pi _ { k + 1 } ( \\cdot | s ) \\gets \\underset { \\pi \\in \\Pi } { \\mathrm { a r g ~ m a x ~ } } \\mathbb { E } _ { a \\sim \\pi } \\big [ A ^ { \\pi _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi , \\pi _ { k } ) , \\quad \\forall s \\in \\mathcal { S } , } \\\\ & { \\pi _ { k + 1 } \\gets \\underset { \\pi \\in \\Pi } { \\mathrm { a r g ~ m a x ~ } } \\mathbb { E } _ { s \\sim \\rho _ { \\pi _ { k } } } \\Big [ \\mathbb { E } _ { a \\sim \\pi } \\big [ A ^ { \\pi _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi , \\pi _ { k } ) \\Big ] , } \\end{array}", + "type": "interline_equation", + "image_path": "a23ed3931be89c1118405ae509e1d54b3b6aa4151e2c106f9e2ef52a24acbc9c.jpg" + } + ] + } + ], + "index": 32, + "virtual_lines": [ + { + "bbox": [ + 161, + 532, + 449, + 550.0 + ], + "spans": [], + "index": 31 + }, + { + "bbox": [ + 161, + 550.0, + 449, + 568.0 + ], + "spans": [], + "index": 32 + }, + { + "bbox": [ + 161, + 568.0, + 449, + 586.0 + ], + "spans": [], + "index": 33 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 591, + 505, + 625 + ], + "lines": [ + { + "bbox": [ + 106, + 591, + 505, + 603 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 505, + 603 + ], + "score": 1.0, + "content": "for the optimization problems (3a) and (3b), respectively. Note that while in (4), the policy is", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 602, + 505, + 614 + ], + "spans": [ + { + "bbox": [ + 106, + 602, + 268, + 614 + ], + "score": 1.0, + "content": "optimized uniformly over the state space", + "type": "text" + }, + { + "bbox": [ + 268, + 603, + 276, + 612 + ], + "score": 0.83, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 602, + 433, + 614 + ], + "score": 1.0, + "content": ", in (5), it is optimized over the measure", + "type": "text" + }, + { + "bbox": [ + 434, + 603, + 449, + 614 + ], + "score": 0.9, + "content": "\\rho _ { \\pi _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 450, + 602, + 505, + 614 + ], + "score": 1.0, + "content": ", i.e., the state", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 611, + 284, + 627 + ], + "spans": [ + { + "bbox": [ + 106, + 611, + 267, + 627 + ], + "score": 1.0, + "content": "frequency induced by the current policy", + "type": "text" + }, + { + "bbox": [ + 268, + 615, + 279, + 624 + ], + "score": 0.86, + "content": "\\pi _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 280, + 611, + 284, + 627 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 36 + } + ], + "index": 35, + "bbox_fs": [ + 106, + 591, + 505, + 627 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 633, + 343, + 646 + ], + "lines": [ + { + "bbox": [ + 104, + 631, + 344, + 649 + ], + "spans": [ + { + "bbox": [ + 104, + 631, + 344, + 649 + ], + "score": 1.0, + "content": "4 MIRROR DESCENT POLICY OPTIMIZATION", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 37 + }, + { + "type": "text", + "bbox": [ + 106, + 654, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 655, + 505, + 667 + ], + "spans": [ + { + "bbox": [ + 106, + 655, + 505, + 667 + ], + "score": 1.0, + "content": "In this section, we derive on-policy and off-policy RL algorithms based on the MD-style update", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 666, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 106, + 666, + 505, + 678 + ], + "score": 1.0, + "content": "rules (4) and (5). We refer to our algorithms as mirror descent policy optimization (MDPO). Since the", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "trust-region optimization problems in the update rules (4) and (5) cannot be solved in closed-form, we", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 688, + 506, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 506, + 700 + ], + "score": 1.0, + "content": "approximate these updates with multiple steps of stochastic gradient descent (SGD) on the objective", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 699, + 506, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 699, + 506, + 711 + ], + "score": 1.0, + "content": "functions of these optimization problems. 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We refer to this algorithm as on-policy MDPO.", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 195, + 406, + 208 + ], + "spans": [ + { + "bbox": [ + 106, + 195, + 320, + 208 + ], + "score": 1.0, + "content": "We may write the update rule (5) for the policy space", + "type": "text" + }, + { + "bbox": [ + 321, + 196, + 330, + 206 + ], + "score": 0.8, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 330, + 195, + 406, + 208 + ], + "score": 1.0, + "content": "(defined above) as", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 7 + }, + { + "type": "interline_equation", + "bbox": [ + 112, + 211, + 489, + 234 + ], + "lines": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "spans": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "score": 0.91, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\operatorname { a r g m a x } } \\Psi ( \\theta , \\theta _ { k } ) , \\quad w h e r e \\quad \\Psi ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } [ \\mathbb { E } _ { a \\sim \\pi _ { \\theta } } [ A ^ { \\theta _ { k } } ( s , a ) ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } ) ] .", + "type": "interline_equation", + "image_path": "ddb011a2c79b3399a0cc5cbd28743e585533fa94241f7198dc2e8437c5fcd737.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "spans": [], + "index": 9 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 239, + 505, + 284 + ], + "lines": [ + { + "bbox": [ + 105, + 238, + 505, + 253 + ], + "spans": [ + { + "bbox": [ + 105, + 238, + 351, + 253 + ], + "score": 1.0, + "content": "Each policy update in (6) requires solving a constrained (over", + "type": "text" + }, + { + "bbox": [ + 351, + 240, + 360, + 250 + ], + "score": 0.77, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 360, + 238, + 505, + 253 + ], + "score": 1.0, + "content": ") optimization problem. 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Since", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 443, + 506, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 443, + 506, + 455 + ], + "score": 1.0, + "content": "in practice, the policy space is often selected as Gaussian, we use the closed-form of KL in this", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 454, + 505, + 466 + ], + "spans": [ + { + "bbox": [ + 106, + 454, + 505, + 466 + ], + "score": 1.0, + "content": "estimation. Our on-policy MDPO algorithm (Algorithm 1, Appendix A) has close connections to", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 465, + 506, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 506, + 477 + ], + "score": 1.0, + "content": "two popular on-policy trust-region RL algorithms: TRPO [26] and PPO [28]. We now discuss the", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 475, + 412, + 489 + ], + "spans": [ + { + "bbox": [ + 105, + 475, + 412, + 489 + ], + "score": 1.0, + "content": "similarities and differences between on-policy MDPO and these algorithms.", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 104, + 492, + 504, + 505 + ], + "lines": [ + { + "bbox": [ + 106, + 492, + 505, + 506 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 281, + 506 + ], + "score": 1.0, + "content": "Comparison with TRPO. At each iteration", + "type": "text" + }, + { + "bbox": [ + 281, + 493, + 288, + 503 + ], + "score": 0.79, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 492, + 505, + 506 + ], + "score": 1.0, + "content": ", TRPO considers the constrained optimization problem", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 28 + }, + { + "type": "interline_equation", + "bbox": [ + 152, + 508, + 460, + 536 + ], + "lines": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "spans": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "score": 0.9, + "content": "\\operatorname* { m a x } _ { \\theta \\in \\Theta } \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\Big [ \\frac { \\pi _ { \\theta } ( a | s ) } { \\pi _ { \\theta _ { k } } ( a | s ) } A ^ { \\theta _ { k } } ( s , a ) \\Big ] , \\quad \\mathrm { s . t . } \\qquad \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\big [ \\mathrm { K L } ( s ; \\pi _ { \\theta _ { k } } , \\pi _ { \\theta } ) \\big ] \\leq \\delta ,", + "type": "interline_equation", + "image_path": "d50fbe0da92903d22b563854c559b16c854dcc216b238c3bed6d2c30014864c0.jpg" + } + ] + } + ], + "index": 29, + "virtual_lines": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "spans": [], + "index": 29 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 539, + 506, + 621 + ], + "lines": [ + { + "bbox": [ + 106, + 539, + 505, + 552 + ], + "spans": [ + { + "bbox": [ + 106, + 539, + 505, + 552 + ], + "score": 1.0, + "content": "and updates its policy parameter by taking a step in the direction of the natural gradient of", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 548, + 505, + 570 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 241, + 565 + ], + "score": 1.0, + "content": "the objective function in (8) as", + "type": "text" + }, + { + "bbox": [ + 241, + 550, + 448, + 570 + ], + "score": 0.9, + "content": "\\begin{array} { r l } & { \\dot { \\theta _ { k + 1 } } \\theta _ { k } ^ { - } + \\eta { F ^ { - } } ^ { 1 } \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } [ \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) A ^ { \\theta _ { k } } ( s , a ) ] } \\\\ & { \\quad \\quad - } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 448, + 548, + 483, + 565 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 483, + 551, + 505, + 563 + ], + "score": 0.83, + "content": "F =", + "type": "inline_equation" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 568, + 506, + 589 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 262, + 589 + ], + "score": 0.87, + "content": "\\begin{array} { r l } { \\underbrace { \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } } _ { a \\sim \\pi _ { \\theta _ { k } } } \\left[ \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) ^ { \\top } \\right] } & { } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 569, + 477, + 583 + ], + "score": 1.0, + "content": "is the Fisher information matrix for the current policy", + "type": "text" + }, + { + "bbox": [ + 477, + 572, + 492, + 582 + ], + "score": 0.86, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 492, + 569, + 506, + 583 + ], + "score": 1.0, + "content": ". It", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 586, + 506, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 506, + 600 + ], + "score": 1.0, + "content": "then explicitly enforces the trust-region constraint in (8) by a line-search: computing the KL-term for", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 107, + 596, + 506, + 612 + ], + "spans": [ + { + "bbox": [ + 107, + 598, + 145, + 610 + ], + "score": 0.92, + "content": "\\theta = \\theta _ { k + 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 596, + 324, + 612 + ], + "score": 1.0, + "content": "and checking if it is larger than the threshold", + "type": "text" + }, + { + "bbox": [ + 324, + 599, + 330, + 608 + ], + "score": 0.78, + "content": "\\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 330, + 596, + 506, + 612 + ], + "score": 1.0, + "content": ", in which case, the step size is reduced until", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 609, + 209, + 620 + ], + "spans": [ + { + "bbox": [ + 106, + 609, + 209, + 620 + ], + "score": 1.0, + "content": "the constraint is satisfied.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 32.5 + }, + { + "type": "text", + "bbox": [ + 106, + 625, + 506, + 703 + ], + "lines": [ + { + "bbox": [ + 105, + 625, + 506, + 639 + ], + "spans": [ + { + "bbox": [ + 105, + 625, + 506, + 639 + ], + "score": 1.0, + "content": "In comparison to TRPO, first, on-policy MDPO does not explicitly enforce the trust-region constraint,", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 637, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 506, + 651 + ], + "score": 1.0, + "content": "but approximately satisfies it by performing multiple steps of SGD on the objective function of", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 380, + 660 + ], + "score": 1.0, + "content": "the optimization problem in the MD-style update rule (6). 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We refer to this algorithm as on-policy MDPO.", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 195, + 406, + 208 + ], + "spans": [ + { + "bbox": [ + 106, + 195, + 320, + 208 + ], + "score": 1.0, + "content": "We may write the update rule (5) for the policy space", + "type": "text" + }, + { + "bbox": [ + 321, + 196, + 330, + 206 + ], + "score": 0.8, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 330, + 195, + 406, + 208 + ], + "score": 1.0, + "content": "(defined above) as", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 7, + "bbox_fs": [ + 105, + 174, + 507, + 208 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 112, + 211, + 489, + 234 + ], + "lines": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "spans": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "score": 0.91, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\operatorname { a r g m a x } } \\Psi ( \\theta , \\theta _ { k } ) , \\quad w h e r e \\quad \\Psi ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } [ \\mathbb { E } _ { a \\sim \\pi _ { \\theta } } [ A ^ { \\theta _ { k } } ( s , a ) ] - \\frac { 1 } { t _ { k } } \\mathrm { K L } ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } ) ] .", + "type": "interline_equation", + "image_path": "ddb011a2c79b3399a0cc5cbd28743e585533fa94241f7198dc2e8437c5fcd737.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 112, + 211, + 489, + 234 + ], + "spans": [], + "index": 9 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 239, + 505, + 284 + ], + "lines": [ + { + "bbox": [ + 105, + 238, + 505, + 253 + ], + "spans": [ + { + "bbox": [ + 105, + 238, + 351, + 253 + ], + "score": 1.0, + "content": "Each policy update in (6) requires solving a constrained (over", + "type": "text" + }, + { + "bbox": [ + 351, + 240, + 360, + 250 + ], + "score": 0.77, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 360, + 238, + 505, + 253 + ], + "score": 1.0, + "content": ") optimization problem. 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As a result, the policy update at each iteration", + "type": "text" + }, + { + "bbox": [ + 447, + 324, + 453, + 334 + ], + "score": 0.82, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 454, + 324, + 505, + 337 + ], + "score": 1.0, + "content": "of on-policy", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 333, + 241, + 348 + ], + "spans": [ + { + "bbox": [ + 105, + 333, + 173, + 348 + ], + "score": 1.0, + "content": "MDPO involves", + "type": "text" + }, + { + "bbox": [ + 173, + 336, + 183, + 344 + ], + "score": 0.69, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 184, + 333, + 241, + 348 + ], + "score": 1.0, + "content": "SGD steps as", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 16, + "bbox_fs": [ + 105, + 312, + 506, + 348 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 350, + 504, + 370 + ], + "lines": [ + { + "bbox": [ + 111, + 350, + 504, + 370 + ], + "spans": [ + { + "bbox": [ + 111, + 350, + 504, + 370 + ], + "score": 0.87, + "content": "\\begin{array} { r } { \\iota _ { k } ^ { ( 0 ) } = \\theta _ { k } , \\qquad \\mathrm { f o r } \\quad i = 0 , \\dots , m - 1 , \\qquad \\theta _ { k } ^ { ( i + 1 ) } \\gets \\theta _ { k } ^ { ( i ) } + \\eta \\nabla _ { \\theta } \\Psi ( \\theta , \\theta _ { k } ) | _ { \\theta = \\theta _ { k } ^ { ( i ) } } , \\qquad \\theta _ { k + 1 } = \\theta _ { k } ^ { ( m ) } , } \\end{array}", + "type": "interline_equation", + "image_path": "c158d7e368c86c0563d46ebb18443369cedf914cc8e4425a9d3acaf5b82448a9.jpg" + } + ] + } + ], + "index": 18, + "virtual_lines": [ + { + "bbox": [ + 111, + 350, + 504, + 370 + ], + "spans": [], + "index": 18 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 374, + 282, + 386 + ], + "lines": [ + { + "bbox": [ + 106, + 374, + 282, + 387 + ], + "spans": [ + { + "bbox": [ + 106, + 374, + 282, + 387 + ], + "score": 1.0, + "content": "where the gradient of the objective function", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 19, + "bbox_fs": [ + 106, + 374, + 282, + 387 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 102, + 393, + 491, + 426 + ], + "lines": [ + { + "bbox": [ + 102, + 393, + 491, + 426 + ], + "spans": [ + { + "bbox": [ + 102, + 393, + 491, + 426 + ], + "score": 0.95, + "content": "\\nabla _ { \\theta } \\Psi ( \\theta , \\theta _ { k } ) | _ { \\theta = \\theta _ { k } ^ { ( i ) } } = \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\left[ \\frac { \\pi _ { \\theta _ { k } } ^ { ( i ) } } { \\pi _ { \\theta _ { k } } } \\nabla \\log \\pi _ { \\theta _ { k } ^ { ( i ) } } ( a | s ) A ^ { \\theta _ { k } } ( s , a ) \\right] - \\frac { 1 } { t _ { k } } \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\left[ \\nabla _ { \\theta } \\mathrm { K L } ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } ) | _ { \\theta = \\theta _ { k } ^ { ( i ) } } \\right]", + "type": "interline_equation", + "image_path": "dfcd5977c72ae6f21029dc8335a3733f797e7491add36cd6f9aa977781249458.jpg" + } + ] + } + ], + "index": 21, + "virtual_lines": [ + { + "bbox": [ + 102, + 393, + 491, + 404.0 + ], + "spans": [], + "index": 20 + }, + { + "bbox": [ + 102, + 404.0, + 491, + 415.0 + ], + "spans": [], + "index": 21 + }, + { + "bbox": [ + 102, + 415.0, + 491, + 426.0 + ], + "spans": [], + "index": 22 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 432, + 506, + 488 + ], + "lines": [ + { + "bbox": [ + 105, + 432, + 506, + 445 + ], + "spans": [ + { + "bbox": [ + 105, + 432, + 460, + 445 + ], + "score": 1.0, + "content": "can be estimated in an on-policy fashion using the data generated by the current policy", + "type": "text" + }, + { + "bbox": [ + 460, + 434, + 475, + 444 + ], + "score": 0.86, + "content": "\\pi _ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 475, + 432, + 506, + 445 + ], + "score": 1.0, + "content": ". Since", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 443, + 506, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 443, + 506, + 455 + ], + "score": 1.0, + "content": "in practice, the policy space is often selected as Gaussian, we use the closed-form of KL in this", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 454, + 505, + 466 + ], + "spans": [ + { + "bbox": [ + 106, + 454, + 505, + 466 + ], + "score": 1.0, + "content": "estimation. Our on-policy MDPO algorithm (Algorithm 1, Appendix A) has close connections to", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 465, + 506, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 506, + 477 + ], + "score": 1.0, + "content": "two popular on-policy trust-region RL algorithms: TRPO [26] and PPO [28]. We now discuss the", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 475, + 412, + 489 + ], + "spans": [ + { + "bbox": [ + 105, + 475, + 412, + 489 + ], + "score": 1.0, + "content": "similarities and differences between on-policy MDPO and these algorithms.", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 432, + 506, + 489 + ] + }, + { + "type": "text", + "bbox": [ + 104, + 492, + 504, + 505 + ], + "lines": [ + { + "bbox": [ + 106, + 492, + 505, + 506 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 281, + 506 + ], + "score": 1.0, + "content": "Comparison with TRPO. At each iteration", + "type": "text" + }, + { + "bbox": [ + 281, + 493, + 288, + 503 + ], + "score": 0.79, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 492, + 505, + 506 + ], + "score": 1.0, + "content": ", TRPO considers the constrained optimization problem", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 28, + "bbox_fs": [ + 106, + 492, + 505, + 506 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 152, + 508, + 460, + 536 + ], + "lines": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "spans": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "score": 0.9, + "content": "\\operatorname* { m a x } _ { \\theta \\in \\Theta } \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\Big [ \\frac { \\pi _ { \\theta } ( a | s ) } { \\pi _ { \\theta _ { k } } ( a | s ) } A ^ { \\theta _ { k } } ( s , a ) \\Big ] , \\quad \\mathrm { s . t . } \\qquad \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } \\big [ \\mathrm { K L } ( s ; \\pi _ { \\theta _ { k } } , \\pi _ { \\theta } ) \\big ] \\leq \\delta ,", + "type": "interline_equation", + "image_path": "d50fbe0da92903d22b563854c559b16c854dcc216b238c3bed6d2c30014864c0.jpg" + } + ] + } + ], + "index": 29, + "virtual_lines": [ + { + "bbox": [ + 152, + 508, + 460, + 536 + ], + "spans": [], + "index": 29 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 539, + 506, + 621 + ], + "lines": [ + { + "bbox": [ + 106, + 539, + 505, + 552 + ], + "spans": [ + { + "bbox": [ + 106, + 539, + 505, + 552 + ], + "score": 1.0, + "content": "and updates its policy parameter by taking a step in the direction of the natural gradient of", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 548, + 505, + 570 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 241, + 565 + ], + "score": 1.0, + "content": "the objective function in (8) as", + "type": "text" + }, + { + "bbox": [ + 241, + 550, + 448, + 570 + ], + "score": 0.9, + "content": "\\begin{array} { r l } & { \\dot { \\theta _ { k + 1 } } \\theta _ { k } ^ { - } + \\eta { F ^ { - } } ^ { 1 } \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } [ \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) A ^ { \\theta _ { k } } ( s , a ) ] } \\\\ & { \\quad \\quad - } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 448, + 548, + 483, + 565 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 483, + 551, + 505, + 563 + ], + "score": 0.83, + "content": "F =", + "type": "inline_equation" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 568, + 506, + 589 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 262, + 589 + ], + "score": 0.87, + "content": "\\begin{array} { r l } { \\underbrace { \\mathbb { E } _ { s \\sim \\rho _ { \\theta _ { k } } } } _ { a \\sim \\pi _ { \\theta _ { k } } } \\left[ \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) \\nabla \\log \\pi _ { \\theta _ { k } } ( a | s ) ^ { \\top } \\right] } & { } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 569, + 477, + 583 + ], + "score": 1.0, + "content": "is the Fisher information matrix for the current policy", + "type": "text" + }, + { + "bbox": [ + 477, + 572, + 492, + 582 + ], + "score": 0.86, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 492, + 569, + 506, + 583 + ], + "score": 1.0, + "content": ". It", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 586, + 506, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 506, + 600 + ], + "score": 1.0, + "content": "then explicitly enforces the trust-region constraint in (8) by a line-search: computing the KL-term for", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 107, + 596, + 506, + 612 + ], + "spans": [ + { + "bbox": [ + 107, + 598, + 145, + 610 + ], + "score": 0.92, + "content": "\\theta = \\theta _ { k + 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 596, + 324, + 612 + ], + "score": 1.0, + "content": "and checking if it is larger than the threshold", + "type": "text" + }, + { + "bbox": [ + 324, + 599, + 330, + 608 + ], + "score": 0.78, + "content": "\\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 330, + 596, + 506, + 612 + ], + "score": 1.0, + "content": ", in which case, the step size is reduced until", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 609, + 209, + 620 + ], + "spans": [ + { + "bbox": [ + 106, + 609, + 209, + 620 + ], + "score": 1.0, + "content": "the constraint is satisfied.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 32.5, + "bbox_fs": [ + 105, + 539, + 506, + 620 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 625, + 506, + 703 + ], + "lines": [ + { + "bbox": [ + 105, + 625, + 506, + 639 + ], + "spans": [ + { + "bbox": [ + 105, + 625, + 506, + 639 + ], + "score": 1.0, + "content": "In comparison to TRPO, first, on-policy MDPO does not explicitly enforce the trust-region constraint,", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 637, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 637, + 506, + 651 + ], + "score": 1.0, + "content": "but approximately satisfies it by performing multiple steps of SGD on the objective function of", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 380, + 660 + ], + "score": 1.0, + "content": "the optimization problem in the MD-style update rule (6). We say", + "type": "text" + }, + { + "bbox": [ + 381, + 648, + 393, + 658 + ], + "score": 0.32, + "content": "^ { * * } i t", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 648, + 505, + 660 + ], + "score": 1.0, + "content": "approximately satisfies the", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 660, + 505, + 671 + ], + "spans": [ + { + "bbox": [ + 106, + 660, + 505, + 671 + ], + "score": 1.0, + "content": "constraint” because instead of fully solving (6), it takes multiple steps in the direction of the gradient", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 669, + 506, + 682 + ], + "spans": [ + { + "bbox": [ + 105, + 669, + 506, + 682 + ], + "score": 1.0, + "content": "of its objective function. Second, on-policy MDPO uses simple SGD instead of natural gradient, and", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 681, + 506, + 694 + ], + "spans": [ + { + "bbox": [ + 106, + 681, + 506, + 694 + ], + "score": 1.0, + "content": "thus, does not have to deal with the computational overhead of computing (or approximating) the", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 104, + 690, + 506, + 705 + ], + "spans": [ + { + "bbox": [ + 104, + 690, + 459, + 705 + ], + "score": 1.0, + "content": "inverse of the Fisher information matrix.1 Third, the direction of KL in on-policy MDPO,", + "type": "text" + }, + { + "bbox": [ + 459, + 692, + 502, + 704 + ], + "score": 0.88, + "content": "\\operatorname { K L } ( \\pi , \\pi _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 690, + 506, + 705 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "is consistent with that in the MD update rule in convex optimization and is different than that in", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 136, + 106 + ], + "score": 1.0, + "content": "TRPO,", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 136, + 93, + 180, + 106 + ], + "score": 0.91, + "content": "\\mathrm { K L } ( \\pi _ { k } , \\pi )", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 180, + 93, + 505, + 106 + ], + "score": 1.0, + "content": ". This does not cause any sampling problem for either algorithm, as both calculate", + "type": "text", + "cross_page": true + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 103, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 103, + 505, + 117 + ], + "score": 1.0, + "content": "the KL-term in closed-form (Gaussian policies). Fourth, while TRPO uses heuristics to define the", + "type": "text", + "cross_page": true + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "step-size and to reduce it in case the trust-region constraint is violated, on-policy MDPO uses a simple", + "type": "text", + "cross_page": true + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 126, + 505, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 127, + 316, + 138 + ], + "score": 1.0, + "content": "schedule, motivated by the theory of MD [4], and sets", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 317, + 126, + 367, + 138 + ], + "score": 0.92, + "content": "t _ { k } = 1 { - } k / K", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 368, + 127, + 397, + 138 + ], + "score": 1.0, + "content": ", where", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 397, + 127, + 407, + 136 + ], + "score": 0.84, + "content": "K", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 408, + 127, + 505, + 138 + ], + "score": 1.0, + "content": "is the maximum number", + "type": "text", + "cross_page": true + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 137, + 492, + 149 + ], + "spans": [ + { + "bbox": [ + 106, + 137, + 291, + 149 + ], + "score": 1.0, + "content": "of iterations. This way it anneals the step-size", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 291, + 138, + 301, + 148 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 302, + 137, + 492, + 149 + ], + "score": 1.0, + "content": "from 1 to 0 over the iterations of the algorithm.", + "type": "text", + "cross_page": true + } + ], + "index": 5 + } + ], + "index": 39, + "bbox_fs": [ + 104, + 625, + 506, + 705 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 81, + 505, + 149 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 94 + ], + "score": 1.0, + "content": "is consistent with that in the MD update rule in convex optimization and is different than that in", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 136, + 106 + ], + "score": 1.0, + "content": "TRPO,", + "type": "text" + }, + { + "bbox": [ + 136, + 93, + 180, + 106 + ], + "score": 0.91, + "content": "\\mathrm { K L } ( \\pi _ { k } , \\pi )", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 93, + 505, + 106 + ], + "score": 1.0, + "content": ". This does not cause any sampling problem for either algorithm, as both calculate", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 103, + 505, + 117 + ], + "spans": [ + { + "bbox": [ + 105, + 103, + 505, + 117 + ], + "score": 1.0, + "content": "the KL-term in closed-form (Gaussian policies). Fourth, while TRPO uses heuristics to define the", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "step-size and to reduce it in case the trust-region constraint is violated, on-policy MDPO uses a simple", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 126, + 505, + 138 + ], + "spans": [ + { + "bbox": [ + 106, + 127, + 316, + 138 + ], + "score": 1.0, + "content": "schedule, motivated by the theory of MD [4], and sets", + "type": "text" + }, + { + "bbox": [ + 317, + 126, + 367, + 138 + ], + "score": 0.92, + "content": "t _ { k } = 1 { - } k / K", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 127, + 397, + 138 + ], + "score": 1.0, + "content": ", where", + "type": "text" + }, + { + "bbox": [ + 397, + 127, + 407, + 136 + ], + "score": 0.84, + "content": "K", + "type": "inline_equation" + }, + { + "bbox": [ + 408, + 127, + 505, + 138 + ], + "score": 1.0, + "content": "is the maximum number", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 137, + 492, + 149 + ], + "spans": [ + { + "bbox": [ + 106, + 137, + 291, + 149 + ], + "score": 1.0, + "content": "of iterations. This way it anneals the step-size", + "type": "text" + }, + { + "bbox": [ + 291, + 138, + 301, + 148 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 302, + 137, + 492, + 149 + ], + "score": 1.0, + "content": "from 1 to 0 over the iterations of the algorithm.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 106, + 154, + 504, + 177 + ], + "lines": [ + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 277, + 167 + ], + "score": 1.0, + "content": "Comparison with PPO. At each iteration", + "type": "text" + }, + { + "bbox": [ + 277, + 155, + 284, + 164 + ], + "score": 0.76, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 154, + 505, + 167 + ], + "score": 1.0, + "content": ", PPO performs multiple steps of SGD on the objective", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 165, + 358, + 178 + ], + "spans": [ + { + "bbox": [ + 106, + 165, + 358, + 178 + ], + "score": 1.0, + "content": "function of the following unconstrained optimization problem:", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 6.5 + }, + { + "type": "interline_equation", + "bbox": [ + 138, + 179, + 470, + 207 + ], + "lines": [ + { + "bbox": [ + 138, + 179, + 470, + 207 + ], + "spans": [ + { + "bbox": [ + 138, + 179, + 470, + 207 + ], + "score": 0.93, + "content": "\\operatorname* { m a x } _ { \\theta \\in \\Theta } \\mathbb { E } _ { a \\sim \\pi _ { \\theta _ { k } } } \\Big [ \\operatorname* { m i n } \\Big \\{ \\frac { \\pi _ { \\theta } ( a \\vert s ) } { \\pi _ { \\theta _ { k } } ( a \\vert s ) } A ^ { \\theta _ { k } } ( s , a ) , \\mathrm { c l i p } ( \\frac { \\pi _ { \\theta } ( a \\vert s ) } { \\pi _ { \\theta _ { k } } ( a \\vert s ) } , 1 - \\epsilon , 1 + \\epsilon ) A ^ { \\theta _ { k } } ( s , a ) \\Big \\} \\Big ] ,", + "type": "interline_equation", + "image_path": "9e10a6007a6d218ffd0c950a4da0b0866b5a9aa6e5b135c44feedf19cf3f52db.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 138, + 179, + 470, + 188.33333333333334 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 138, + 188.33333333333334, + 470, + 197.66666666666669 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 138, + 197.66666666666669, + 470, + 207.00000000000003 + ], + "spans": [], + "index": 10 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 210, + 505, + 353 + ], + "lines": [ + { + "bbox": [ + 106, + 210, + 506, + 223 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 230, + 223 + ], + "score": 1.0, + "content": "in which the hyper-parameter", + "type": "text" + }, + { + "bbox": [ + 230, + 212, + 236, + 220 + ], + "score": 0.68, + "content": "\\epsilon", + "type": "inline_equation" + }, + { + "bbox": [ + 237, + 210, + 372, + 223 + ], + "score": 1.0, + "content": "determines how the policy ratio,", + "type": "text" + }, + { + "bbox": [ + 373, + 210, + 403, + 222 + ], + "score": 0.92, + "content": "\\pi _ { \\boldsymbol { \\theta } } / \\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 210, + 506, + 223 + ], + "score": 1.0, + "content": ", is clipped. It is easy to", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 221, + 505, + 233 + ], + "spans": [ + { + "bbox": [ + 105, + 221, + 505, + 233 + ], + "score": 1.0, + "content": "see that the gradient of the objective function in (9) is zero for the state-action pairs at which the", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 231, + 506, + 245 + ], + "spans": [ + { + "bbox": [ + 105, + 231, + 506, + 245 + ], + "score": 1.0, + "content": "policy ratio is clipped and is non-zero, otherwise. However, since the gradient is averaged over all", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 243, + 505, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 505, + 255 + ], + "score": 1.0, + "content": "the state-action pairs in the batch, the policy is updated even if its ratio is out of bound for some", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 254, + 505, + 267 + ], + "spans": [ + { + "bbox": [ + 105, + 254, + 505, + 267 + ], + "score": 1.0, + "content": "state-action pairs. This phenomenon, which has been reported in [31] and [9], shows that clipping in", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 264, + 506, + 277 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 506, + 277 + ], + "score": 1.0, + "content": "PPO does not prevent the policy ratios to go out of bound, but it only reduces its probability. This", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "spans": [ + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "score": 1.0, + "content": "means that despite using clipping, PPO does not guarantee that the trust-region constraint is always", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 286, + 506, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 286, + 506, + 299 + ], + "score": 1.0, + "content": "satisfied. In fact, recent results, including those in [9] and our experiments in Section 5.3, show that", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 298, + 506, + 311 + ], + "spans": [ + { + "bbox": [ + 105, + 298, + 506, + 311 + ], + "score": 1.0, + "content": "most of the improved performance exhibited by PPO is due to code-level optimization techniques,", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 307, + 506, + 322 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 506, + 322 + ], + "score": 1.0, + "content": "such as learning rate annealing, observation and reward normalization, and in particular, the use", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 319, + 505, + 332 + ], + "spans": [ + { + "bbox": [ + 105, + 319, + 505, + 332 + ], + "score": 1.0, + "content": "of generalized advantage estimation (GAE) [27]. Although both on-policy MDPO and PPO take", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 329, + 506, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 506, + 344 + ], + "score": 1.0, + "content": "multiple SGD steps on the objective function of unconstrained optimization problems (6) and (9),", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 341, + 441, + 354 + ], + "spans": [ + { + "bbox": [ + 106, + 341, + 441, + 354 + ], + "score": 1.0, + "content": "respectively, the way they handle the trust-region constraint is completely different.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 17 + }, + { + "type": "text", + "bbox": [ + 106, + 358, + 505, + 513 + ], + "lines": [ + { + "bbox": [ + 106, + 358, + 505, + 370 + ], + "spans": [ + { + "bbox": [ + 106, + 358, + 505, + 370 + ], + "score": 1.0, + "content": "Another interesting observation is that the adaptive and fixed KL algorithms (we refer to as KL-PPO", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 368, + 507, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 368, + 507, + 383 + ], + "score": 1.0, + "content": "here), proposed in the PPO paper [28], have policy update rules similar to on-policy MDPO. However,", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 380, + 506, + 393 + ], + "spans": [ + { + "bbox": [ + 105, + 380, + 506, + 393 + ], + "score": 1.0, + "content": "these algorithms have not been used much in practice, because it was shown in the same paper that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 392, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 106, + 392, + 505, + 403 + ], + "score": 1.0, + "content": "they perform much worse than PPO. Despite the similarities, there are three main differences between", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 402, + 506, + 415 + ], + "spans": [ + { + "bbox": [ + 106, + 402, + 506, + 415 + ], + "score": 1.0, + "content": "the update rules of KL-PPO and on-policy MDPO. First, KL-PPO uses mini-batches whereas MDPO", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 411, + 506, + 427 + ], + "spans": [ + { + "bbox": [ + 105, + 411, + 259, + 427 + ], + "score": 1.0, + "content": "uses the entire data for their multiple", + "type": "text" + }, + { + "bbox": [ + 260, + 414, + 276, + 424 + ], + "score": 0.67, + "content": "( m )", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 411, + 506, + 427 + ], + "score": 1.0, + "content": "gradient updates at each round. Second, the scheduling", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 424, + 505, + 437 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 189, + 437 + ], + "score": 1.0, + "content": "scheme used for the", + "type": "text" + }, + { + "bbox": [ + 189, + 425, + 199, + 435 + ], + "score": 0.86, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 200, + 424, + 505, + 437 + ], + "score": 1.0, + "content": "parameter is quite different in KL-PPO and MDPO. In particular, KL-PPO", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 434, + 505, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 434, + 180, + 447 + ], + "score": 1.0, + "content": "either uses a fixed", + "type": "text" + }, + { + "bbox": [ + 180, + 436, + 190, + 446 + ], + "score": 0.88, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 190, + 434, + 441, + 447 + ], + "score": 1.0, + "content": "or defines an adaptive scheme that updates (increase/decrease)", + "type": "text" + }, + { + "bbox": [ + 442, + 435, + 451, + 446 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 452, + 434, + 505, + 447 + ], + "score": 1.0, + "content": "based on the", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 445, + 506, + 460 + ], + "spans": [ + { + "bbox": [ + 105, + 445, + 506, + 460 + ], + "score": 1.0, + "content": "KL divergence magnitude at that time step. On the other hand, on-policy MDPO uses an annealed", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 456, + 507, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 456, + 181, + 470 + ], + "score": 1.0, + "content": "schedule to update", + "type": "text" + }, + { + "bbox": [ + 181, + 458, + 191, + 468 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 191, + 456, + 507, + 470 + ], + "score": 1.0, + "content": ", starting from 1 and slowly bringing it down to near 0. Third, similar to TRPO,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 467, + 503, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 467, + 240, + 482 + ], + "score": 1.0, + "content": "the direction of KL in KL-PPO,", + "type": "text" + }, + { + "bbox": [ + 240, + 468, + 283, + 480 + ], + "score": 0.91, + "content": "\\mathrm { K L } ( \\pi _ { k } , \\pi )", + "type": "inline_equation" + }, + { + "bbox": [ + 283, + 467, + 459, + 482 + ], + "score": 1.0, + "content": ", is different than that in on-policy MDPO,", + "type": "text" + }, + { + "bbox": [ + 460, + 468, + 503, + 480 + ], + "score": 0.91, + "content": "\\operatorname { K L } ( \\pi , \\pi _ { k } )", + "type": "inline_equation" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 479, + 506, + 492 + ], + "spans": [ + { + "bbox": [ + 106, + 479, + 506, + 492 + ], + "score": 1.0, + "content": "Since in our experiments, on-policy MDPO performs significantly better than PPO (see Section 5.3),", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 490, + 505, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 490, + 505, + 503 + ], + "score": 1.0, + "content": "we conjecture that either any or a combination of the above differences, especially the first two, is the", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 501, + 453, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 501, + 453, + 514 + ], + "score": 1.0, + "content": "reason for the inferior performance of KL-PPO, compared to PPO, as reported in [28].", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 30.5 + }, + { + "type": "title", + "bbox": [ + 107, + 521, + 219, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 520, + 220, + 535 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 220, + 535 + ], + "score": 1.0, + "content": "4.2 OFF-POLICY MDPO", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 38 + }, + { + "type": "text", + "bbox": [ + 107, + 540, + 505, + 606 + ], + "lines": [ + { + "bbox": [ + 105, + 540, + 505, + 553 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 505, + 553 + ], + "score": 1.0, + "content": "In this section, we derive an off-policy RL algorithm based on the MD update rule (4). We refer to", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 551, + 504, + 563 + ], + "spans": [ + { + "bbox": [ + 106, + 551, + 504, + 563 + ], + "score": 1.0, + "content": "this as off-policy MDPO and provide the pseudo-code in Algorithm 2 in Appendix A. To emulate the", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 563, + 506, + 575 + ], + "spans": [ + { + "bbox": [ + 106, + 563, + 506, + 575 + ], + "score": 1.0, + "content": "uniform sampling over the state space required by (4), Algorithm 2 samples a batch of states from a", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 573, + 505, + 586 + ], + "spans": [ + { + "bbox": [ + 105, + 573, + 160, + 586 + ], + "score": 1.0, + "content": "replay buffer", + "type": "text" + }, + { + "bbox": [ + 160, + 574, + 170, + 583 + ], + "score": 0.78, + "content": "\\mathcal { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 170, + 573, + 505, + 586 + ], + "score": 1.0, + "content": "(Line 4). While this sampling scheme is not truly uniform, it makes the update less", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "score": 1.0, + "content": "dependent on the current policy. Similar to the on-policy case, we write the update rule (4) for the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 595, + 177, + 608 + ], + "spans": [ + { + "bbox": [ + 105, + 595, + 155, + 608 + ], + "score": 1.0, + "content": "policy class", + "type": "text" + }, + { + "bbox": [ + 156, + 596, + 165, + 605 + ], + "score": 0.82, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 595, + 177, + 608 + ], + "score": 1.0, + "content": "as", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 41.5 + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 609, + 484, + 632 + ], + "lines": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "spans": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "score": 0.92, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\mathrm { a r g } \\mathrm { m a x } } \\Psi ( \\theta , \\theta _ { k } ) , \\quad \\quad w h e r e \\quad \\Psi ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathbb { E } _ { a \\sim \\pi _ { \\theta } } \\big [ A ^ { \\theta _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathbf { K L } ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } ) \\Big ] .", + "type": "interline_equation", + "image_path": "432eb375694e8c783b926f020c66be44f8b995b38322106746b703c21eb8033c.jpg" + } + ] + } + ], + "index": 45, + "virtual_lines": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "spans": [], + "index": 45 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 638, + 505, + 705 + ], + "lines": [ + { + "bbox": [ + 105, + 639, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 639, + 505, + 651 + ], + "score": 1.0, + "content": "The main idea in Algorithm 2 is to estimate the advantage or action-value function of the current", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 648, + 506, + 664 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 135, + 664 + ], + "score": 1.0, + "content": "policy,", + "type": "text" + }, + { + "bbox": [ + 136, + 649, + 152, + 660 + ], + "score": 0.9, + "content": "A ^ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 152, + 648, + 164, + 664 + ], + "score": 1.0, + "content": "or", + "type": "text" + }, + { + "bbox": [ + 165, + 650, + 182, + 662 + ], + "score": 0.91, + "content": "Q ^ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 182, + 648, + 506, + 664 + ], + "score": 1.0, + "content": ", in an off-policy fashion, using a batch of data randomly sampled from the replay", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 660, + 506, + 674 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 132, + 674 + ], + "score": 1.0, + "content": "buffer", + "type": "text" + }, + { + "bbox": [ + 133, + 662, + 142, + 671 + ], + "score": 0.79, + "content": "\\mathcal { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 660, + 506, + 674 + ], + "score": 1.0, + "content": ". In a similar manner to the policy update of our on-policy MDPO algorithm (Algorithm 1),", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 671, + 505, + 685 + ], + "spans": [ + { + "bbox": [ + 105, + 671, + 505, + 685 + ], + "score": 1.0, + "content": "described in Section 4.1, we then update the policy by taking multiple SGD steps on the objective", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 682, + 505, + 696 + ], + "spans": [ + { + "bbox": [ + 105, + 682, + 142, + 696 + ], + "score": 1.0, + "content": "function", + "type": "text" + }, + { + "bbox": [ + 142, + 683, + 178, + 695 + ], + "score": 0.93, + "content": "\\Psi ( \\theta , \\theta _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 178, + 682, + 362, + 696 + ], + "score": 1.0, + "content": "of the optimization problem (10) (by keeping", + "type": "text" + }, + { + "bbox": [ + 362, + 684, + 372, + 694 + ], + "score": 0.87, + "content": "\\theta _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 373, + 682, + 505, + 696 + ], + "score": 1.0, + "content": "fixed). A more presentable form", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 694, + 302, + 706 + ], + "spans": [ + { + "bbox": [ + 106, + 694, + 187, + 706 + ], + "score": 1.0, + "content": "of the policy loss in", + "type": "text" + }, + { + "bbox": [ + 187, + 695, + 196, + 704 + ], + "score": 0.82, + "content": "\\Psi", + "type": "inline_equation" + }, + { + "bbox": [ + 197, + 694, + 302, + 706 + ], + "score": 1.0, + "content": "can be written as follows:", + "type": "text" + } + ], + "index": 51 + } + ], + "index": 48.5 + }, + { + "type": "interline_equation", + "bbox": [ + 130, + 708, + 463, + 729 + ], + "lines": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "spans": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "score": 0.91, + "content": "L ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\big [ \\log \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - \\log \\pi _ { \\theta _ { k } } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - t _ { k } Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] ,", + "type": "interline_equation", + "image_path": "a762a15aebf12699b30c0d8be43df96617259a0b76f6d84a21579317361281c2.jpg" + } + ] + } + ], + "index": 52, + "virtual_lines": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "spans": [], + "index": 52 + } + ] + } + ], + "page_idx": 4, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 760 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "score": 1.0, + "content": "5", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 81, + 505, + 149 + ], + "lines": [], + "index": 2.5, + "bbox_fs": [ + 105, + 83, + 505, + 149 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 106, + 154, + 504, + 177 + ], + "lines": [ + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 277, + 167 + ], + "score": 1.0, + "content": "Comparison with PPO. At each iteration", + "type": "text" + }, + { + "bbox": [ + 277, + 155, + 284, + 164 + ], + "score": 0.76, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 154, + 505, + 167 + ], + "score": 1.0, + "content": ", PPO performs multiple steps of SGD on the objective", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 165, + 358, + 178 + ], + "spans": [ + { + "bbox": [ + 106, + 165, + 358, + 178 + ], + "score": 1.0, + "content": "function of the following unconstrained optimization problem:", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 6.5, + "bbox_fs": [ + 106, + 154, + 505, + 178 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 138, + 179, + 470, + 207 + ], + "lines": [ + { + "bbox": [ + 138, + 179, + 470, + 207 + ], + "spans": [ + { + "bbox": [ + 138, + 179, + 470, + 207 + ], + "score": 0.93, + "content": "\\operatorname* { m a x } _ { \\theta \\in \\Theta } \\mathbb { E } _ { a \\sim \\pi _ { \\theta _ { k } } } \\Big [ \\operatorname* { m i n } \\Big \\{ \\frac { \\pi _ { \\theta } ( a \\vert s ) } { \\pi _ { \\theta _ { k } } ( a \\vert s ) } A ^ { \\theta _ { k } } ( s , a ) , \\mathrm { c l i p } ( \\frac { \\pi _ { \\theta } ( a \\vert s ) } { \\pi _ { \\theta _ { k } } ( a \\vert s ) } , 1 - \\epsilon , 1 + \\epsilon ) A ^ { \\theta _ { k } } ( s , a ) \\Big \\} \\Big ] ,", + "type": "interline_equation", + "image_path": "9e10a6007a6d218ffd0c950a4da0b0866b5a9aa6e5b135c44feedf19cf3f52db.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 138, + 179, + 470, + 188.33333333333334 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 138, + 188.33333333333334, + 470, + 197.66666666666669 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 138, + 197.66666666666669, + 470, + 207.00000000000003 + ], + "spans": [], + "index": 10 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 210, + 505, + 353 + ], + "lines": [ + { + "bbox": [ + 106, + 210, + 506, + 223 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 230, + 223 + ], + "score": 1.0, + "content": "in which the hyper-parameter", + "type": "text" + }, + { + "bbox": [ + 230, + 212, + 236, + 220 + ], + "score": 0.68, + "content": "\\epsilon", + "type": "inline_equation" + }, + { + "bbox": [ + 237, + 210, + 372, + 223 + ], + "score": 1.0, + "content": "determines how the policy ratio,", + "type": "text" + }, + { + "bbox": [ + 373, + 210, + 403, + 222 + ], + "score": 0.92, + "content": "\\pi _ { \\boldsymbol { \\theta } } / \\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 403, + 210, + 506, + 223 + ], + "score": 1.0, + "content": ", is clipped. It is easy to", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 221, + 505, + 233 + ], + "spans": [ + { + "bbox": [ + 105, + 221, + 505, + 233 + ], + "score": 1.0, + "content": "see that the gradient of the objective function in (9) is zero for the state-action pairs at which the", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 231, + 506, + 245 + ], + "spans": [ + { + "bbox": [ + 105, + 231, + 506, + 245 + ], + "score": 1.0, + "content": "policy ratio is clipped and is non-zero, otherwise. However, since the gradient is averaged over all", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 243, + 505, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 505, + 255 + ], + "score": 1.0, + "content": "the state-action pairs in the batch, the policy is updated even if its ratio is out of bound for some", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 254, + 505, + 267 + ], + "spans": [ + { + "bbox": [ + 105, + 254, + 505, + 267 + ], + "score": 1.0, + "content": "state-action pairs. This phenomenon, which has been reported in [31] and [9], shows that clipping in", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 264, + 506, + 277 + ], + "spans": [ + { + "bbox": [ + 106, + 264, + 506, + 277 + ], + "score": 1.0, + "content": "PPO does not prevent the policy ratios to go out of bound, but it only reduces its probability. This", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "spans": [ + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "score": 1.0, + "content": "means that despite using clipping, PPO does not guarantee that the trust-region constraint is always", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 286, + 506, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 286, + 506, + 299 + ], + "score": 1.0, + "content": "satisfied. In fact, recent results, including those in [9] and our experiments in Section 5.3, show that", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 298, + 506, + 311 + ], + "spans": [ + { + "bbox": [ + 105, + 298, + 506, + 311 + ], + "score": 1.0, + "content": "most of the improved performance exhibited by PPO is due to code-level optimization techniques,", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 307, + 506, + 322 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 506, + 322 + ], + "score": 1.0, + "content": "such as learning rate annealing, observation and reward normalization, and in particular, the use", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 319, + 505, + 332 + ], + "spans": [ + { + "bbox": [ + 105, + 319, + 505, + 332 + ], + "score": 1.0, + "content": "of generalized advantage estimation (GAE) [27]. Although both on-policy MDPO and PPO take", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 329, + 506, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 506, + 344 + ], + "score": 1.0, + "content": "multiple SGD steps on the objective function of unconstrained optimization problems (6) and (9),", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 341, + 441, + 354 + ], + "spans": [ + { + "bbox": [ + 106, + 341, + 441, + 354 + ], + "score": 1.0, + "content": "respectively, the way they handle the trust-region constraint is completely different.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 17, + "bbox_fs": [ + 105, + 210, + 506, + 354 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 358, + 505, + 513 + ], + "lines": [ + { + "bbox": [ + 106, + 358, + 505, + 370 + ], + "spans": [ + { + "bbox": [ + 106, + 358, + 505, + 370 + ], + "score": 1.0, + "content": "Another interesting observation is that the adaptive and fixed KL algorithms (we refer to as KL-PPO", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 368, + 507, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 368, + 507, + 383 + ], + "score": 1.0, + "content": "here), proposed in the PPO paper [28], have policy update rules similar to on-policy MDPO. However,", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 380, + 506, + 393 + ], + "spans": [ + { + "bbox": [ + 105, + 380, + 506, + 393 + ], + "score": 1.0, + "content": "these algorithms have not been used much in practice, because it was shown in the same paper that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 392, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 106, + 392, + 505, + 403 + ], + "score": 1.0, + "content": "they perform much worse than PPO. Despite the similarities, there are three main differences between", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 402, + 506, + 415 + ], + "spans": [ + { + "bbox": [ + 106, + 402, + 506, + 415 + ], + "score": 1.0, + "content": "the update rules of KL-PPO and on-policy MDPO. First, KL-PPO uses mini-batches whereas MDPO", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 411, + 506, + 427 + ], + "spans": [ + { + "bbox": [ + 105, + 411, + 259, + 427 + ], + "score": 1.0, + "content": "uses the entire data for their multiple", + "type": "text" + }, + { + "bbox": [ + 260, + 414, + 276, + 424 + ], + "score": 0.67, + "content": "( m )", + "type": "inline_equation" + }, + { + "bbox": [ + 276, + 411, + 506, + 427 + ], + "score": 1.0, + "content": "gradient updates at each round. Second, the scheduling", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 424, + 505, + 437 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 189, + 437 + ], + "score": 1.0, + "content": "scheme used for the", + "type": "text" + }, + { + "bbox": [ + 189, + 425, + 199, + 435 + ], + "score": 0.86, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 200, + 424, + 505, + 437 + ], + "score": 1.0, + "content": "parameter is quite different in KL-PPO and MDPO. In particular, KL-PPO", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 434, + 505, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 434, + 180, + 447 + ], + "score": 1.0, + "content": "either uses a fixed", + "type": "text" + }, + { + "bbox": [ + 180, + 436, + 190, + 446 + ], + "score": 0.88, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 190, + 434, + 441, + 447 + ], + "score": 1.0, + "content": "or defines an adaptive scheme that updates (increase/decrease)", + "type": "text" + }, + { + "bbox": [ + 442, + 435, + 451, + 446 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 452, + 434, + 505, + 447 + ], + "score": 1.0, + "content": "based on the", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 445, + 506, + 460 + ], + "spans": [ + { + "bbox": [ + 105, + 445, + 506, + 460 + ], + "score": 1.0, + "content": "KL divergence magnitude at that time step. On the other hand, on-policy MDPO uses an annealed", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 456, + 507, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 456, + 181, + 470 + ], + "score": 1.0, + "content": "schedule to update", + "type": "text" + }, + { + "bbox": [ + 181, + 458, + 191, + 468 + ], + "score": 0.87, + "content": "t _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 191, + 456, + 507, + 470 + ], + "score": 1.0, + "content": ", starting from 1 and slowly bringing it down to near 0. Third, similar to TRPO,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 467, + 503, + 482 + ], + "spans": [ + { + "bbox": [ + 105, + 467, + 240, + 482 + ], + "score": 1.0, + "content": "the direction of KL in KL-PPO,", + "type": "text" + }, + { + "bbox": [ + 240, + 468, + 283, + 480 + ], + "score": 0.91, + "content": "\\mathrm { K L } ( \\pi _ { k } , \\pi )", + "type": "inline_equation" + }, + { + "bbox": [ + 283, + 467, + 459, + 482 + ], + "score": 1.0, + "content": ", is different than that in on-policy MDPO,", + "type": "text" + }, + { + "bbox": [ + 460, + 468, + 503, + 480 + ], + "score": 0.91, + "content": "\\operatorname { K L } ( \\pi , \\pi _ { k } )", + "type": "inline_equation" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 479, + 506, + 492 + ], + "spans": [ + { + "bbox": [ + 106, + 479, + 506, + 492 + ], + "score": 1.0, + "content": "Since in our experiments, on-policy MDPO performs significantly better than PPO (see Section 5.3),", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 490, + 505, + 503 + ], + "spans": [ + { + "bbox": [ + 105, + 490, + 505, + 503 + ], + "score": 1.0, + "content": "we conjecture that either any or a combination of the above differences, especially the first two, is the", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 501, + 453, + 514 + ], + "spans": [ + { + "bbox": [ + 105, + 501, + 453, + 514 + ], + "score": 1.0, + "content": "reason for the inferior performance of KL-PPO, compared to PPO, as reported in [28].", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 30.5, + "bbox_fs": [ + 104, + 358, + 507, + 514 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 521, + 219, + 532 + ], + "lines": [ + { + "bbox": [ + 105, + 520, + 220, + 535 + ], + "spans": [ + { + "bbox": [ + 105, + 520, + 220, + 535 + ], + "score": 1.0, + "content": "4.2 OFF-POLICY MDPO", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 38 + }, + { + "type": "text", + "bbox": [ + 107, + 540, + 505, + 606 + ], + "lines": [ + { + "bbox": [ + 105, + 540, + 505, + 553 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 505, + 553 + ], + "score": 1.0, + "content": "In this section, we derive an off-policy RL algorithm based on the MD update rule (4). We refer to", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 551, + 504, + 563 + ], + "spans": [ + { + "bbox": [ + 106, + 551, + 504, + 563 + ], + "score": 1.0, + "content": "this as off-policy MDPO and provide the pseudo-code in Algorithm 2 in Appendix A. To emulate the", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 563, + 506, + 575 + ], + "spans": [ + { + "bbox": [ + 106, + 563, + 506, + 575 + ], + "score": 1.0, + "content": "uniform sampling over the state space required by (4), Algorithm 2 samples a batch of states from a", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 573, + 505, + 586 + ], + "spans": [ + { + "bbox": [ + 105, + 573, + 160, + 586 + ], + "score": 1.0, + "content": "replay buffer", + "type": "text" + }, + { + "bbox": [ + 160, + 574, + 170, + 583 + ], + "score": 0.78, + "content": "\\mathcal { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 170, + 573, + 505, + 586 + ], + "score": 1.0, + "content": "(Line 4). While this sampling scheme is not truly uniform, it makes the update less", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 506, + 598 + ], + "score": 1.0, + "content": "dependent on the current policy. Similar to the on-policy case, we write the update rule (4) for the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 595, + 177, + 608 + ], + "spans": [ + { + "bbox": [ + 105, + 595, + 155, + 608 + ], + "score": 1.0, + "content": "policy class", + "type": "text" + }, + { + "bbox": [ + 156, + 596, + 165, + 605 + ], + "score": 0.82, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 595, + 177, + 608 + ], + "score": 1.0, + "content": "as", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 41.5, + "bbox_fs": [ + 105, + 540, + 506, + 608 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 609, + 484, + 632 + ], + "lines": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "spans": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "score": 0.92, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\mathrm { a r g } \\mathrm { m a x } } \\Psi ( \\theta , \\theta _ { k } ) , \\quad \\quad w h e r e \\quad \\Psi ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathbb { E } _ { a \\sim \\pi _ { \\theta } } \\big [ A ^ { \\theta _ { k } } ( s , a ) \\big ] - \\frac { 1 } { t _ { k } } \\mathbf { K L } ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } ) \\Big ] .", + "type": "interline_equation", + "image_path": "432eb375694e8c783b926f020c66be44f8b995b38322106746b703c21eb8033c.jpg" + } + ] + } + ], + "index": 45, + "virtual_lines": [ + { + "bbox": [ + 111, + 609, + 484, + 632 + ], + "spans": [], + "index": 45 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 638, + 505, + 705 + ], + "lines": [ + { + "bbox": [ + 105, + 639, + 505, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 639, + 505, + 651 + ], + "score": 1.0, + "content": "The main idea in Algorithm 2 is to estimate the advantage or action-value function of the current", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 648, + 506, + 664 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 135, + 664 + ], + "score": 1.0, + "content": "policy,", + "type": "text" + }, + { + "bbox": [ + 136, + 649, + 152, + 660 + ], + "score": 0.9, + "content": "A ^ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 152, + 648, + 164, + 664 + ], + "score": 1.0, + "content": "or", + "type": "text" + }, + { + "bbox": [ + 165, + 650, + 182, + 662 + ], + "score": 0.91, + "content": "Q ^ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 182, + 648, + 506, + 664 + ], + "score": 1.0, + "content": ", in an off-policy fashion, using a batch of data randomly sampled from the replay", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 105, + 660, + 506, + 674 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 132, + 674 + ], + "score": 1.0, + "content": "buffer", + "type": "text" + }, + { + "bbox": [ + 133, + 662, + 142, + 671 + ], + "score": 0.79, + "content": "\\mathcal { D }", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 660, + 506, + 674 + ], + "score": 1.0, + "content": ". In a similar manner to the policy update of our on-policy MDPO algorithm (Algorithm 1),", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 671, + 505, + 685 + ], + "spans": [ + { + "bbox": [ + 105, + 671, + 505, + 685 + ], + "score": 1.0, + "content": "described in Section 4.1, we then update the policy by taking multiple SGD steps on the objective", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 682, + 505, + 696 + ], + "spans": [ + { + "bbox": [ + 105, + 682, + 142, + 696 + ], + "score": 1.0, + "content": "function", + "type": "text" + }, + { + "bbox": [ + 142, + 683, + 178, + 695 + ], + "score": 0.93, + "content": "\\Psi ( \\theta , \\theta _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 178, + 682, + 362, + 696 + ], + "score": 1.0, + "content": "of the optimization problem (10) (by keeping", + "type": "text" + }, + { + "bbox": [ + 362, + 684, + 372, + 694 + ], + "score": 0.87, + "content": "\\theta _ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 373, + 682, + 505, + 696 + ], + "score": 1.0, + "content": "fixed). A more presentable form", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 106, + 694, + 302, + 706 + ], + "spans": [ + { + "bbox": [ + 106, + 694, + 187, + 706 + ], + "score": 1.0, + "content": "of the policy loss in", + "type": "text" + }, + { + "bbox": [ + 187, + 695, + 196, + 704 + ], + "score": 0.82, + "content": "\\Psi", + "type": "inline_equation" + }, + { + "bbox": [ + 197, + 694, + 302, + 706 + ], + "score": 1.0, + "content": "can be written as follows:", + "type": "text" + } + ], + "index": 51 + } + ], + "index": 48.5, + "bbox_fs": [ + 105, + 639, + 506, + 706 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 130, + 708, + 463, + 729 + ], + "lines": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "spans": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "score": 0.91, + "content": "L ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\big [ \\log \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - \\log \\pi _ { \\theta _ { k } } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - t _ { k } Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] ,", + "type": "interline_equation", + "image_path": "a762a15aebf12699b30c0d8be43df96617259a0b76f6d84a21579317361281c2.jpg" + } + ] + } + ], + "index": 52, + "virtual_lines": [ + { + "bbox": [ + 130, + 708, + 463, + 729 + ], + "spans": [], + "index": 52 + } + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 149 + ], + "lines": [ + { + "bbox": [ + 104, + 81, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 104, + 81, + 506, + 96 + ], + "score": 1.0, + "content": "In particular, the first two terms here are obtained just by opening the KL, whereas the advantage", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 312, + 106 + ], + "score": 1.0, + "content": "estimate is replaced by a neural network estimate", + "type": "text" + }, + { + "bbox": [ + 312, + 94, + 327, + 106 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 93, + 506, + 106 + ], + "score": 1.0, + "content": ", which is learned from off-policy data in a", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 106, + 104, + 133, + 116 + ], + "score": 0.41, + "content": "\\mathrm { T D } ( 0 )", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 104, + 461, + 117 + ], + "score": 1.0, + "content": "fashion. Furthermore, solely as an implementation detail, another neural network", + "type": "text" + }, + { + "bbox": [ + 461, + 105, + 474, + 117 + ], + "score": 0.88, + "content": "V _ { \\phi }", + "type": "inline_equation" + }, + { + "bbox": [ + 474, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "is used", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 186, + 128 + ], + "score": 1.0, + "content": "in conjunction with", + "type": "text" + }, + { + "bbox": [ + 186, + 115, + 201, + 128 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 201, + 115, + 276, + 128 + ], + "score": 1.0, + "content": ", which is fit to the", + "type": "text" + }, + { + "bbox": [ + 276, + 115, + 291, + 127 + ], + "score": 0.87, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "estimate of the current policy. Finally, the policy loss", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 126, + 505, + 139 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 284, + 139 + ], + "score": 1.0, + "content": "also uses the reparameterization trick where", + "type": "text" + }, + { + "bbox": [ + 284, + 126, + 316, + 138 + ], + "score": 0.92, + "content": "\\tilde { \\boldsymbol { a } } _ { \\boldsymbol { \\theta } } ( \\epsilon , s )", + "type": "inline_equation" + }, + { + "bbox": [ + 316, + 126, + 475, + 139 + ], + "score": 1.0, + "content": "is the action generated by sampling the", + "type": "text" + }, + { + "bbox": [ + 475, + 128, + 480, + 136 + ], + "score": 0.71, + "content": "\\epsilon", + "type": "inline_equation" + }, + { + "bbox": [ + 481, + 126, + 505, + 139 + ], + "score": 1.0, + "content": "noise", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 137, + 273, + 149 + ], + "spans": [ + { + "bbox": [ + 106, + 137, + 259, + 149 + ], + "score": 1.0, + "content": "from a zero-mean normal distribution", + "type": "text" + }, + { + "bbox": [ + 259, + 137, + 270, + 147 + ], + "score": 0.83, + "content": "\\mathcal { N }", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 137, + 273, + 149 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 106, + 154, + 505, + 223 + ], + "lines": [ + { + "bbox": [ + 106, + 154, + 505, + 166 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 505, + 166 + ], + "score": 1.0, + "content": "We can easily modify Algorithm 2 to optimize soft (entropy regularized) MDPs. In this case, in the", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 106, + 165, + 273, + 178 + ], + "score": 1.0, + "content": "critic update (Line 12 of Algorithm 2), the", + "type": "text" + }, + { + "bbox": [ + 273, + 165, + 288, + 177 + ], + "score": 0.89, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 165, + 446, + 178 + ], + "score": 1.0, + "content": "update remains unchanged, while in the", + "type": "text" + }, + { + "bbox": [ + 446, + 165, + 459, + 177 + ], + "score": 0.89, + "content": "V _ { \\phi }", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "update, the", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 103, + 173, + 508, + 194 + ], + "spans": [ + { + "bbox": [ + 103, + 173, + 185, + 194 + ], + "score": 1.0, + "content": "target changes from", + "type": "text" + }, + { + "bbox": [ + 186, + 176, + 265, + 190 + ], + "score": 0.92, + "content": "\\mathbb { E } _ { a \\sim \\pi _ { \\theta _ { k + 1 } } } \\left[ Q _ { \\psi } ( \\cdot , a ) \\right]", + "type": "inline_equation" + }, + { + "bbox": [ + 266, + 173, + 276, + 194 + ], + "score": 1.0, + "content": "to", + "type": "text" + }, + { + "bbox": [ + 277, + 176, + 413, + 190 + ], + "score": 0.91, + "content": "\\bar { \\mathbb { E } } _ { a \\sim \\pi _ { \\theta _ { k + 1 } } } [ Q _ { \\psi } ( \\cdot , a ) - \\lambda \\log \\pi ( a | \\cdot ) ]", + "type": "inline_equation" + }, + { + "bbox": [ + 413, + 173, + 508, + 194 + ], + "score": 1.0, + "content": ". The loss function (11)", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 188, + 505, + 201 + ], + "spans": [ + { + "bbox": [ + 106, + 188, + 434, + 201 + ], + "score": 1.0, + "content": "used for the actor (policy) update (Lines 7-9 of Algorithm 2) is also modified,", + "type": "text" + }, + { + "bbox": [ + 434, + 189, + 449, + 201 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 450, + 188, + 505, + 201 + ], + "score": 1.0, + "content": "becomes the", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 199, + 506, + 214 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 124, + 214 + ], + "score": 1.0, + "content": "soft", + "type": "text" + }, + { + "bbox": [ + 124, + 200, + 133, + 212 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 199, + 216, + 214 + ], + "score": 1.0, + "content": "-function and a term", + "type": "text" + }, + { + "bbox": [ + 216, + 200, + 307, + 212 + ], + "score": 0.91, + "content": "\\lambda t _ { k } \\log \\pi _ { \\theta _ { k } } ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s )", + "type": "inline_equation" + }, + { + "bbox": [ + 308, + 199, + 506, + 214 + ], + "score": 1.0, + "content": "is added inside the expectation. We denote these", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 210, + 246, + 224 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 246, + 224 + ], + "score": 1.0, + "content": "changes explicitly in Algorithm 3.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 8.5 + }, + { + "type": "text", + "bbox": [ + 107, + 227, + 506, + 272 + ], + "lines": [ + { + "bbox": [ + 106, + 227, + 507, + 240 + ], + "spans": [ + { + "bbox": [ + 106, + 227, + 507, + 240 + ], + "score": 1.0, + "content": "Similarly to on-policy MDPO that has close connection to TRPO and PPO, discussed in Section 4.1,", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 238, + 507, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 238, + 507, + 252 + ], + "score": 1.0, + "content": "off-policy MDPO (Algorithm 2 and 3) is related to the popular soft actor-critic (SAC) algorithm [13].", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 249, + 506, + 263 + ], + "spans": [ + { + "bbox": [ + 105, + 249, + 506, + 263 + ], + "score": 1.0, + "content": "We now derive SAC by slight modifications in the derivation of off-policy MDPO. This gives an", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 261, + 507, + 273 + ], + "spans": [ + { + "bbox": [ + 105, + 261, + 507, + 273 + ], + "score": 1.0, + "content": "optimization interpretation to SAC, which we then use to show strong ties between the two algorithms.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5 + }, + { + "type": "text", + "bbox": [ + 106, + 277, + 506, + 311 + ], + "lines": [ + { + "bbox": [ + 106, + 277, + 507, + 291 + ], + "spans": [ + { + "bbox": [ + 106, + 277, + 507, + 291 + ], + "score": 1.0, + "content": "Comparison with SAC. Soft actor-critic is an approximate policy iteration algorithm in soft MDPs.", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 289, + 505, + 301 + ], + "spans": [ + { + "bbox": [ + 106, + 289, + 173, + 301 + ], + "score": 1.0, + "content": "At each iteration", + "type": "text" + }, + { + "bbox": [ + 174, + 289, + 180, + 299 + ], + "score": 0.79, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 181, + 289, + 286, + 301 + ], + "score": 1.0, + "content": ", it first estimates the (soft)", + "type": "text" + }, + { + "bbox": [ + 286, + 289, + 295, + 300 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 295, + 289, + 415, + 301 + ], + "score": 1.0, + "content": "-function of the current policy,", + "type": "text" + }, + { + "bbox": [ + 416, + 289, + 433, + 300 + ], + "score": 0.89, + "content": "Q ^ { \\pi _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 434, + 289, + 505, + 301 + ], + "score": 1.0, + "content": ", and then sets the", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 300, + 394, + 312 + ], + "spans": [ + { + "bbox": [ + 105, + 300, + 336, + 312 + ], + "score": 1.0, + "content": "next policy to the (soft) greedy policy w.r.t. the estimated", + "type": "text" + }, + { + "bbox": [ + 336, + 300, + 345, + 311 + ], + "score": 0.86, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 346, + 300, + 394, + 312 + ], + "score": 1.0, + "content": "-function as", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 17 + }, + { + "type": "interline_equation", + "bbox": [ + 219, + 318, + 391, + 333 + ], + "lines": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "spans": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "score": 0.92, + "content": "\\pi _ { k + 1 } ( a | s ) \\gets \\exp \\left( Q ^ { \\pi _ { k } } ( s , a ) \\right) / \\ : Z ^ { \\mathrm { S A C } } ( s ) ,", + "type": "interline_equation", + "image_path": "c467a76a75730630e979e9e41ee6436aa58f9a4f51c82a84d10e9d1687e20ca8.jpg" + } + ] + } + ], + "index": 19, + "virtual_lines": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "spans": [], + "index": 19 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 339, + 507, + 374 + ], + "lines": [ + { + "bbox": [ + 104, + 337, + 507, + 356 + ], + "spans": [ + { + "bbox": [ + 104, + 337, + 135, + 356 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 135, + 340, + 291, + 353 + ], + "score": 0.91, + "content": "Z ^ { \\mathrm { S A C } } ( s ) \\ = \\ \\mathbb { E } _ { a \\sim \\pi _ { k } ( \\cdot | s ) } \\big [ \\exp \\big ( Q ^ { \\pi _ { k } } ( s , a ) \\big ) \\big ]", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 337, + 507, + 356 + ], + "score": 1.0, + "content": "is a normalization term. However, since tractable", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 350, + 505, + 365 + ], + "spans": [ + { + "bbox": [ + 105, + 350, + 505, + 365 + ], + "score": 1.0, + "content": "policies are preferred in practice, SAC suggests to project the improved policy back into the policy", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 362, + 419, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 419, + 375 + ], + "score": 1.0, + "content": "space considered by the algorithm, using the following optimization problem:", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 21 + }, + { + "type": "interline_equation", + "bbox": [ + 119, + 380, + 474, + 408 + ], + "lines": [ + { + "bbox": [ + 119, + 380, + 474, + 408 + ], + "spans": [ + { + "bbox": [ + 119, + 380, + 474, + 408 + ], + "score": 0.92, + "content": "\\theta _ { k + 1 } \\gets \\operatorname * { a r g m i n } _ { \\theta \\in \\Theta } \\mathcal { L } ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) , \\qquad \\mathcal { L } ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathbf { K } \\mathbf { L } \\big ( s ; \\pi _ { \\theta } , \\frac { \\exp \\big ( Q ^ { \\theta _ { k } } ( s , \\cdot ) \\big ) } { Z ^ { \\mathrm { S A C } } ( s ) } \\big ) \\Big ] .", + "type": "interline_equation", + "image_path": "51a3ff75a75fbaa6dacf041673e8e005b98fe13db1c7ce2bac5c96531ec742ed.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 119, + 380, + 474, + 389.3333333333333 + ], + "spans": [], + "index": 23 + }, + { + "bbox": [ + 119, + 389.3333333333333, + 474, + 398.66666666666663 + ], + "spans": [], + "index": 24 + }, + { + "bbox": [ + 119, + 398.66666666666663, + 474, + 407.99999999999994 + ], + "spans": [], + "index": 25 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 415, + 506, + 438 + ], + "lines": [ + { + "bbox": [ + 105, + 413, + 506, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 506, + 429 + ], + "score": 1.0, + "content": "This update rule computes the next policy as the one with the minimum KL-divergence to the term", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 426, + 185, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 185, + 438 + ], + "score": 1.0, + "content": "on the RHS of (12)", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 26.5 + }, + { + "type": "text", + "bbox": [ + 107, + 443, + 505, + 477 + ], + "lines": [ + { + "bbox": [ + 105, + 442, + 506, + 456 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 506, + 456 + ], + "score": 1.0, + "content": "Since the optimization problem in (13) is invariant to the normalization term, unlike (12), the", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 451, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 104, + 451, + 290, + 468 + ], + "score": 1.0, + "content": "policy update (13) does not need to compute", + "type": "text" + }, + { + "bbox": [ + 290, + 453, + 324, + 466 + ], + "score": 0.92, + "content": "Z ^ { \\mathrm { S A C } } ( s )", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 451, + 506, + 468 + ], + "score": 1.0, + "content": ". By writing the KL definition and using the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 465, + 502, + 478 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 502, + 478 + ], + "score": 1.0, + "content": "reparameterization trick in (13), SAC updates its policy by minimizing the following loss function:", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29 + }, + { + "type": "interline_equation", + "bbox": [ + 177, + 483, + 434, + 503 + ], + "lines": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "spans": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "score": 0.92, + "content": "L ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { \\underset { \\epsilon \\sim \\mathcal { N } } { s \\sim \\mathcal { D } } } \\big [ \\lambda \\log \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] .", + "type": "interline_equation", + "image_path": "7ede7c8100e4bc88446404e6f3515471858ba999de0a35157cade7681142a2b5.jpg" + } + ] + } + ], + "index": 31, + "virtual_lines": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "spans": [], + "index": 31 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 510, + 506, + 578 + ], + "lines": [ + { + "bbox": [ + 107, + 511, + 505, + 523 + ], + "spans": [ + { + "bbox": [ + 107, + 511, + 505, + 523 + ], + "score": 1.0, + "content": "Comparing the loss in (14) with the one used in off-policy MDPO (Eq. 11), we notice that despite the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 522, + 507, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 522, + 383, + 534 + ], + "score": 1.0, + "content": "similarities, the main difference is the absence of the current policy,", + "type": "text" + }, + { + "bbox": [ + 383, + 524, + 398, + 534 + ], + "score": 0.88, + "content": "\\pi _ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 398, + 522, + 507, + 534 + ], + "score": 1.0, + "content": ", in the SAC loss function.", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "spans": [ + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "score": 1.0, + "content": "To explain the relationship between off-policy MDPO and SAC, recall from Section 2.1 that if the", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 544, + 506, + 556 + ], + "spans": [ + { + "bbox": [ + 106, + 544, + 261, + 556 + ], + "score": 1.0, + "content": "constraint set is the unit simplex, i.e.,", + "type": "text" + }, + { + "bbox": [ + 261, + 544, + 299, + 555 + ], + "score": 0.91, + "content": "C = \\Delta _ { \\mathcal { X } }", + "type": "inline_equation" + }, + { + "bbox": [ + 299, + 544, + 506, + 556 + ], + "score": 1.0, + "content": ", the MD update has the closed-form shown in (2).", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 272, + 568 + ], + "score": 1.0, + "content": "Thus, if the policy class (constraint set)", + "type": "text" + }, + { + "bbox": [ + 273, + 556, + 281, + 565 + ], + "score": 0.69, + "content": "\\Pi", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 555, + 506, + 568 + ], + "score": 1.0, + "content": "in the update rule (4) is the entire space of stochastic", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 565, + 380, + 578 + ], + "spans": [ + { + "bbox": [ + 106, + 565, + 380, + 578 + ], + "score": 1.0, + "content": "policies, then we may write (4) in closed-form as (see e.g., [21, 29])", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 34.5 + }, + { + "type": "interline_equation", + "bbox": [ + 205, + 583, + 405, + 598 + ], + "lines": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "spans": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "score": 0.91, + "content": "\\pi _ { k + 1 } ( a | s ) \\gets \\pi _ { k } ( a | s ) \\exp \\left( t _ { k } Q ^ { \\pi _ { k } } ( s , a ) \\right) / Z ( s ) ,", + "type": "interline_equation", + "image_path": "9e23b674621440b199915d04913baac45b1a61b92ed5be946212e0ed6f53f9c0.jpg" + } + ] + } + ], + "index": 38, + "virtual_lines": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "spans": [], + "index": 38 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 604, + 506, + 705 + ], + "lines": [ + { + "bbox": [ + 105, + 604, + 507, + 620 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 133, + 620 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 605, + 281, + 618 + ], + "score": 0.91, + "content": "Z ( s ) = \\mathbb { E } _ { a \\sim \\pi _ { k } ( \\cdot \\vert s ) } \\left[ \\exp \\left( t _ { k } Q ^ { \\pi _ { k } } ( s , a ) \\right) \\right]", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 604, + 507, + 620 + ], + "score": 1.0, + "content": "is a normalization term. The closed-form solution (15)", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 104, + 614, + 506, + 630 + ], + "spans": [ + { + "bbox": [ + 104, + 614, + 506, + 630 + ], + "score": 1.0, + "content": "is equivalent to solving the constrained optimization problem (4) in two phases (see [14]): 1) solving", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "score": 1.0, + "content": "the unconstrained version of (4) that leads to the numerator of (15), followed by 2) projecting this", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 638, + 505, + 650 + ], + "spans": [ + { + "bbox": [ + 106, + 638, + 505, + 650 + ], + "score": 1.0, + "content": "(unconstrained) solution back into the constrained set (all stochastic policies) using the same choice", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 650, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 106, + 650, + 506, + 662 + ], + "score": 1.0, + "content": "of Bregman divergence (KL in our case), which accounts for the normalization term in (15). Hence,", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 660, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 325, + 672 + ], + "score": 1.0, + "content": "when we optimize over the parameterized policy space", + "type": "text" + }, + { + "bbox": [ + 325, + 660, + 334, + 670 + ], + "score": 0.8, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 334, + 660, + 505, + 672 + ], + "score": 1.0, + "content": "(instead of all stochastic policies), the MD", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 670, + 506, + 684 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 294, + 684 + ], + "score": 1.0, + "content": "update would be equivalent to finding a policy", + "type": "text" + }, + { + "bbox": [ + 294, + 671, + 320, + 681 + ], + "score": 0.89, + "content": "\\theta \\in \\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 320, + 670, + 506, + 684 + ], + "score": 1.0, + "content": "with minimum KL-divergence to the solution", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 681, + 506, + 695 + ], + "spans": [ + { + "bbox": [ + 105, + 681, + 506, + 695 + ], + "score": 1.0, + "content": "of the unconstrained optimization problem obtained in the first phase (the numerator of Eq. 15). This", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 693, + 272, + 705 + ], + "spans": [ + { + "bbox": [ + 105, + 693, + 272, + 705 + ], + "score": 1.0, + "content": "leads to the following policy update rule:", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 43 + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 711, + 468, + 735 + ], + "lines": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "spans": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "score": 0.9, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\mathrm { a r g } \\mathrm { m i n } } \\ \\mathcal { L } ( \\theta , \\theta _ { k } ) , \\qquad \\mathcal { L } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathrm { K L } \\big ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } \\exp ( t _ { k } Q ^ { \\theta _ { k } } ) \\big ) \\Big ] .", + "type": "interline_equation", + "image_path": "36a6e8bfaf8430a7d38a5fc9e1675d1bef34fd32872f9f44143d859ac5fbdcbc.jpg" + } + ] + } + ], + "index": 48, + "virtual_lines": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "spans": [], + "index": 48 + } + ] + } + ], + "page_idx": 5, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 310, + 761 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 310, + 761 + ], + "score": 1.0, + "content": "6", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 505, + 149 + ], + "lines": [ + { + "bbox": [ + 104, + 81, + 506, + 96 + ], + "spans": [ + { + "bbox": [ + 104, + 81, + 506, + 96 + ], + "score": 1.0, + "content": "In particular, the first two terms here are obtained just by opening the KL, whereas the advantage", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 506, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 312, + 106 + ], + "score": 1.0, + "content": "estimate is replaced by a neural network estimate", + "type": "text" + }, + { + "bbox": [ + 312, + 94, + 327, + 106 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 93, + 506, + 106 + ], + "score": 1.0, + "content": ", which is learned from off-policy data in a", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 104, + 506, + 117 + ], + "spans": [ + { + "bbox": [ + 106, + 104, + 133, + 116 + ], + "score": 0.41, + "content": "\\mathrm { T D } ( 0 )", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 104, + 461, + 117 + ], + "score": 1.0, + "content": "fashion. Furthermore, solely as an implementation detail, another neural network", + "type": "text" + }, + { + "bbox": [ + 461, + 105, + 474, + 117 + ], + "score": 0.88, + "content": "V _ { \\phi }", + "type": "inline_equation" + }, + { + "bbox": [ + 474, + 104, + 506, + 117 + ], + "score": 1.0, + "content": "is used", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 505, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 186, + 128 + ], + "score": 1.0, + "content": "in conjunction with", + "type": "text" + }, + { + "bbox": [ + 186, + 115, + 201, + 128 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 201, + 115, + 276, + 128 + ], + "score": 1.0, + "content": ", which is fit to the", + "type": "text" + }, + { + "bbox": [ + 276, + 115, + 291, + 127 + ], + "score": 0.87, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 115, + 505, + 128 + ], + "score": 1.0, + "content": "estimate of the current policy. 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The loss function (11)", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 188, + 505, + 201 + ], + "spans": [ + { + "bbox": [ + 106, + 188, + 434, + 201 + ], + "score": 1.0, + "content": "used for the actor (policy) update (Lines 7-9 of Algorithm 2) is also modified,", + "type": "text" + }, + { + "bbox": [ + 434, + 189, + 449, + 201 + ], + "score": 0.9, + "content": "Q _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 450, + 188, + 505, + 201 + ], + "score": 1.0, + "content": "becomes the", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 199, + 506, + 214 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 124, + 214 + ], + "score": 1.0, + "content": "soft", + "type": "text" + }, + { + "bbox": [ + 124, + 200, + 133, + 212 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 199, + 216, + 214 + ], + "score": 1.0, + "content": "-function and a term", + "type": "text" + }, + { + "bbox": [ + 216, + 200, + 307, + 212 + ], + "score": 0.91, + "content": "\\lambda t _ { k } \\log \\pi _ { \\theta _ { k } } ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s )", + "type": "inline_equation" + }, + { + "bbox": [ + 308, + 199, + 506, + 214 + ], + "score": 1.0, + "content": "is added inside the expectation. We denote these", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 210, + 246, + 224 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 246, + 224 + ], + "score": 1.0, + "content": "changes explicitly in Algorithm 3.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 8.5, + "bbox_fs": [ + 103, + 154, + 508, + 224 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 227, + 506, + 272 + ], + "lines": [ + { + "bbox": [ + 106, + 227, + 507, + 240 + ], + "spans": [ + { + "bbox": [ + 106, + 227, + 507, + 240 + ], + "score": 1.0, + "content": "Similarly to on-policy MDPO that has close connection to TRPO and PPO, discussed in Section 4.1,", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 238, + 507, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 238, + 507, + 252 + ], + "score": 1.0, + "content": "off-policy MDPO (Algorithm 2 and 3) is related to the popular soft actor-critic (SAC) algorithm [13].", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 249, + 506, + 263 + ], + "spans": [ + { + "bbox": [ + 105, + 249, + 506, + 263 + ], + "score": 1.0, + "content": "We now derive SAC by slight modifications in the derivation of off-policy MDPO. This gives an", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 261, + 507, + 273 + ], + "spans": [ + { + "bbox": [ + 105, + 261, + 507, + 273 + ], + "score": 1.0, + "content": "optimization interpretation to SAC, which we then use to show strong ties between the two algorithms.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13.5, + "bbox_fs": [ + 105, + 227, + 507, + 273 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 277, + 506, + 311 + ], + "lines": [ + { + "bbox": [ + 106, + 277, + 507, + 291 + ], + "spans": [ + { + "bbox": [ + 106, + 277, + 507, + 291 + ], + "score": 1.0, + "content": "Comparison with SAC. Soft actor-critic is an approximate policy iteration algorithm in soft MDPs.", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 289, + 505, + 301 + ], + "spans": [ + { + "bbox": [ + 106, + 289, + 173, + 301 + ], + "score": 1.0, + "content": "At each iteration", + "type": "text" + }, + { + "bbox": [ + 174, + 289, + 180, + 299 + ], + "score": 0.79, + "content": "k", + "type": "inline_equation" + }, + { + "bbox": [ + 181, + 289, + 286, + 301 + ], + "score": 1.0, + "content": ", it first estimates the (soft)", + "type": "text" + }, + { + "bbox": [ + 286, + 289, + 295, + 300 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 295, + 289, + 415, + 301 + ], + "score": 1.0, + "content": "-function of the current policy,", + "type": "text" + }, + { + "bbox": [ + 416, + 289, + 433, + 300 + ], + "score": 0.89, + "content": "Q ^ { \\pi _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 434, + 289, + 505, + 301 + ], + "score": 1.0, + "content": ", and then sets the", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 300, + 394, + 312 + ], + "spans": [ + { + "bbox": [ + 105, + 300, + 336, + 312 + ], + "score": 1.0, + "content": "next policy to the (soft) greedy policy w.r.t. the estimated", + "type": "text" + }, + { + "bbox": [ + 336, + 300, + 345, + 311 + ], + "score": 0.86, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 346, + 300, + 394, + 312 + ], + "score": 1.0, + "content": "-function as", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 17, + "bbox_fs": [ + 105, + 277, + 507, + 312 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 219, + 318, + 391, + 333 + ], + "lines": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "spans": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "score": 0.92, + "content": "\\pi _ { k + 1 } ( a | s ) \\gets \\exp \\left( Q ^ { \\pi _ { k } } ( s , a ) \\right) / \\ : Z ^ { \\mathrm { S A C } } ( s ) ,", + "type": "interline_equation", + "image_path": "c467a76a75730630e979e9e41ee6436aa58f9a4f51c82a84d10e9d1687e20ca8.jpg" + } + ] + } + ], + "index": 19, + "virtual_lines": [ + { + "bbox": [ + 219, + 318, + 391, + 333 + ], + "spans": [], + "index": 19 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 339, + 507, + 374 + ], + "lines": [ + { + "bbox": [ + 104, + 337, + 507, + 356 + ], + "spans": [ + { + "bbox": [ + 104, + 337, + 135, + 356 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 135, + 340, + 291, + 353 + ], + "score": 0.91, + "content": "Z ^ { \\mathrm { S A C } } ( s ) \\ = \\ \\mathbb { E } _ { a \\sim \\pi _ { k } ( \\cdot | s ) } \\big [ \\exp \\big ( Q ^ { \\pi _ { k } } ( s , a ) \\big ) \\big ]", + "type": "inline_equation" + }, + { + "bbox": [ + 291, + 337, + 507, + 356 + ], + "score": 1.0, + "content": "is a normalization term. However, since tractable", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 350, + 505, + 365 + ], + "spans": [ + { + "bbox": [ + 105, + 350, + 505, + 365 + ], + "score": 1.0, + "content": "policies are preferred in practice, SAC suggests to project the improved policy back into the policy", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 362, + 419, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 419, + 375 + ], + "score": 1.0, + "content": "space considered by the algorithm, using the following optimization problem:", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 21, + "bbox_fs": [ + 104, + 337, + 507, + 375 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 119, + 380, + 474, + 408 + ], + "lines": [ + { + "bbox": [ + 119, + 380, + 474, + 408 + ], + "spans": [ + { + "bbox": [ + 119, + 380, + 474, + 408 + ], + "score": 0.92, + "content": "\\theta _ { k + 1 } \\gets \\operatorname * { a r g m i n } _ { \\theta \\in \\Theta } \\mathcal { L } ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) , \\qquad \\mathcal { L } ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathbf { K } \\mathbf { L } \\big ( s ; \\pi _ { \\theta } , \\frac { \\exp \\big ( Q ^ { \\theta _ { k } } ( s , \\cdot ) \\big ) } { Z ^ { \\mathrm { S A C } } ( s ) } \\big ) \\Big ] .", + "type": "interline_equation", + "image_path": "51a3ff75a75fbaa6dacf041673e8e005b98fe13db1c7ce2bac5c96531ec742ed.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 119, + 380, + 474, + 389.3333333333333 + ], + "spans": [], + "index": 23 + }, + { + "bbox": [ + 119, + 389.3333333333333, + 474, + 398.66666666666663 + ], + "spans": [], + "index": 24 + }, + { + "bbox": [ + 119, + 398.66666666666663, + 474, + 407.99999999999994 + ], + "spans": [], + "index": 25 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 415, + 506, + 438 + ], + "lines": [ + { + "bbox": [ + 105, + 413, + 506, + 429 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 506, + 429 + ], + "score": 1.0, + "content": "This update rule computes the next policy as the one with the minimum KL-divergence to the term", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 426, + 185, + 438 + ], + "spans": [ + { + "bbox": [ + 106, + 426, + 185, + 438 + ], + "score": 1.0, + "content": "on the RHS of (12)", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 26.5, + "bbox_fs": [ + 105, + 413, + 506, + 438 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 443, + 505, + 477 + ], + "lines": [ + { + "bbox": [ + 105, + 442, + 506, + 456 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 506, + 456 + ], + "score": 1.0, + "content": "Since the optimization problem in (13) is invariant to the normalization term, unlike (12), the", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 451, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 104, + 451, + 290, + 468 + ], + "score": 1.0, + "content": "policy update (13) does not need to compute", + "type": "text" + }, + { + "bbox": [ + 290, + 453, + 324, + 466 + ], + "score": 0.92, + "content": "Z ^ { \\mathrm { S A C } } ( s )", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 451, + 506, + 468 + ], + "score": 1.0, + "content": ". By writing the KL definition and using the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 465, + 502, + 478 + ], + "spans": [ + { + "bbox": [ + 105, + 465, + 502, + 478 + ], + "score": 1.0, + "content": "reparameterization trick in (13), SAC updates its policy by minimizing the following loss function:", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 29, + "bbox_fs": [ + 104, + 442, + 506, + 478 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 177, + 483, + 434, + 503 + ], + "lines": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "spans": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "score": 0.92, + "content": "L ^ { \\mathrm { S A C } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { \\underset { \\epsilon \\sim \\mathcal { N } } { s \\sim \\mathcal { D } } } \\big [ \\lambda \\log \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] .", + "type": "interline_equation", + "image_path": "7ede7c8100e4bc88446404e6f3515471858ba999de0a35157cade7681142a2b5.jpg" + } + ] + } + ], + "index": 31, + "virtual_lines": [ + { + "bbox": [ + 177, + 483, + 434, + 503 + ], + "spans": [], + "index": 31 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 510, + 506, + 578 + ], + "lines": [ + { + "bbox": [ + 107, + 511, + 505, + 523 + ], + "spans": [ + { + "bbox": [ + 107, + 511, + 505, + 523 + ], + "score": 1.0, + "content": "Comparing the loss in (14) with the one used in off-policy MDPO (Eq. 11), we notice that despite the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 522, + 507, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 522, + 383, + 534 + ], + "score": 1.0, + "content": "similarities, the main difference is the absence of the current policy,", + "type": "text" + }, + { + "bbox": [ + 383, + 524, + 398, + 534 + ], + "score": 0.88, + "content": "\\pi _ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 398, + 522, + 507, + 534 + ], + "score": 1.0, + "content": ", in the SAC loss function.", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "spans": [ + { + "bbox": [ + 106, + 532, + 505, + 544 + ], + "score": 1.0, + "content": "To explain the relationship between off-policy MDPO and SAC, recall from Section 2.1 that if the", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 544, + 506, + 556 + ], + "spans": [ + { + "bbox": [ + 106, + 544, + 261, + 556 + ], + "score": 1.0, + "content": "constraint set is the unit simplex, i.e.,", + "type": "text" + }, + { + "bbox": [ + 261, + 544, + 299, + 555 + ], + "score": 0.91, + "content": "C = \\Delta _ { \\mathcal { X } }", + "type": "inline_equation" + }, + { + "bbox": [ + 299, + 544, + 506, + 556 + ], + "score": 1.0, + "content": ", the MD update has the closed-form shown in (2).", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 272, + 568 + ], + "score": 1.0, + "content": "Thus, if the policy class (constraint set)", + "type": "text" + }, + { + "bbox": [ + 273, + 556, + 281, + 565 + ], + "score": 0.69, + "content": "\\Pi", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 555, + 506, + 568 + ], + "score": 1.0, + "content": "in the update rule (4) is the entire space of stochastic", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 565, + 380, + 578 + ], + "spans": [ + { + "bbox": [ + 106, + 565, + 380, + 578 + ], + "score": 1.0, + "content": "policies, then we may write (4) in closed-form as (see e.g., [21, 29])", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 34.5, + "bbox_fs": [ + 105, + 511, + 507, + 578 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 205, + 583, + 405, + 598 + ], + "lines": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "spans": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "score": 0.91, + "content": "\\pi _ { k + 1 } ( a | s ) \\gets \\pi _ { k } ( a | s ) \\exp \\left( t _ { k } Q ^ { \\pi _ { k } } ( s , a ) \\right) / Z ( s ) ,", + "type": "interline_equation", + "image_path": "9e23b674621440b199915d04913baac45b1a61b92ed5be946212e0ed6f53f9c0.jpg" + } + ] + } + ], + "index": 38, + "virtual_lines": [ + { + "bbox": [ + 205, + 583, + 405, + 598 + ], + "spans": [], + "index": 38 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 604, + 506, + 705 + ], + "lines": [ + { + "bbox": [ + 105, + 604, + 507, + 620 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 133, + 620 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 605, + 281, + 618 + ], + "score": 0.91, + "content": "Z ( s ) = \\mathbb { E } _ { a \\sim \\pi _ { k } ( \\cdot \\vert s ) } \\left[ \\exp \\left( t _ { k } Q ^ { \\pi _ { k } } ( s , a ) \\right) \\right]", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 604, + 507, + 620 + ], + "score": 1.0, + "content": "is a normalization term. The closed-form solution (15)", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 104, + 614, + 506, + 630 + ], + "spans": [ + { + "bbox": [ + 104, + 614, + 506, + 630 + ], + "score": 1.0, + "content": "is equivalent to solving the constrained optimization problem (4) in two phases (see [14]): 1) solving", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "spans": [ + { + "bbox": [ + 105, + 626, + 506, + 640 + ], + "score": 1.0, + "content": "the unconstrained version of (4) that leads to the numerator of (15), followed by 2) projecting this", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 638, + 505, + 650 + ], + "spans": [ + { + "bbox": [ + 106, + 638, + 505, + 650 + ], + "score": 1.0, + "content": "(unconstrained) solution back into the constrained set (all stochastic policies) using the same choice", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 650, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 106, + 650, + 506, + 662 + ], + "score": 1.0, + "content": "of Bregman divergence (KL in our case), which accounts for the normalization term in (15). Hence,", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 660, + 505, + 672 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 325, + 672 + ], + "score": 1.0, + "content": "when we optimize over the parameterized policy space", + "type": "text" + }, + { + "bbox": [ + 325, + 660, + 334, + 670 + ], + "score": 0.8, + "content": "\\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 334, + 660, + 505, + 672 + ], + "score": 1.0, + "content": "(instead of all stochastic policies), the MD", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 670, + 506, + 684 + ], + "spans": [ + { + "bbox": [ + 105, + 670, + 294, + 684 + ], + "score": 1.0, + "content": "update would be equivalent to finding a policy", + "type": "text" + }, + { + "bbox": [ + 294, + 671, + 320, + 681 + ], + "score": 0.89, + "content": "\\theta \\in \\Theta", + "type": "inline_equation" + }, + { + "bbox": [ + 320, + 670, + 506, + 684 + ], + "score": 1.0, + "content": "with minimum KL-divergence to the solution", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 681, + 506, + 695 + ], + "spans": [ + { + "bbox": [ + 105, + 681, + 506, + 695 + ], + "score": 1.0, + "content": "of the unconstrained optimization problem obtained in the first phase (the numerator of Eq. 15). This", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 693, + 272, + 705 + ], + "spans": [ + { + "bbox": [ + 105, + 693, + 272, + 705 + ], + "score": 1.0, + "content": "leads to the following policy update rule:", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 43, + "bbox_fs": [ + 104, + 604, + 507, + 705 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 711, + 468, + 735 + ], + "lines": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "spans": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "score": 0.9, + "content": "\\theta _ { k + 1 } \\underset { \\theta \\in \\Theta } { \\mathrm { a r g } \\mathrm { m i n } } \\ \\mathcal { L } ( \\theta , \\theta _ { k } ) , \\qquad \\mathcal { L } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\Big [ \\mathrm { K L } \\big ( s ; \\pi _ { \\theta } , \\pi _ { \\theta _ { k } } \\exp ( t _ { k } Q ^ { \\theta _ { k } } ) \\big ) \\Big ] .", + "type": "interline_equation", + "image_path": "36a6e8bfaf8430a7d38a5fc9e1675d1bef34fd32872f9f44143d859ac5fbdcbc.jpg" + } + ] + } + ], + "index": 48, + "virtual_lines": [ + { + "bbox": [ + 143, + 711, + 468, + 735 + ], + "spans": [], + "index": 48 + } + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 505, + 138 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 95 + ], + "score": 1.0, + "content": "If we write the definition of KL and use the reparameterization trick in (16), we will rederive the", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 92, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 92, + 505, + 107 + ], + "score": 1.0, + "content": "loss function (11) used by our off-policy MDPO algorithm.2 Note that both SAC (13) and off-policy", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 118 + ], + "score": 1.0, + "content": "MDPO (16) use KL projection to project back to the set of policies. For SAC, the authors argue that", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "score": 1.0, + "content": "any projection can be chosen arbitrarily. However, our derivation clearly shows that the selection of", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 126, + 376, + 140 + ], + "spans": [ + { + "bbox": [ + 106, + 126, + 376, + 140 + ], + "score": 1.0, + "content": "KL projection is dictated by the choice of the Bregman divergence.", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2 + }, + { + "type": "text", + "bbox": [ + 107, + 143, + 505, + 264 + ], + "lines": [ + { + "bbox": [ + 106, + 143, + 506, + 155 + ], + "spans": [ + { + "bbox": [ + 106, + 143, + 506, + 155 + ], + "score": 1.0, + "content": "As mentioned earlier, the main difference between the loss functions used in the policy updates of", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 506, + 168 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 411, + 168 + ], + "score": 1.0, + "content": "SAC (14) and off-policy MDPO (11) is the absence of the current policy,", + "type": "text" + }, + { + "bbox": [ + 411, + 156, + 426, + 166 + ], + "score": 0.86, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 154, + 506, + 168 + ], + "score": 1.0, + "content": ", in the SAC’s loss", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 104, + 164, + 507, + 180 + ], + "spans": [ + { + "bbox": [ + 104, + 164, + 227, + 180 + ], + "score": 1.0, + "content": "function.3 The current policy,", + "type": "text" + }, + { + "bbox": [ + 227, + 167, + 242, + 177 + ], + "score": 0.88, + "content": "\\pi _ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 243, + 164, + 507, + 180 + ], + "score": 1.0, + "content": ", appears in the policy update of off-policy MDPO, because it is a", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 176, + 506, + 189 + ], + "spans": [ + { + "bbox": [ + 106, + 176, + 506, + 189 + ], + "score": 1.0, + "content": "trust-region algorithm, and thus, tries to keep the new policy close to the old one. On the other hand,", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 507, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 507, + 200 + ], + "score": 1.0, + "content": "following the original interpretation of SAC as an approximate dynamic programming algorithm,", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 198, + 506, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 198, + 506, + 212 + ], + "score": 1.0, + "content": "its policy update does not contain a term to keep the new and old policies close to each other. It is", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 209, + 505, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 505, + 222 + ], + "score": 1.0, + "content": "interesting to note that SAC’s loss function can be re-obtained by repeating the derivation which leads", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 220, + 506, + 234 + ], + "spans": [ + { + "bbox": [ + 105, + 220, + 325, + 234 + ], + "score": 1.0, + "content": "to off-policy MDPO, and replacing the current policy,", + "type": "text" + }, + { + "bbox": [ + 325, + 222, + 340, + 232 + ], + "score": 0.88, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 340, + 220, + 506, + 234 + ], + "score": 1.0, + "content": ", with the uniform policy in the objective", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 231, + 505, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 505, + 243 + ], + "score": 1.0, + "content": "(10) of off-policy MDPO. Therefore, SAC can be considered as a trust-region algorithm w.r.t. the", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 243, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 506, + 255 + ], + "score": 1.0, + "content": "uniform policy (or an entropy regularized algorithm). This means its update encourages the new", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 253, + 389, + 266 + ], + "spans": [ + { + "bbox": [ + 105, + 253, + 389, + 266 + ], + "score": 1.0, + "content": "policy to remain explorative, by keeping it close to the uniform policy.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 10 + }, + { + "type": "text", + "bbox": [ + 107, + 270, + 505, + 335 + ], + "lines": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "spans": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "score": 1.0, + "content": "Trust-PCL [22] uses the path consistency idea along with entropy regularization and an additional", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 281, + 506, + 293 + ], + "spans": [ + { + "bbox": [ + 106, + 281, + 506, + 293 + ], + "score": 1.0, + "content": "term for remaining close to a past policy. In principle, this resembles the off-policy MDPO algorithm.", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "score": 1.0, + "content": "However, Trust-PCL uses a multi-step consistency loss whereas off-policy MDPO uses single", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 303, + 505, + 315 + ], + "spans": [ + { + "bbox": [ + 105, + 303, + 505, + 315 + ], + "score": 1.0, + "content": "transitions. Moreover, besides different derivations, there remain implementation-level details", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 313, + 505, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 278, + 326 + ], + "score": 1.0, + "content": "between the two, as Trust-PCL only uses a", + "type": "text" + }, + { + "bbox": [ + 279, + 314, + 288, + 324 + ], + "score": 0.73, + "content": "V", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 313, + 448, + 326 + ], + "score": 1.0, + "content": "network while off-policy MDPO uses a", + "type": "text" + }, + { + "bbox": [ + 448, + 314, + 457, + 325 + ], + "score": 0.84, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 458, + 313, + 505, + 326 + ], + "score": 1.0, + "content": "function as", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 324, + 129, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 324, + 129, + 336 + ], + "score": 1.0, + "content": "well.", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 18.5 + }, + { + "type": "text", + "bbox": [ + 107, + 342, + 504, + 364 + ], + "lines": [ + { + "bbox": [ + 105, + 340, + 505, + 355 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 505, + 355 + ], + "score": 1.0, + "content": "Due to space constraints, we defer a discussion on the forward and reverse KL directions (including", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 352, + 276, + 363 + ], + "spans": [ + { + "bbox": [ + 106, + 352, + 276, + 363 + ], + "score": 1.0, + "content": "the ECPO [21] algorithm) to Appendix D.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 22.5 + }, + { + "type": "title", + "bbox": [ + 108, + 375, + 256, + 387 + ], + "lines": [ + { + "bbox": [ + 105, + 374, + 258, + 389 + ], + "spans": [ + { + "bbox": [ + 105, + 374, + 258, + 389 + ], + "score": 1.0, + "content": "5 EXPERIMENTAL RESULTS", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 24 + }, + { + "type": "text", + "bbox": [ + 107, + 398, + 346, + 551 + ], + "lines": [ + { + "bbox": [ + 105, + 397, + 346, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 397, + 346, + 410 + ], + "score": 1.0, + "content": "In this section, we empirically evaluate our on-policy and", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 408, + 347, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 408, + 347, + 421 + ], + "score": 1.0, + "content": "off-policy MDPO algorithms on a number of continuous", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 420, + 347, + 432 + ], + "spans": [ + { + "bbox": [ + 106, + 420, + 347, + 432 + ], + "score": 1.0, + "content": "control tasks from OpenAI Gym [7], and compare them", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 430, + 347, + 443 + ], + "spans": [ + { + "bbox": [ + 106, + 430, + 347, + 443 + ], + "score": 1.0, + "content": "with state-of-the-art baselines: TRPO, PPO, and SAC. We", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 442, + 347, + 454 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 347, + 454 + ], + "score": 1.0, + "content": "report all experimental details, including the hyper-parameter", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 452, + 347, + 465 + ], + "spans": [ + { + "bbox": [ + 105, + 452, + 347, + 465 + ], + "score": 1.0, + "content": "values used by the algorithms, in Appendix B. In the tabular", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 464, + 347, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 347, + 476 + ], + "score": 1.0, + "content": "results, both in the main paper and in Appendices E and F, we", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 475, + 347, + 487 + ], + "spans": [ + { + "bbox": [ + 105, + 475, + 347, + 487 + ], + "score": 1.0, + "content": "report the final training scores averaged over 5 runs and their", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 484, + 347, + 498 + ], + "spans": [ + { + "bbox": [ + 106, + 485, + 126, + 496 + ], + "score": 0.87, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 127, + 484, + 347, + 498 + ], + "score": 1.0, + "content": "confidence intervals (CI). We bold-face the values with", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 496, + 346, + 508 + ], + "spans": [ + { + "bbox": [ + 106, + 496, + 346, + 508 + ], + "score": 1.0, + "content": "the best mean scores. We also compare on-policy MDPO", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 507, + 347, + 519 + ], + "spans": [ + { + "bbox": [ + 106, + 507, + 347, + 519 + ], + "score": 1.0, + "content": "and PPO on 21 Atari games from the ALE benchmark [5],", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 518, + 347, + 531 + ], + "spans": [ + { + "bbox": [ + 106, + 518, + 347, + 531 + ], + "score": 1.0, + "content": "showing averages over 5 random seeds. We strictly follow the", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 530, + 345, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 530, + 317, + 541 + ], + "score": 1.0, + "content": "hyperparameters reported in the PPO paper, and use", + "type": "text" + }, + { + "bbox": [ + 317, + 530, + 345, + 540 + ], + "score": 0.89, + "content": "m = 3", + "type": "inline_equation" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 540, + 164, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 164, + 554 + ], + "score": 1.0, + "content": "for all games.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 32.0 + }, + { + "type": "text", + "bbox": [ + 107, + 558, + 346, + 678 + ], + "lines": [ + { + "bbox": [ + 106, + 558, + 346, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 558, + 346, + 570 + ], + "score": 1.0, + "content": "For off-policy MDPO, we experiment with two potential", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 568, + 347, + 580 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 146, + 580 + ], + "score": 1.0, + "content": "functions", + "type": "text" + }, + { + "bbox": [ + 146, + 569, + 155, + 580 + ], + "score": 0.85, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 568, + 292, + 580 + ], + "score": 1.0, + "content": "to define the Bregman divergence", + "type": "text" + }, + { + "bbox": [ + 292, + 568, + 307, + 580 + ], + "score": 0.84, + "content": "B _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 568, + 347, + 580 + ], + "score": 1.0, + "content": ": 1) Shan-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 579, + 347, + 591 + ], + "spans": [ + { + "bbox": [ + 105, + 579, + 347, + 591 + ], + "score": 1.0, + "content": "non entropy, which results in the KL version (described in", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 589, + 347, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 589, + 347, + 603 + ], + "score": 1.0, + "content": "Section 4.2), and 2) Tsallis entropy, which results in the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 601, + 347, + 613 + ], + "spans": [ + { + "bbox": [ + 105, + 601, + 347, + 613 + ], + "score": 1.0, + "content": "Tsallis version of off-policy MDPO. We refer the reader to", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 612, + 348, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 612, + 348, + 624 + ], + "score": 1.0, + "content": "Appendix C for the complete description and detailed deriva-", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 622, + 347, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 622, + 347, + 635 + ], + "score": 1.0, + "content": "tion of the Tsallis version. Note that we did not pursue a", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 633, + 347, + 646 + ], + "spans": [ + { + "bbox": [ + 105, + 633, + 347, + 646 + ], + "score": 1.0, + "content": "similar bifurcation between Tsallis and KL induced Bregman", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 645, + 347, + 657 + ], + "spans": [ + { + "bbox": [ + 106, + 645, + 347, + 657 + ], + "score": 1.0, + "content": "divergences for the on-policy case since the exact derivations", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 656, + 347, + 668 + ], + "spans": [ + { + "bbox": [ + 106, + 656, + 347, + 668 + ], + "score": 1.0, + "content": "are more tedious there. Another important point to note is", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 666, + 348, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 348, + 680 + ], + "score": 1.0, + "content": "that the Tsallis entropy gives us a range of entropies, con-", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 44 + }, + { + "type": "image", + "bbox": [ + 357, + 395, + 496, + 626 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 357, + 395, + 496, + 626 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 357, + 395, + 496, + 626 + ], + "spans": [ + { + "bbox": [ + 357, + 395, + 496, + 626 + ], + "score": 0.969, + "type": "image", + "image_path": "904aac49e8caa81cf6f48a2078fc183db5645f8aa4c58189968266b6e57e75ff.jpg" + } + ] + } + ], + "index": 50, + "virtual_lines": [ + { + "bbox": [ + 357, + 395, + 496, + 626 + ], + "spans": [], + "index": 50 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 354, + 634, + 505, + 675 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 352, + 632, + 505, + 646 + ], + "spans": [ + { + "bbox": [ + 352, + 632, + 505, + 646 + ], + "score": 1.0, + "content": "Figure 2: Performance of on-policy", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 353, + 644, + 505, + 655 + ], + "spans": [ + { + "bbox": [ + 353, + 644, + 505, + 655 + ], + "score": 1.0, + "content": "(top) and off-policy (bottom) MDPO", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 353, + 654, + 506, + 665 + ], + "spans": [ + { + "bbox": [ + 353, + 654, + 506, + 665 + ], + "score": 1.0, + "content": "(code level optimizations included) for dif-", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 354, + 664, + 502, + 674 + ], + "spans": [ + { + "bbox": [ + 354, + 664, + 412, + 674 + ], + "score": 1.0, + "content": "ferent values of", + "type": "text" + }, + { + "bbox": [ + 412, + 666, + 421, + 673 + ], + "score": 0.77, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 422, + 664, + 502, + 674 + ], + "score": 1.0, + "content": "on the Walker2d task.", + "type": "text" + } + ], + "index": 54 + } + ], + "index": 52.5 + } + ], + "index": 51.25 + } + ], + "page_idx": 6, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 106, + 690, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 117, + 689, + 505, + 703 + ], + "spans": [ + { + "bbox": [ + 117, + 689, + 174, + 703 + ], + "score": 1.0, + "content": "2In soft MDPs,", + "type": "text" + }, + { + "bbox": [ + 175, + 690, + 192, + 701 + ], + "score": 0.87, + "content": "Q ^ { \\pi _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 192, + 689, + 338, + 703 + ], + "score": 1.0, + "content": "is replaced by its soft version and a term", + "type": "text" + }, + { + "bbox": [ + 339, + 691, + 407, + 702 + ], + "score": 0.89, + "content": "- \\lambda t _ { k } \\log \\pi _ { \\theta _ { k } } ( a | s )", + "type": "inline_equation" + }, + { + "bbox": [ + 407, + 689, + 505, + 703 + ], + "score": 1.0, + "content": "is added to the exponential", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 700, + 505, + 713 + ], + "spans": [ + { + "bbox": [ + 105, + 700, + 505, + 713 + ], + "score": 1.0, + "content": "in (15). This will result in the same changes in (16). Similar to the hard case, applying the reparameterization", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 711, + 411, + 721 + ], + "spans": [ + { + "bbox": [ + 106, + 711, + 411, + 721 + ], + "score": 1.0, + "content": "trick to the the soft version of (16) gives us the soft version of the loss function (11).", + "type": "text" + } + ] + }, + { + "bbox": [ + 117, + 718, + 497, + 734 + ], + "spans": [ + { + "bbox": [ + 117, + 718, + 497, + 734 + ], + "score": 1.0, + "content": "3The same difference can also be seen in the policy updates (12) and (15) of SAC and off-policy MDPO.", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 762 + ], + "score": 1.0, + "content": "7", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 505, + 138 + ], + "lines": [ + { + "bbox": [ + 106, + 83, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 83, + 505, + 95 + ], + "score": 1.0, + "content": "If we write the definition of KL and use the reparameterization trick in (16), we will rederive the", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 92, + 505, + 107 + ], + "spans": [ + { + "bbox": [ + 105, + 92, + 505, + 107 + ], + "score": 1.0, + "content": "loss function (11) used by our off-policy MDPO algorithm.2 Note that both SAC (13) and off-policy", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 104, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 105, + 104, + 506, + 118 + ], + "score": 1.0, + "content": "MDPO (16) use KL projection to project back to the set of policies. For SAC, the authors argue that", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 506, + 128 + ], + "score": 1.0, + "content": "any projection can be chosen arbitrarily. However, our derivation clearly shows that the selection of", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 126, + 376, + 140 + ], + "spans": [ + { + "bbox": [ + 106, + 126, + 376, + 140 + ], + "score": 1.0, + "content": "KL projection is dictated by the choice of the Bregman divergence.", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2, + "bbox_fs": [ + 105, + 83, + 506, + 140 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 143, + 505, + 264 + ], + "lines": [ + { + "bbox": [ + 106, + 143, + 506, + 155 + ], + "spans": [ + { + "bbox": [ + 106, + 143, + 506, + 155 + ], + "score": 1.0, + "content": "As mentioned earlier, the main difference between the loss functions used in the policy updates of", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 506, + 168 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 411, + 168 + ], + "score": 1.0, + "content": "SAC (14) and off-policy MDPO (11) is the absence of the current policy,", + "type": "text" + }, + { + "bbox": [ + 411, + 156, + 426, + 166 + ], + "score": 0.86, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 154, + 506, + 168 + ], + "score": 1.0, + "content": ", in the SAC’s loss", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 104, + 164, + 507, + 180 + ], + "spans": [ + { + "bbox": [ + 104, + 164, + 227, + 180 + ], + "score": 1.0, + "content": "function.3 The current policy,", + "type": "text" + }, + { + "bbox": [ + 227, + 167, + 242, + 177 + ], + "score": 0.88, + "content": "\\pi _ { \\theta _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 243, + 164, + 507, + 180 + ], + "score": 1.0, + "content": ", appears in the policy update of off-policy MDPO, because it is a", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 176, + 506, + 189 + ], + "spans": [ + { + "bbox": [ + 106, + 176, + 506, + 189 + ], + "score": 1.0, + "content": "trust-region algorithm, and thus, tries to keep the new policy close to the old one. On the other hand,", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 187, + 507, + 200 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 507, + 200 + ], + "score": 1.0, + "content": "following the original interpretation of SAC as an approximate dynamic programming algorithm,", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 198, + 506, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 198, + 506, + 212 + ], + "score": 1.0, + "content": "its policy update does not contain a term to keep the new and old policies close to each other. It is", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 209, + 505, + 222 + ], + "spans": [ + { + "bbox": [ + 106, + 209, + 505, + 222 + ], + "score": 1.0, + "content": "interesting to note that SAC’s loss function can be re-obtained by repeating the derivation which leads", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 220, + 506, + 234 + ], + "spans": [ + { + "bbox": [ + 105, + 220, + 325, + 234 + ], + "score": 1.0, + "content": "to off-policy MDPO, and replacing the current policy,", + "type": "text" + }, + { + "bbox": [ + 325, + 222, + 340, + 232 + ], + "score": 0.88, + "content": "\\pi _ { \\boldsymbol { \\theta } _ { k } }", + "type": "inline_equation" + }, + { + "bbox": [ + 340, + 220, + 506, + 234 + ], + "score": 1.0, + "content": ", with the uniform policy in the objective", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 231, + 505, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 505, + 243 + ], + "score": 1.0, + "content": "(10) of off-policy MDPO. Therefore, SAC can be considered as a trust-region algorithm w.r.t. the", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 243, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 106, + 243, + 506, + 255 + ], + "score": 1.0, + "content": "uniform policy (or an entropy regularized algorithm). This means its update encourages the new", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 253, + 389, + 266 + ], + "spans": [ + { + "bbox": [ + 105, + 253, + 389, + 266 + ], + "score": 1.0, + "content": "policy to remain explorative, by keeping it close to the uniform policy.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 10, + "bbox_fs": [ + 104, + 143, + 507, + 266 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 270, + 505, + 335 + ], + "lines": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "spans": [ + { + "bbox": [ + 106, + 269, + 505, + 281 + ], + "score": 1.0, + "content": "Trust-PCL [22] uses the path consistency idea along with entropy regularization and an additional", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 281, + 506, + 293 + ], + "spans": [ + { + "bbox": [ + 106, + 281, + 506, + 293 + ], + "score": 1.0, + "content": "term for remaining close to a past policy. In principle, this resembles the off-policy MDPO algorithm.", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "score": 1.0, + "content": "However, Trust-PCL uses a multi-step consistency loss whereas off-policy MDPO uses single", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 303, + 505, + 315 + ], + "spans": [ + { + "bbox": [ + 105, + 303, + 505, + 315 + ], + "score": 1.0, + "content": "transitions. Moreover, besides different derivations, there remain implementation-level details", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 313, + 505, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 278, + 326 + ], + "score": 1.0, + "content": "between the two, as Trust-PCL only uses a", + "type": "text" + }, + { + "bbox": [ + 279, + 314, + 288, + 324 + ], + "score": 0.73, + "content": "V", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 313, + 448, + 326 + ], + "score": 1.0, + "content": "network while off-policy MDPO uses a", + "type": "text" + }, + { + "bbox": [ + 448, + 314, + 457, + 325 + ], + "score": 0.84, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 458, + 313, + 505, + 326 + ], + "score": 1.0, + "content": "function as", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 324, + 129, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 324, + 129, + 336 + ], + "score": 1.0, + "content": "well.", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 18.5, + "bbox_fs": [ + 105, + 269, + 506, + 336 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 342, + 504, + 364 + ], + "lines": [ + { + "bbox": [ + 105, + 340, + 505, + 355 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 505, + 355 + ], + "score": 1.0, + "content": "Due to space constraints, we defer a discussion on the forward and reverse KL directions (including", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 352, + 276, + 363 + ], + "spans": [ + { + "bbox": [ + 106, + 352, + 276, + 363 + ], + "score": 1.0, + "content": "the ECPO [21] algorithm) to Appendix D.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 22.5, + "bbox_fs": [ + 105, + 340, + 505, + 363 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 375, + 256, + 387 + ], + "lines": [ + { + "bbox": [ + 105, + 374, + 258, + 389 + ], + "spans": [ + { + "bbox": [ + 105, + 374, + 258, + 389 + ], + "score": 1.0, + "content": "5 EXPERIMENTAL RESULTS", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 24 + }, + { + "type": "text", + "bbox": [ + 107, + 398, + 346, + 551 + ], + "lines": [ + { + "bbox": [ + 105, + 397, + 346, + 410 + ], + "spans": [ + { + "bbox": [ + 105, + 397, + 346, + 410 + ], + "score": 1.0, + "content": "In this section, we empirically evaluate our on-policy and", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 408, + 347, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 408, + 347, + 421 + ], + "score": 1.0, + "content": "off-policy MDPO algorithms on a number of continuous", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 420, + 347, + 432 + ], + "spans": [ + { + "bbox": [ + 106, + 420, + 347, + 432 + ], + "score": 1.0, + "content": "control tasks from OpenAI Gym [7], and compare them", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 430, + 347, + 443 + ], + "spans": [ + { + "bbox": [ + 106, + 430, + 347, + 443 + ], + "score": 1.0, + "content": "with state-of-the-art baselines: TRPO, PPO, and SAC. We", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 442, + 347, + 454 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 347, + 454 + ], + "score": 1.0, + "content": "report all experimental details, including the hyper-parameter", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 452, + 347, + 465 + ], + "spans": [ + { + "bbox": [ + 105, + 452, + 347, + 465 + ], + "score": 1.0, + "content": "values used by the algorithms, in Appendix B. In the tabular", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 464, + 347, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 347, + 476 + ], + "score": 1.0, + "content": "results, both in the main paper and in Appendices E and F, we", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 475, + 347, + 487 + ], + "spans": [ + { + "bbox": [ + 105, + 475, + 347, + 487 + ], + "score": 1.0, + "content": "report the final training scores averaged over 5 runs and their", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 484, + 347, + 498 + ], + "spans": [ + { + "bbox": [ + 106, + 485, + 126, + 496 + ], + "score": 0.87, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 127, + 484, + 347, + 498 + ], + "score": 1.0, + "content": "confidence intervals (CI). We bold-face the values with", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 496, + 346, + 508 + ], + "spans": [ + { + "bbox": [ + 106, + 496, + 346, + 508 + ], + "score": 1.0, + "content": "the best mean scores. We also compare on-policy MDPO", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 507, + 347, + 519 + ], + "spans": [ + { + "bbox": [ + 106, + 507, + 347, + 519 + ], + "score": 1.0, + "content": "and PPO on 21 Atari games from the ALE benchmark [5],", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 518, + 347, + 531 + ], + "spans": [ + { + "bbox": [ + 106, + 518, + 347, + 531 + ], + "score": 1.0, + "content": "showing averages over 5 random seeds. We strictly follow the", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 530, + 345, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 530, + 317, + 541 + ], + "score": 1.0, + "content": "hyperparameters reported in the PPO paper, and use", + "type": "text" + }, + { + "bbox": [ + 317, + 530, + 345, + 540 + ], + "score": 0.89, + "content": "m = 3", + "type": "inline_equation" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 540, + 164, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 164, + 554 + ], + "score": 1.0, + "content": "for all games.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 32.0, + "bbox_fs": [ + 105, + 397, + 347, + 554 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 558, + 346, + 678 + ], + "lines": [ + { + "bbox": [ + 106, + 558, + 346, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 558, + 346, + 570 + ], + "score": 1.0, + "content": "For off-policy MDPO, we experiment with two potential", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 568, + 347, + 580 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 146, + 580 + ], + "score": 1.0, + "content": "functions", + "type": "text" + }, + { + "bbox": [ + 146, + 569, + 155, + 580 + ], + "score": 0.85, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 568, + 292, + 580 + ], + "score": 1.0, + "content": "to define the Bregman divergence", + "type": "text" + }, + { + "bbox": [ + 292, + 568, + 307, + 580 + ], + "score": 0.84, + "content": "B _ { \\psi }", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 568, + 347, + 580 + ], + "score": 1.0, + "content": ": 1) Shan-", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 579, + 347, + 591 + ], + "spans": [ + { + "bbox": [ + 105, + 579, + 347, + 591 + ], + "score": 1.0, + "content": "non entropy, which results in the KL version (described in", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 589, + 347, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 589, + 347, + 603 + ], + "score": 1.0, + "content": "Section 4.2), and 2) Tsallis entropy, which results in the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 601, + 347, + 613 + ], + "spans": [ + { + "bbox": [ + 105, + 601, + 347, + 613 + ], + "score": 1.0, + "content": "Tsallis version of off-policy MDPO. We refer the reader to", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 612, + 348, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 612, + 348, + 624 + ], + "score": 1.0, + "content": "Appendix C for the complete description and detailed deriva-", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 622, + 347, + 635 + ], + "spans": [ + { + "bbox": [ + 105, + 622, + 347, + 635 + ], + "score": 1.0, + "content": "tion of the Tsallis version. Note that we did not pursue a", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 633, + 347, + 646 + ], + "spans": [ + { + "bbox": [ + 105, + 633, + 347, + 646 + ], + "score": 1.0, + "content": "similar bifurcation between Tsallis and KL induced Bregman", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 645, + 347, + 657 + ], + "spans": [ + { + "bbox": [ + 106, + 645, + 347, + 657 + ], + "score": 1.0, + "content": "divergences for the on-policy case since the exact derivations", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 656, + 347, + 668 + ], + "spans": [ + { + "bbox": [ + 106, + 656, + 347, + 668 + ], + "score": 1.0, + "content": "are more tedious there. Another important point to note is", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 666, + 348, + 680 + ], + "spans": [ + { + "bbox": [ + 105, + 666, + 348, + 680 + ], + "score": 1.0, + "content": "that the Tsallis entropy gives us a range of entropies, con-", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 203, + 505, + 216 + ], + "spans": [ + { + "bbox": [ + 106, + 203, + 205, + 216 + ], + "score": 1.0, + "content": "trolled by the parameter", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 205, + 204, + 244, + 215 + ], + "score": 0.92, + "content": "q \\in ( 0 , 2 ]", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 245, + 203, + 505, + 216 + ], + "score": 1.0, + "content": "(see Appendix C). 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On-PolicyOff-Policy
EnvMDPOTRPOPPOMDPO-KLMDPO-TsallisSAC
Hopper-v22361(±518)1979 (± 672)2051 (± 241)2428(±395)2428(± 395),q = 1.01870 (± 404)
Walker2d-v24834 (± 607)4473 (± 558)1490 (± 292)3591 (± 366)4028(± 287),q = 2.03738 (± 312)
HalfCheetah-v24172 (± 1156)3751 (± 910)2041 (± 1319)11823 (± 154)11823 (± 154), q = 1.011928 (± 342)
Ant-v25211 (± 43)4682 (± 278)59 (±133)4434 (± 749)5486(± 737), q = 2.04989 (± 579)
Humanoid-v23234 (± 566)4414 (± 132)529 (±47)5323 (± 348)5611(± 260), q = 1.25191 (± 312)
H. Standup-v2155261(± 3898)149847 (± 2632)97223 (±4479)143955 (± 4499)165882 (± 16604), q = 1.4 154765 (± 11721)
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Averaged (over 5 runs) returns for Loaded", + "type": "text" + }, + { + "bbox": [ + 439, + 149, + 464, + 159 + ], + "score": 0.27, + "content": "\\mathbf { + G A E }", + "type": "inline_equation" + }, + { + "bbox": [ + 465, + 148, + 506, + 161 + ], + "score": 1.0, + "content": "version of", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 159, + 505, + 170 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 330, + 170 + ], + "score": 1.0, + "content": "MDPO, TRPO, PPO, and SAC algorithms, together with their", + "type": "text" + }, + { + "bbox": [ + 330, + 159, + 349, + 169 + ], + "score": 0.88, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 349, + 159, + 505, + 170 + ], + "score": 1.0, + "content": "confidence intervals. On-policy results are", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 169, + 370, + 180 + ], + "spans": [ + { + "bbox": [ + 105, + 169, + 370, + 180 + ], + "score": 1.0, + "content": "for 10M timesteps. The values with the best mean scores are bold-faced.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 4 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 107, + 203, + 504, + 226 + ], + "lines": [ + { + "bbox": [ + 106, + 203, + 505, + 216 + ], + "spans": [ + { + "bbox": [ + 106, + 203, + 205, + 216 + ], + "score": 1.0, + "content": "trolled by the parameter", + "type": "text" + }, + { + "bbox": [ + 205, + 204, + 244, + 215 + ], + "score": 0.92, + "content": "q \\in ( 0 , 2 ]", + "type": "inline_equation" + }, + { + "bbox": [ + 245, + 203, + 505, + 216 + ], + "score": 1.0, + "content": "(see Appendix C). Two special cases are 1) Shannon entropy for", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 107, + 214, + 325, + 227 + ], + "spans": [ + { + "bbox": [ + 107, + 215, + 138, + 226 + ], + "score": 0.89, + "content": "q = 1 . 0", + "type": "inline_equation" + }, + { + "bbox": [ + 139, + 214, + 240, + 227 + ], + "score": 1.0, + "content": ", and 2) sparse Tsallis for", + "type": "text" + }, + { + "bbox": [ + 241, + 215, + 273, + 226 + ], + "score": 0.89, + "content": "q = 2 . 0", + "type": "inline_equation" + }, + { + "bbox": [ + 273, + 214, + 325, + 227 + ], + "score": 1.0, + "content": "[17, 18, 24].", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 6.5 + }, + { + "type": "title", + "bbox": [ + 108, + 238, + 245, + 250 + ], + "lines": [ + { + "bbox": [ + 105, + 237, + 247, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 237, + 247, + 252 + ], + "score": 1.0, + "content": "5.1 ON MULTIPLE SGD STEPS", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 8 + }, + { + "type": "text", + "bbox": [ + 107, + 258, + 506, + 380 + ], + "lines": [ + { + "bbox": [ + 106, + 258, + 506, + 272 + ], + "spans": [ + { + "bbox": [ + 106, + 258, + 506, + 272 + ], + "score": 1.0, + "content": "In on-policy MDPO, we implement the multi-step update at each MD iteration of the algorithm, by", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 270, + 506, + 282 + ], + "spans": [ + { + "bbox": [ + 106, + 270, + 145, + 282 + ], + "score": 1.0, + "content": "sampling", + "type": "text" + }, + { + "bbox": [ + 145, + 270, + 157, + 280 + ], + "score": 0.81, + "content": "M", + "type": "inline_equation" + }, + { + "bbox": [ + 158, + 270, + 506, + 282 + ], + "score": 1.0, + "content": "trajectories from the current policy, generating estimates of the advantage function, and", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 280, + 506, + 294 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 154, + 294 + ], + "score": 1.0, + "content": "performing", + "type": "text" + }, + { + "bbox": [ + 154, + 282, + 165, + 291 + ], + "score": 0.7, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 280, + 506, + 294 + ], + "score": 1.0, + "content": "gradient steps using the same set of trajectories. We evaluated on-policy MDPO for", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 183, + 304 + ], + "score": 1.0, + "content": "different values of", + "type": "text" + }, + { + "bbox": [ + 183, + 293, + 193, + 302 + ], + "score": 0.74, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 291, + 505, + 304 + ], + "score": 1.0, + "content": "in all tasks. We show the results for Walker2d in Figure 2 (top). The results", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 302, + 505, + 315 + ], + "spans": [ + { + "bbox": [ + 106, + 302, + 279, + 315 + ], + "score": 1.0, + "content": "for all tasks show a clear trade-off between", + "type": "text" + }, + { + "bbox": [ + 280, + 304, + 290, + 313 + ], + "score": 0.71, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 290, + 302, + 421, + 315 + ], + "score": 1.0, + "content": "and the performance. Moreover,", + "type": "text" + }, + { + "bbox": [ + 422, + 303, + 455, + 313 + ], + "score": 0.89, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 455, + 302, + 505, + 315 + ], + "score": 1.0, + "content": "seems to be", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 313, + 506, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 309, + 326 + ], + "score": 1.0, + "content": "the best value across the tasks. This is why we use", + "type": "text" + }, + { + "bbox": [ + 309, + 314, + 343, + 324 + ], + "score": 0.89, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 313, + 506, + 326 + ], + "score": 1.0, + "content": "in all our on-policy MDPO experiments.", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 324, + 506, + 337 + ], + "spans": [ + { + "bbox": [ + 106, + 324, + 258, + 337 + ], + "score": 1.0, + "content": "Our results clearly indicate that using", + "type": "text" + }, + { + "bbox": [ + 258, + 325, + 287, + 335 + ], + "score": 0.9, + "content": "m = 1", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 324, + 469, + 337 + ], + "score": 1.0, + "content": "leads to inferior performance as compared to", + "type": "text" + }, + { + "bbox": [ + 469, + 325, + 502, + 335 + ], + "score": 0.9, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 324, + 506, + 337 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 335, + 506, + 348 + ], + "spans": [ + { + "bbox": [ + 106, + 335, + 506, + 348 + ], + "score": 1.0, + "content": "reaffirming the theory that suggests solving the trust-region problem in RL requires taking several", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 346, + 506, + 360 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 506, + 360 + ], + "score": 1.0, + "content": "gradient steps at each MD iteration. Finally, in our preliminary experiments with TRPO, we observed", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 357, + 506, + 370 + ], + "spans": [ + { + "bbox": [ + 106, + 357, + 506, + 370 + ], + "score": 1.0, + "content": "that performing multiple gradient steps at each iteration of TRPO does not lead to any improvement,", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 369, + 468, + 380 + ], + "spans": [ + { + "bbox": [ + 106, + 369, + 468, + 380 + ], + "score": 1.0, + "content": "sometimes even leading to worse performance than when performing a single-step update.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 14 + }, + { + "type": "text", + "bbox": [ + 106, + 385, + 505, + 528 + ], + "lines": [ + { + "bbox": [ + 106, + 385, + 505, + 398 + ], + "spans": [ + { + "bbox": [ + 106, + 385, + 505, + 398 + ], + "score": 1.0, + "content": "For off-policy MDPO, performing multiple SGD steps at each MD iteration (Lines 6 to 10 in", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 396, + 506, + 408 + ], + "spans": [ + { + "bbox": [ + 105, + 396, + 382, + 408 + ], + "score": 1.0, + "content": "Algorithm 2) becomes increasingly time-consuming as the value of", + "type": "text" + }, + { + "bbox": [ + 383, + 398, + 393, + 406 + ], + "score": 0.7, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 396, + 506, + 408 + ], + "score": 1.0, + "content": "grows. This is because off-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 407, + 506, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 407, + 506, + 421 + ], + "score": 1.0, + "content": "policy algorithms perform substantially more gradient updates than their on-policy counterparts (a", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 418, + 505, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 505, + 431 + ], + "score": 1.0, + "content": "gradient step per environment step vs. a gradient step per almost 1, 000 environment steps). To address", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 104, + 428, + 506, + 443 + ], + "spans": [ + { + "bbox": [ + 104, + 428, + 273, + 443 + ], + "score": 1.0, + "content": "this issue, we resort to staying close to an", + "type": "text" + }, + { + "bbox": [ + 274, + 431, + 284, + 439 + ], + "score": 0.77, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 428, + 506, + 443 + ], + "score": 1.0, + "content": "-step old copy of the current policy, while performing a", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 440, + 505, + 453 + ], + "spans": [ + { + "bbox": [ + 106, + 440, + 435, + 453 + ], + "score": 1.0, + "content": "single gradient update at each iteration of the algorithm. This copy is updated every", + "type": "text" + }, + { + "bbox": [ + 435, + 442, + 446, + 450 + ], + "score": 0.68, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 446, + 440, + 505, + 453 + ], + "score": 1.0, + "content": "iterations with", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 451, + 506, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 451, + 506, + 463 + ], + "score": 1.0, + "content": "the parameters of the current policy. Our results for the Hopper domain in Appendix G.1 show that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 461, + 506, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 343, + 476 + ], + "score": 1.0, + "content": "the performance of MDPO can be improved by performing", + "type": "text" + }, + { + "bbox": [ + 343, + 464, + 353, + 472 + ], + "score": 0.62, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 353, + 461, + 506, + 476 + ], + "score": 1.0, + "content": "gradient updates at each iteration, but", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 473, + 506, + 485 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 506, + 485 + ], + "score": 1.0, + "content": "we omit from performing these experiments at scale because of their unreasonably high wall-clock", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 484, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 484, + 389, + 496 + ], + "score": 1.0, + "content": "time. Finally, we evaluated off-policy MDPO for different values of", + "type": "text" + }, + { + "bbox": [ + 389, + 486, + 399, + 494 + ], + "score": 0.71, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 400, + 484, + 505, + 496 + ], + "score": 1.0, + "content": "in all tasks and show the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 495, + 506, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 495, + 479, + 507 + ], + "score": 1.0, + "content": "results for Walker2d in Figure 2 (bottom). We found it hard to identify a single best value of", + "type": "text" + }, + { + "bbox": [ + 480, + 496, + 490, + 505 + ], + "score": 0.76, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 495, + 506, + 507 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 505, + 506, + 519 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 186, + 519 + ], + "score": 1.0, + "content": "all tasks. However,", + "type": "text" + }, + { + "bbox": [ + 186, + 506, + 230, + 516 + ], + "score": 0.89, + "content": "m = 1 0 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 230, + 505, + 506, + 519 + ], + "score": 1.0, + "content": "had the most reasonable performance across the tasks, and thus, we", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 517, + 296, + 530 + ], + "spans": [ + { + "bbox": [ + 106, + 517, + 296, + 530 + ], + "score": 1.0, + "content": "use it in all our off-policy MDPO experiments.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 26 + }, + { + "type": "title", + "bbox": [ + 108, + 541, + 275, + 552 + ], + "lines": [ + { + "bbox": [ + 105, + 540, + 277, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 277, + 554 + ], + "score": 1.0, + "content": "5.2 ON CODE-LEVEL OPTIMIZATIONS", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 107, + 560, + 504, + 627 + ], + "lines": [ + { + "bbox": [ + 105, + 560, + 506, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 506, + 573 + ], + "score": 1.0, + "content": "There are certain “code-level optimization techniques\" used in code-bases of TRPO, PPO, and SAC", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 571, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 506, + 585 + ], + "score": 1.0, + "content": "that result in enhanced performance. In [9], the authors provided a case study of these techniques in", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "TRPO and PPO. We provide a detailed description of these techniques in Appendix B, and report the", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "score": 1.0, + "content": "performance of the algorithms without these techniques (vanilla or minimal version) and with these", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 506, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 506, + 616 + ], + "score": 1.0, + "content": "techniques (loaded and loaded+GAE versions) in Appendices E and F. Note that the loaded+GAE", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 616, + 418, + 627 + ], + "spans": [ + { + "bbox": [ + 106, + 616, + 418, + 627 + ], + "score": 1.0, + "content": "version of TRPO and PPO match their state-of-the-art results in the literature.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 36.5 + }, + { + "type": "text", + "bbox": [ + 107, + 632, + 505, + 677 + ], + "lines": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "Overall, the key takeaway from our results is that MDPO performs significantly better than PPO and", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 643, + 506, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 643, + 506, + 656 + ], + "score": 1.0, + "content": "on-par or better than TRPO and SAC, while being much simpler to implement, and more general as", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "score": 1.0, + "content": "being derived from the theory of MD in RL. In the next two sections, we report our main observations", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 666, + 297, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 666, + 297, + 677 + ], + "score": 1.0, + "content": "from our on-policy and off-policy experiments.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 41.5 + }, + { + "type": "title", + "bbox": [ + 108, + 690, + 222, + 701 + ], + "lines": [ + { + "bbox": [ + 105, + 689, + 223, + 703 + ], + "spans": [ + { + "bbox": [ + 105, + 689, + 223, + 703 + ], + "score": 1.0, + "content": "5.3 ON-POLICY RESULTS", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 44 + }, + { + "type": "text", + "bbox": [ + 107, + 709, + 504, + 731 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "We implemented three versions of on-policy MDPO, TRPO, and PPO: 1) the vanilla or minimal", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "score": 1.0, + "content": "version, 2) the loaded version in which we add the code-level optimization techniques to these", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 45.5 + } + ], + "page_idx": 7, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 752, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 761 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 761 + ], + "score": 1.0, + "content": "8", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "table", + "bbox": [ + 107, + 72, + 509, + 144 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 107, + 72, + 509, + 144 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 107, + 72, + 509, + 144 + ], + "spans": [ + { + "bbox": [ + 107, + 72, + 509, + 144 + ], + "score": 0.977, + "html": "
On-PolicyOff-Policy
EnvMDPOTRPOPPOMDPO-KLMDPO-TsallisSAC
Hopper-v22361(±518)1979 (± 672)2051 (± 241)2428(±395)2428(± 395),q = 1.01870 (± 404)
Walker2d-v24834 (± 607)4473 (± 558)1490 (± 292)3591 (± 366)4028(± 287),q = 2.03738 (± 312)
HalfCheetah-v24172 (± 1156)3751 (± 910)2041 (± 1319)11823 (± 154)11823 (± 154), q = 1.011928 (± 342)
Ant-v25211 (± 43)4682 (± 278)59 (±133)4434 (± 749)5486(± 737), q = 2.04989 (± 579)
Humanoid-v23234 (± 566)4414 (± 132)529 (±47)5323 (± 348)5611(± 260), q = 1.25191 (± 312)
H. Standup-v2155261(± 3898)149847 (± 2632)97223 (±4479)143955 (± 4499)165882 (± 16604), q = 1.4 154765 (± 11721)
", + "type": "table", + "image_path": "4fc883e3c97451c3ea381a61a27206a7e7df5ae94d9c99926de550b3d156747c.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 107, + 72, + 509, + 96.0 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 107, + 96.0, + 509, + 120.0 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 107, + 120.0, + 509, + 144.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "table_caption", + "bbox": [ + 107, + 149, + 506, + 179 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 148, + 506, + 161 + ], + "spans": [ + { + "bbox": [ + 105, + 148, + 438, + 161 + ], + "score": 1.0, + "content": "Table 1: Comparisons on MuJoCo domains. Averaged (over 5 runs) returns for Loaded", + "type": "text" + }, + { + "bbox": [ + 439, + 149, + 464, + 159 + ], + "score": 0.27, + "content": "\\mathbf { + G A E }", + "type": "inline_equation" + }, + { + "bbox": [ + 465, + 148, + 506, + 161 + ], + "score": 1.0, + "content": "version of", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 159, + 505, + 170 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 330, + 170 + ], + "score": 1.0, + "content": "MDPO, TRPO, PPO, and SAC algorithms, together with their", + "type": "text" + }, + { + "bbox": [ + 330, + 159, + 349, + 169 + ], + "score": 0.88, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 349, + 159, + 505, + 170 + ], + "score": 1.0, + "content": "confidence intervals. On-policy results are", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 169, + 370, + 180 + ], + "spans": [ + { + "bbox": [ + 105, + 169, + 370, + 180 + ], + "score": 1.0, + "content": "for 10M timesteps. The values with the best mean scores are bold-faced.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 4 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 107, + 203, + 504, + 226 + ], + "lines": [], + "index": 6.5, + "bbox_fs": [ + 106, + 203, + 505, + 227 + ], + "lines_deleted": true + }, + { + "type": "title", + "bbox": [ + 108, + 238, + 245, + 250 + ], + "lines": [ + { + "bbox": [ + 105, + 237, + 247, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 237, + 247, + 252 + ], + "score": 1.0, + "content": "5.1 ON MULTIPLE SGD STEPS", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 8 + }, + { + "type": "text", + "bbox": [ + 107, + 258, + 506, + 380 + ], + "lines": [ + { + "bbox": [ + 106, + 258, + 506, + 272 + ], + "spans": [ + { + "bbox": [ + 106, + 258, + 506, + 272 + ], + "score": 1.0, + "content": "In on-policy MDPO, we implement the multi-step update at each MD iteration of the algorithm, by", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 270, + 506, + 282 + ], + "spans": [ + { + "bbox": [ + 106, + 270, + 145, + 282 + ], + "score": 1.0, + "content": "sampling", + "type": "text" + }, + { + "bbox": [ + 145, + 270, + 157, + 280 + ], + "score": 0.81, + "content": "M", + "type": "inline_equation" + }, + { + "bbox": [ + 158, + 270, + 506, + 282 + ], + "score": 1.0, + "content": "trajectories from the current policy, generating estimates of the advantage function, and", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 280, + 506, + 294 + ], + "spans": [ + { + "bbox": [ + 105, + 280, + 154, + 294 + ], + "score": 1.0, + "content": "performing", + "type": "text" + }, + { + "bbox": [ + 154, + 282, + 165, + 291 + ], + "score": 0.7, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 165, + 280, + 506, + 294 + ], + "score": 1.0, + "content": "gradient steps using the same set of trajectories. We evaluated on-policy MDPO for", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 291, + 505, + 304 + ], + "spans": [ + { + "bbox": [ + 106, + 291, + 183, + 304 + ], + "score": 1.0, + "content": "different values of", + "type": "text" + }, + { + "bbox": [ + 183, + 293, + 193, + 302 + ], + "score": 0.74, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 291, + 505, + 304 + ], + "score": 1.0, + "content": "in all tasks. We show the results for Walker2d in Figure 2 (top). The results", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 302, + 505, + 315 + ], + "spans": [ + { + "bbox": [ + 106, + 302, + 279, + 315 + ], + "score": 1.0, + "content": "for all tasks show a clear trade-off between", + "type": "text" + }, + { + "bbox": [ + 280, + 304, + 290, + 313 + ], + "score": 0.71, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 290, + 302, + 421, + 315 + ], + "score": 1.0, + "content": "and the performance. Moreover,", + "type": "text" + }, + { + "bbox": [ + 422, + 303, + 455, + 313 + ], + "score": 0.89, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 455, + 302, + 505, + 315 + ], + "score": 1.0, + "content": "seems to be", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 313, + 506, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 313, + 309, + 326 + ], + "score": 1.0, + "content": "the best value across the tasks. This is why we use", + "type": "text" + }, + { + "bbox": [ + 309, + 314, + 343, + 324 + ], + "score": 0.89, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 313, + 506, + 326 + ], + "score": 1.0, + "content": "in all our on-policy MDPO experiments.", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 324, + 506, + 337 + ], + "spans": [ + { + "bbox": [ + 106, + 324, + 258, + 337 + ], + "score": 1.0, + "content": "Our results clearly indicate that using", + "type": "text" + }, + { + "bbox": [ + 258, + 325, + 287, + 335 + ], + "score": 0.9, + "content": "m = 1", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 324, + 469, + 337 + ], + "score": 1.0, + "content": "leads to inferior performance as compared to", + "type": "text" + }, + { + "bbox": [ + 469, + 325, + 502, + 335 + ], + "score": 0.9, + "content": "m = 1 0", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 324, + 506, + 337 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 335, + 506, + 348 + ], + "spans": [ + { + "bbox": [ + 106, + 335, + 506, + 348 + ], + "score": 1.0, + "content": "reaffirming the theory that suggests solving the trust-region problem in RL requires taking several", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 346, + 506, + 360 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 506, + 360 + ], + "score": 1.0, + "content": "gradient steps at each MD iteration. Finally, in our preliminary experiments with TRPO, we observed", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 106, + 357, + 506, + 370 + ], + "spans": [ + { + "bbox": [ + 106, + 357, + 506, + 370 + ], + "score": 1.0, + "content": "that performing multiple gradient steps at each iteration of TRPO does not lead to any improvement,", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 369, + 468, + 380 + ], + "spans": [ + { + "bbox": [ + 106, + 369, + 468, + 380 + ], + "score": 1.0, + "content": "sometimes even leading to worse performance than when performing a single-step update.", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 14, + "bbox_fs": [ + 105, + 258, + 506, + 380 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 385, + 505, + 528 + ], + "lines": [ + { + "bbox": [ + 106, + 385, + 505, + 398 + ], + "spans": [ + { + "bbox": [ + 106, + 385, + 505, + 398 + ], + "score": 1.0, + "content": "For off-policy MDPO, performing multiple SGD steps at each MD iteration (Lines 6 to 10 in", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 396, + 506, + 408 + ], + "spans": [ + { + "bbox": [ + 105, + 396, + 382, + 408 + ], + "score": 1.0, + "content": "Algorithm 2) becomes increasingly time-consuming as the value of", + "type": "text" + }, + { + "bbox": [ + 383, + 398, + 393, + 406 + ], + "score": 0.7, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 396, + 506, + 408 + ], + "score": 1.0, + "content": "grows. This is because off-", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 407, + 506, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 407, + 506, + 421 + ], + "score": 1.0, + "content": "policy algorithms perform substantially more gradient updates than their on-policy counterparts (a", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 418, + 505, + 431 + ], + "spans": [ + { + "bbox": [ + 105, + 418, + 505, + 431 + ], + "score": 1.0, + "content": "gradient step per environment step vs. a gradient step per almost 1, 000 environment steps). To address", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 104, + 428, + 506, + 443 + ], + "spans": [ + { + "bbox": [ + 104, + 428, + 273, + 443 + ], + "score": 1.0, + "content": "this issue, we resort to staying close to an", + "type": "text" + }, + { + "bbox": [ + 274, + 431, + 284, + 439 + ], + "score": 0.77, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 428, + 506, + 443 + ], + "score": 1.0, + "content": "-step old copy of the current policy, while performing a", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 440, + 505, + 453 + ], + "spans": [ + { + "bbox": [ + 106, + 440, + 435, + 453 + ], + "score": 1.0, + "content": "single gradient update at each iteration of the algorithm. This copy is updated every", + "type": "text" + }, + { + "bbox": [ + 435, + 442, + 446, + 450 + ], + "score": 0.68, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 446, + 440, + 505, + 453 + ], + "score": 1.0, + "content": "iterations with", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 451, + 506, + 463 + ], + "spans": [ + { + "bbox": [ + 105, + 451, + 506, + 463 + ], + "score": 1.0, + "content": "the parameters of the current policy. Our results for the Hopper domain in Appendix G.1 show that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 461, + 506, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 461, + 343, + 476 + ], + "score": 1.0, + "content": "the performance of MDPO can be improved by performing", + "type": "text" + }, + { + "bbox": [ + 343, + 464, + 353, + 472 + ], + "score": 0.62, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 353, + 461, + 506, + 476 + ], + "score": 1.0, + "content": "gradient updates at each iteration, but", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 473, + 506, + 485 + ], + "spans": [ + { + "bbox": [ + 105, + 473, + 506, + 485 + ], + "score": 1.0, + "content": "we omit from performing these experiments at scale because of their unreasonably high wall-clock", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 484, + 505, + 496 + ], + "spans": [ + { + "bbox": [ + 106, + 484, + 389, + 496 + ], + "score": 1.0, + "content": "time. Finally, we evaluated off-policy MDPO for different values of", + "type": "text" + }, + { + "bbox": [ + 389, + 486, + 399, + 494 + ], + "score": 0.71, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 400, + 484, + 505, + 496 + ], + "score": 1.0, + "content": "in all tasks and show the", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 495, + 506, + 507 + ], + "spans": [ + { + "bbox": [ + 105, + 495, + 479, + 507 + ], + "score": 1.0, + "content": "results for Walker2d in Figure 2 (bottom). We found it hard to identify a single best value of", + "type": "text" + }, + { + "bbox": [ + 480, + 496, + 490, + 505 + ], + "score": 0.76, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 495, + 506, + 507 + ], + "score": 1.0, + "content": "for", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 505, + 506, + 519 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 186, + 519 + ], + "score": 1.0, + "content": "all tasks. However,", + "type": "text" + }, + { + "bbox": [ + 186, + 506, + 230, + 516 + ], + "score": 0.89, + "content": "m = 1 0 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 230, + 505, + 506, + 519 + ], + "score": 1.0, + "content": "had the most reasonable performance across the tasks, and thus, we", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 517, + 296, + 530 + ], + "spans": [ + { + "bbox": [ + 106, + 517, + 296, + 530 + ], + "score": 1.0, + "content": "use it in all our off-policy MDPO experiments.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 26, + "bbox_fs": [ + 104, + 385, + 506, + 530 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 541, + 275, + 552 + ], + "lines": [ + { + "bbox": [ + 105, + 540, + 277, + 554 + ], + "spans": [ + { + "bbox": [ + 105, + 540, + 277, + 554 + ], + "score": 1.0, + "content": "5.2 ON CODE-LEVEL OPTIMIZATIONS", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 107, + 560, + 504, + 627 + ], + "lines": [ + { + "bbox": [ + 105, + 560, + 506, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 506, + 573 + ], + "score": 1.0, + "content": "There are certain “code-level optimization techniques\" used in code-bases of TRPO, PPO, and SAC", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 571, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 571, + 506, + 585 + ], + "score": 1.0, + "content": "that result in enhanced performance. In [9], the authors provided a case study of these techniques in", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "TRPO and PPO. We provide a detailed description of these techniques in Appendix B, and report the", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "score": 1.0, + "content": "performance of the algorithms without these techniques (vanilla or minimal version) and with these", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 506, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 506, + 616 + ], + "score": 1.0, + "content": "techniques (loaded and loaded+GAE versions) in Appendices E and F. Note that the loaded+GAE", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 616, + 418, + 627 + ], + "spans": [ + { + "bbox": [ + 106, + 616, + 418, + 627 + ], + "score": 1.0, + "content": "version of TRPO and PPO match their state-of-the-art results in the literature.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 36.5, + "bbox_fs": [ + 105, + 560, + 506, + 627 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 632, + 505, + 677 + ], + "lines": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "Overall, the key takeaway from our results is that MDPO performs significantly better than PPO and", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 643, + 506, + 656 + ], + "spans": [ + { + "bbox": [ + 105, + 643, + 506, + 656 + ], + "score": 1.0, + "content": "on-par or better than TRPO and SAC, while being much simpler to implement, and more general as", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 505, + 668 + ], + "score": 1.0, + "content": "being derived from the theory of MD in RL. In the next two sections, we report our main observations", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 666, + 297, + 677 + ], + "spans": [ + { + "bbox": [ + 106, + 666, + 297, + 677 + ], + "score": 1.0, + "content": "from our on-policy and off-policy experiments.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 41.5, + "bbox_fs": [ + 105, + 633, + 506, + 677 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 690, + 222, + 701 + ], + "lines": [ + { + "bbox": [ + 105, + 689, + 223, + 703 + ], + "spans": [ + { + "bbox": [ + 105, + 689, + 223, + 703 + ], + "score": 1.0, + "content": "5.3 ON-POLICY RESULTS", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 44 + }, + { + "type": "text", + "bbox": [ + 107, + 709, + 504, + 731 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "We implemented three versions of on-policy MDPO, TRPO, and PPO: 1) the vanilla or minimal", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "score": 1.0, + "content": "version, 2) the loaded version in which we add the code-level optimization techniques to these", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "algorithms, and 3) the loaded version plus GAE, whose results are reported in Table 1. The results", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 304, + 105 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 304, + 105 + ], + "score": 1.0, + "content": "for all three versions are reported in Appendix E.", + "type": "text", + "cross_page": true + } + ], + "index": 1 + } + ], + "index": 45.5, + "bbox_fs": [ + 105, + 709, + 505, + 734 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 504, + 105 + ], + "lines": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "algorithms, and 3) the loaded version plus GAE, whose results are reported in Table 1. The results", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 304, + 105 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 304, + 105 + ], + "score": 1.0, + "content": "for all three versions are reported in Appendix E.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "text", + "bbox": [ + 107, + 110, + 505, + 319 + ], + "lines": [ + { + "bbox": [ + 105, + 110, + 506, + 123 + ], + "spans": [ + { + "bbox": [ + 105, + 110, + 506, + 123 + ], + "score": 1.0, + "content": "We elicit the following observations from our results. First, on-policy MDPO performs better than", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 122, + 506, + 133 + ], + "spans": [ + { + "bbox": [ + 105, + 122, + 506, + 133 + ], + "score": 1.0, + "content": "or on par with TRPO and better than PPO across all tasks. This contradicts the common belief", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 132, + 506, + 145 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 506, + 145 + ], + "score": 1.0, + "content": "that explicitly enforcing the constraint (e.g., through line-search) as done in TRPO is necessary for", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "score": 1.0, + "content": "achieving good performance. Second, on-policy MDPO can be implemented more efficiently than", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 505, + 167 + ], + "score": 1.0, + "content": "TRPO, because it does not require the extra line-search step. Notably, TRPO suffers from scaling", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "issues as it requires computing the correct step-size of the gradient update using a line search, which", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 506, + 190 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 506, + 190 + ], + "score": 1.0, + "content": "presents as an incompatible part of the computation graph in popular auto-diff packages, such as", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 186, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 106, + 186, + 505, + 200 + ], + "score": 1.0, + "content": "TensorFlow. Moreover, MDPO performs significantly better than PPO, while remaining equally", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 198, + 506, + 211 + ], + "spans": [ + { + "bbox": [ + 106, + 198, + 506, + 211 + ], + "score": 1.0, + "content": "efficient in terms of implementation. Third, TRPO performs better than PPO consistently, both in", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 209, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 209, + 506, + 222 + ], + "score": 1.0, + "content": "the vanilla case and when the code-level optimizations (including GAE) are added to both algorithms.", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 219, + 506, + 232 + ], + "spans": [ + { + "bbox": [ + 105, + 219, + 506, + 232 + ], + "score": 1.0, + "content": "This is in contrast to the common belief that PPO is a better performing algorithm than TRPO. Our", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 230, + 506, + 243 + ], + "spans": [ + { + "bbox": [ + 105, + 230, + 506, + 243 + ], + "score": 1.0, + "content": "observation is in line with what noted in the empirical study of these two algorithms in [9], and we", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 241, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 105, + 241, + 506, + 255 + ], + "score": 1.0, + "content": "believe it further reinforces it. Adding code-level optimizations and GAE improve the performance of", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 253, + 506, + 266 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 506, + 266 + ], + "score": 1.0, + "content": "PPO, but not enough to outperform TRPO, when it also benefits from these additions. Lastly, fourth,", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 264, + 506, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 264, + 506, + 276 + ], + "score": 1.0, + "content": "it was shown in [31] that PPO is prone to instability issues. Our experiments show that this is indeed", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 275, + 505, + 287 + ], + "spans": [ + { + "bbox": [ + 106, + 275, + 505, + 287 + ], + "score": 1.0, + "content": "the case as PPO’s performance improves until the standard time-step mark of 1M, and then decreases", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "spans": [ + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "score": 1.0, + "content": "in some tasks. For example, in the Ant-v2 domain, both PPO and TRPO get to a similar score ( 1000)", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 296, + 506, + 310 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 506, + 310 + ], + "score": 1.0, + "content": "around the 1M mark but then PPO’s performance decreases whereas TRPO continues to increase, as", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 308, + 266, + 321 + ], + "spans": [ + { + "bbox": [ + 106, + 308, + 266, + 321 + ], + "score": 1.0, + "content": "can be seen in Table 1 and Appendix E.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 11 + }, + { + "type": "text", + "bbox": [ + 107, + 325, + 505, + 424 + ], + "lines": [ + { + "bbox": [ + 106, + 325, + 506, + 337 + ], + "spans": [ + { + "bbox": [ + 106, + 325, + 506, + 337 + ], + "score": 1.0, + "content": "Atari results. To show that MDPO can be robustly used as an excellent substitute for PPO, we", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 335, + 505, + 348 + ], + "spans": [ + { + "bbox": [ + 105, + 335, + 505, + 348 + ], + "score": 1.0, + "content": "compare the two algorithms on 21 games from the ALE benchmark. Our results show that MDPO", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 347, + 506, + 359 + ], + "spans": [ + { + "bbox": [ + 105, + 347, + 506, + 359 + ], + "score": 1.0, + "content": "performs better or on par than PPO on 15 out of 21 games, while performing better than PPO on 6 out", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "score": 1.0, + "content": "of 21 games. Due to space constraints, we report the full training plots in Appendix 10. Interestingly,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 366, + 506, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 366, + 506, + 383 + ], + "score": 1.0, + "content": "both MDPO and PPO behave quite differently in a lot of games. Since we do not optimize any", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 379, + 506, + 393 + ], + "spans": [ + { + "bbox": [ + 106, + 379, + 506, + 393 + ], + "score": 1.0, + "content": "hyperparameters for MDPO, it might be possible to get more gains with further finetuning. Note that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 390, + 506, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 390, + 506, + 403 + ], + "score": 1.0, + "content": "it is well known that TRPO leads to much inferior performance than PPO on the ALE benchmark.", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "score": 1.0, + "content": "Indeed, comparing our results with those in the TRPO paper, we see that both MDPO and PPO win", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 412, + 315, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 412, + 315, + 425 + ], + "score": 1.0, + "content": "in 5 out of the 6 games reported in the TRPO paper.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 25 + }, + { + "type": "title", + "bbox": [ + 108, + 434, + 225, + 445 + ], + "lines": [ + { + "bbox": [ + 105, + 432, + 227, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 432, + 227, + 447 + ], + "score": 1.0, + "content": "5.4 OFF-POLICY RESULTS", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 452, + 505, + 552 + ], + "lines": [ + { + "bbox": [ + 106, + 452, + 504, + 465 + ], + "spans": [ + { + "bbox": [ + 106, + 452, + 504, + 465 + ], + "score": 1.0, + "content": "Similar to the on-policy case, we implemented both vanilla and loaded versions of off-policy MDPO", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 463, + 505, + 477 + ], + "spans": [ + { + "bbox": [ + 106, + 463, + 505, + 477 + ], + "score": 1.0, + "content": "and SAC. We report the results of the loaded version in this section (Table 1), and the complete results", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 474, + 505, + 488 + ], + "spans": [ + { + "bbox": [ + 105, + 474, + 505, + 488 + ], + "score": 1.0, + "content": "in Appendix F. We observe the following from these results. First, off-policy MDPO-KL performs", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 485, + 506, + 498 + ], + "spans": [ + { + "bbox": [ + 105, + 485, + 506, + 498 + ], + "score": 1.0, + "content": "on par with SAC across all tasks. Second, off-policy MDPO-Tsallis that has an extra hyper-parameter", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 107, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 107, + 499, + 113, + 508 + ], + "score": 0.75, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 113, + 497, + 483, + 510 + ], + "score": 1.0, + "content": "to tune can outperform SAC across all tasks. We observe that the best performing values of", + "type": "text" + }, + { + "bbox": [ + 483, + 499, + 489, + 508 + ], + "score": 0.78, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "are", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 507, + 505, + 521 + ], + "spans": [ + { + "bbox": [ + 105, + 507, + 505, + 521 + ], + "score": 1.0, + "content": "different for each domain but always lie in the interval [1.0, 2.0]. Third, off-policy MDPO results in", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 519, + 506, + 532 + ], + "spans": [ + { + "bbox": [ + 105, + 519, + 506, + 532 + ], + "score": 1.0, + "content": "a performance increase in most tasks, both in terms of sample efficiency and final performance, in", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "score": 1.0, + "content": "comparison to on-policy MDPO. This is consistent with the common belief about the superiority of", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 541, + 246, + 553 + ], + "spans": [ + { + "bbox": [ + 106, + 541, + 246, + 553 + ], + "score": 1.0, + "content": "off-policy to on-policy algorithms.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 35 + }, + { + "type": "text", + "bbox": [ + 107, + 557, + 505, + 635 + ], + "lines": [ + { + "bbox": [ + 106, + 558, + 505, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 558, + 505, + 570 + ], + "score": 1.0, + "content": "Similar to off-policy MDPO, we can incorporate the Tsallis entropy in SAC. In [18], the authors", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 568, + 506, + 581 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 432, + 581 + ], + "score": 1.0, + "content": "showed performance improvement over SAC by properly tuning the value of", + "type": "text" + }, + { + "bbox": [ + 432, + 570, + 438, + 580 + ], + "score": 0.8, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 568, + 506, + 581 + ], + "score": 1.0, + "content": "in SAC-Tsallis.", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 579, + 506, + 592 + ], + "spans": [ + { + "bbox": [ + 105, + 579, + 506, + 592 + ], + "score": 1.0, + "content": "However, in domains like Humanoid-v2 and Ant-v2, they only reported results for the 1M time-step", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 591, + 506, + 603 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 506, + 603 + ], + "score": 1.0, + "content": "mark, instead of the standard 3M. In our preliminary experiments with SAC-Tsallis in Appendix G.3,", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 601, + 506, + 613 + ], + "spans": [ + { + "bbox": [ + 106, + 601, + 331, + 613 + ], + "score": 1.0, + "content": "we did not see much improvement over SAC by tuning", + "type": "text" + }, + { + "bbox": [ + 332, + 603, + 338, + 613 + ], + "score": 0.68, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 338, + 601, + 506, + 613 + ], + "score": 1.0, + "content": ", unlike what we observed in our MDPO-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 612, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 106, + 612, + 506, + 624 + ], + "score": 1.0, + "content": "Tsallis results. More experiments and further investigation are hence needed to better understand the", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 623, + 315, + 636 + ], + "spans": [ + { + "bbox": [ + 106, + 623, + 224, + 636 + ], + "score": 1.0, + "content": "effect of Tsallis entropy (and", + "type": "text" + }, + { + "bbox": [ + 224, + 624, + 231, + 635 + ], + "score": 0.6, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 231, + 623, + 315, + 636 + ], + "score": 1.0, + "content": ") in these algorithms.", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 43 + }, + { + "type": "title", + "bbox": [ + 108, + 644, + 201, + 657 + ], + "lines": [ + { + "bbox": [ + 104, + 641, + 203, + 660 + ], + "spans": [ + { + "bbox": [ + 104, + 641, + 203, + 660 + ], + "score": 1.0, + "content": "6 CONCLUSIONS", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 47 + }, + { + "type": "text", + "bbox": [ + 107, + 666, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "We derived on-policy and off-policy algorithms from the theory of MD in RL. Each policy update in", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "our MDPO algorithms is formulated as a trust-region optimization problem. However, our algorithms", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 688, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 505, + 700 + ], + "score": 1.0, + "content": "do not update their policies by solving these problems, instead, update them by taking multiple", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "score": 1.0, + "content": "gradient steps on the objective function of these problems. We described in detail the relationship", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 710, + 505, + 721 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 505, + 721 + ], + "score": 1.0, + "content": "between on-policy MDPO and TRPO and PPO. We also discussed how SAC can be derived by slight", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 721, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 721, + 505, + 733 + ], + "score": 1.0, + "content": "modifications of off-policy MDPO. Finally, using a comprehensive set of experiments, we showed", + "type": "text" + } + ], + "index": 53 + } + ], + "index": 50.5 + } + ], + "page_idx": 8, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "score": 1.0, + "content": "9", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 504, + 105 + ], + "lines": [], + "index": 0.5, + "bbox_fs": [ + 105, + 82, + 505, + 105 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 107, + 110, + 505, + 319 + ], + "lines": [ + { + "bbox": [ + 105, + 110, + 506, + 123 + ], + "spans": [ + { + "bbox": [ + 105, + 110, + 506, + 123 + ], + "score": 1.0, + "content": "We elicit the following observations from our results. First, on-policy MDPO performs better than", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 122, + 506, + 133 + ], + "spans": [ + { + "bbox": [ + 105, + 122, + 506, + 133 + ], + "score": 1.0, + "content": "or on par with TRPO and better than PPO across all tasks. This contradicts the common belief", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 132, + 506, + 145 + ], + "spans": [ + { + "bbox": [ + 106, + 132, + 506, + 145 + ], + "score": 1.0, + "content": "that explicitly enforcing the constraint (e.g., through line-search) as done in TRPO is necessary for", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 143, + 506, + 156 + ], + "score": 1.0, + "content": "achieving good performance. Second, on-policy MDPO can be implemented more efficiently than", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 105, + 154, + 505, + 167 + ], + "score": 1.0, + "content": "TRPO, because it does not require the extra line-search step. Notably, TRPO suffers from scaling", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 505, + 178 + ], + "score": 1.0, + "content": "issues as it requires computing the correct step-size of the gradient update using a line search, which", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 176, + 506, + 190 + ], + "spans": [ + { + "bbox": [ + 105, + 176, + 506, + 190 + ], + "score": 1.0, + "content": "presents as an incompatible part of the computation graph in popular auto-diff packages, such as", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 186, + 505, + 200 + ], + "spans": [ + { + "bbox": [ + 106, + 186, + 505, + 200 + ], + "score": 1.0, + "content": "TensorFlow. Moreover, MDPO performs significantly better than PPO, while remaining equally", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 198, + 506, + 211 + ], + "spans": [ + { + "bbox": [ + 106, + 198, + 506, + 211 + ], + "score": 1.0, + "content": "efficient in terms of implementation. Third, TRPO performs better than PPO consistently, both in", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 209, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 209, + 506, + 222 + ], + "score": 1.0, + "content": "the vanilla case and when the code-level optimizations (including GAE) are added to both algorithms.", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 219, + 506, + 232 + ], + "spans": [ + { + "bbox": [ + 105, + 219, + 506, + 232 + ], + "score": 1.0, + "content": "This is in contrast to the common belief that PPO is a better performing algorithm than TRPO. Our", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 230, + 506, + 243 + ], + "spans": [ + { + "bbox": [ + 105, + 230, + 506, + 243 + ], + "score": 1.0, + "content": "observation is in line with what noted in the empirical study of these two algorithms in [9], and we", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 241, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 105, + 241, + 506, + 255 + ], + "score": 1.0, + "content": "believe it further reinforces it. Adding code-level optimizations and GAE improve the performance of", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 106, + 253, + 506, + 266 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 506, + 266 + ], + "score": 1.0, + "content": "PPO, but not enough to outperform TRPO, when it also benefits from these additions. Lastly, fourth,", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 264, + 506, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 264, + 506, + 276 + ], + "score": 1.0, + "content": "it was shown in [31] that PPO is prone to instability issues. Our experiments show that this is indeed", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 275, + 505, + 287 + ], + "spans": [ + { + "bbox": [ + 106, + 275, + 505, + 287 + ], + "score": 1.0, + "content": "the case as PPO’s performance improves until the standard time-step mark of 1M, and then decreases", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "spans": [ + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "score": 1.0, + "content": "in some tasks. For example, in the Ant-v2 domain, both PPO and TRPO get to a similar score ( 1000)", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 296, + 506, + 310 + ], + "spans": [ + { + "bbox": [ + 105, + 296, + 506, + 310 + ], + "score": 1.0, + "content": "around the 1M mark but then PPO’s performance decreases whereas TRPO continues to increase, as", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 308, + 266, + 321 + ], + "spans": [ + { + "bbox": [ + 106, + 308, + 266, + 321 + ], + "score": 1.0, + "content": "can be seen in Table 1 and Appendix E.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 11, + "bbox_fs": [ + 105, + 110, + 506, + 321 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 325, + 505, + 424 + ], + "lines": [ + { + "bbox": [ + 106, + 325, + 506, + 337 + ], + "spans": [ + { + "bbox": [ + 106, + 325, + 506, + 337 + ], + "score": 1.0, + "content": "Atari results. To show that MDPO can be robustly used as an excellent substitute for PPO, we", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 335, + 505, + 348 + ], + "spans": [ + { + "bbox": [ + 105, + 335, + 505, + 348 + ], + "score": 1.0, + "content": "compare the two algorithms on 21 games from the ALE benchmark. Our results show that MDPO", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 347, + 506, + 359 + ], + "spans": [ + { + "bbox": [ + 105, + 347, + 506, + 359 + ], + "score": 1.0, + "content": "performs better or on par than PPO on 15 out of 21 games, while performing better than PPO on 6 out", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "score": 1.0, + "content": "of 21 games. Due to space constraints, we report the full training plots in Appendix 10. Interestingly,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 104, + 366, + 506, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 366, + 506, + 383 + ], + "score": 1.0, + "content": "both MDPO and PPO behave quite differently in a lot of games. Since we do not optimize any", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 379, + 506, + 393 + ], + "spans": [ + { + "bbox": [ + 106, + 379, + 506, + 393 + ], + "score": 1.0, + "content": "hyperparameters for MDPO, it might be possible to get more gains with further finetuning. Note that", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 390, + 506, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 390, + 506, + 403 + ], + "score": 1.0, + "content": "it is well known that TRPO leads to much inferior performance than PPO on the ALE benchmark.", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 401, + 505, + 415 + ], + "score": 1.0, + "content": "Indeed, comparing our results with those in the TRPO paper, we see that both MDPO and PPO win", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 412, + 315, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 412, + 315, + 425 + ], + "score": 1.0, + "content": "in 5 out of the 6 games reported in the TRPO paper.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 25, + "bbox_fs": [ + 104, + 325, + 506, + 425 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 434, + 225, + 445 + ], + "lines": [ + { + "bbox": [ + 105, + 432, + 227, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 432, + 227, + 447 + ], + "score": 1.0, + "content": "5.4 OFF-POLICY RESULTS", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 452, + 505, + 552 + ], + "lines": [ + { + "bbox": [ + 106, + 452, + 504, + 465 + ], + "spans": [ + { + "bbox": [ + 106, + 452, + 504, + 465 + ], + "score": 1.0, + "content": "Similar to the on-policy case, we implemented both vanilla and loaded versions of off-policy MDPO", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 463, + 505, + 477 + ], + "spans": [ + { + "bbox": [ + 106, + 463, + 505, + 477 + ], + "score": 1.0, + "content": "and SAC. We report the results of the loaded version in this section (Table 1), and the complete results", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 474, + 505, + 488 + ], + "spans": [ + { + "bbox": [ + 105, + 474, + 505, + 488 + ], + "score": 1.0, + "content": "in Appendix F. We observe the following from these results. First, off-policy MDPO-KL performs", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 485, + 506, + 498 + ], + "spans": [ + { + "bbox": [ + 105, + 485, + 506, + 498 + ], + "score": 1.0, + "content": "on par with SAC across all tasks. Second, off-policy MDPO-Tsallis that has an extra hyper-parameter", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 107, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 107, + 499, + 113, + 508 + ], + "score": 0.75, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 113, + 497, + 483, + 510 + ], + "score": 1.0, + "content": "to tune can outperform SAC across all tasks. We observe that the best performing values of", + "type": "text" + }, + { + "bbox": [ + 483, + 499, + 489, + 508 + ], + "score": 0.78, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 489, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "are", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 507, + 505, + 521 + ], + "spans": [ + { + "bbox": [ + 105, + 507, + 505, + 521 + ], + "score": 1.0, + "content": "different for each domain but always lie in the interval [1.0, 2.0]. Third, off-policy MDPO results in", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 519, + 506, + 532 + ], + "spans": [ + { + "bbox": [ + 105, + 519, + 506, + 532 + ], + "score": 1.0, + "content": "a performance increase in most tasks, both in terms of sample efficiency and final performance, in", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "spans": [ + { + "bbox": [ + 105, + 529, + 506, + 542 + ], + "score": 1.0, + "content": "comparison to on-policy MDPO. This is consistent with the common belief about the superiority of", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 541, + 246, + 553 + ], + "spans": [ + { + "bbox": [ + 106, + 541, + 246, + 553 + ], + "score": 1.0, + "content": "off-policy to on-policy algorithms.", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 35, + "bbox_fs": [ + 105, + 452, + 506, + 553 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 557, + 505, + 635 + ], + "lines": [ + { + "bbox": [ + 106, + 558, + 505, + 570 + ], + "spans": [ + { + "bbox": [ + 106, + 558, + 505, + 570 + ], + "score": 1.0, + "content": "Similar to off-policy MDPO, we can incorporate the Tsallis entropy in SAC. In [18], the authors", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 568, + 506, + 581 + ], + "spans": [ + { + "bbox": [ + 106, + 568, + 432, + 581 + ], + "score": 1.0, + "content": "showed performance improvement over SAC by properly tuning the value of", + "type": "text" + }, + { + "bbox": [ + 432, + 570, + 438, + 580 + ], + "score": 0.8, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 439, + 568, + 506, + 581 + ], + "score": 1.0, + "content": "in SAC-Tsallis.", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 579, + 506, + 592 + ], + "spans": [ + { + "bbox": [ + 105, + 579, + 506, + 592 + ], + "score": 1.0, + "content": "However, in domains like Humanoid-v2 and Ant-v2, they only reported results for the 1M time-step", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 591, + 506, + 603 + ], + "spans": [ + { + "bbox": [ + 106, + 591, + 506, + 603 + ], + "score": 1.0, + "content": "mark, instead of the standard 3M. In our preliminary experiments with SAC-Tsallis in Appendix G.3,", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 601, + 506, + 613 + ], + "spans": [ + { + "bbox": [ + 106, + 601, + 331, + 613 + ], + "score": 1.0, + "content": "we did not see much improvement over SAC by tuning", + "type": "text" + }, + { + "bbox": [ + 332, + 603, + 338, + 613 + ], + "score": 0.68, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 338, + 601, + 506, + 613 + ], + "score": 1.0, + "content": ", unlike what we observed in our MDPO-", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 612, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 106, + 612, + 506, + 624 + ], + "score": 1.0, + "content": "Tsallis results. More experiments and further investigation are hence needed to better understand the", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 623, + 315, + 636 + ], + "spans": [ + { + "bbox": [ + 106, + 623, + 224, + 636 + ], + "score": 1.0, + "content": "effect of Tsallis entropy (and", + "type": "text" + }, + { + "bbox": [ + 224, + 624, + 231, + 635 + ], + "score": 0.6, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 231, + 623, + 315, + 636 + ], + "score": 1.0, + "content": ") in these algorithms.", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 43, + "bbox_fs": [ + 105, + 558, + 506, + 636 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 644, + 201, + 657 + ], + "lines": [ + { + "bbox": [ + 104, + 641, + 203, + 660 + ], + "spans": [ + { + "bbox": [ + 104, + 641, + 203, + 660 + ], + "score": 1.0, + "content": "6 CONCLUSIONS", + "type": "text" + } + ], + "index": 47 + } + ], + "index": 47 + }, + { + "type": "text", + "bbox": [ + 107, + 666, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "We derived on-policy and off-policy algorithms from the theory of MD in RL. Each policy update in", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "our MDPO algorithms is formulated as a trust-region optimization problem. However, our algorithms", + "type": "text" + } + ], + "index": 49 + }, + { + "bbox": [ + 105, + 688, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 688, + 505, + 700 + ], + "score": 1.0, + "content": "do not update their policies by solving these problems, instead, update them by taking multiple", + "type": "text" + } + ], + "index": 50 + }, + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "score": 1.0, + "content": "gradient steps on the objective function of these problems. We described in detail the relationship", + "type": "text" + } + ], + "index": 51 + }, + { + "bbox": [ + 106, + 710, + 505, + 721 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 505, + 721 + ], + "score": 1.0, + "content": "between on-policy MDPO and TRPO and PPO. We also discussed how SAC can be derived by slight", + "type": "text" + } + ], + "index": 52 + }, + { + "bbox": [ + 105, + 721, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 721, + 505, + 733 + ], + "score": 1.0, + "content": "modifications of off-policy MDPO. Finally, using a comprehensive set of experiments, we showed", + "type": "text" + } + ], + "index": 53 + }, + { + "bbox": [ + 105, + 81, + 505, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 81, + 505, + 96 + ], + "score": 1.0, + "content": "that on-policy and off-policy MDPO can achieve performance better than or equal to these three", + "type": "text", + "cross_page": true + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 445, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 445, + 106 + ], + "score": 1.0, + "content": "popular RL algorithms, and thus can be considered as excellent alternatives to them.", + "type": "text", + "cross_page": true + } + ], + "index": 1 + } + ], + "index": 50.5, + "bbox_fs": [ + 105, + 665, + 506, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 105, + 82, + 503, + 105 + ], + "lines": [ + { + "bbox": [ + 105, + 81, + 505, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 81, + 505, + 96 + ], + "score": 1.0, + "content": "that on-policy and off-policy MDPO can achieve performance better than or equal to these three", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 445, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 445, + 106 + ], + "score": 1.0, + "content": "popular RL algorithms, and thus can be considered as excellent alternatives to them.", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 0.5 + }, + { + "type": "text", + "bbox": [ + 107, + 110, + 505, + 187 + ], + "lines": [ + { + "bbox": [ + 106, + 110, + 505, + 123 + ], + "spans": [ + { + "bbox": [ + 106, + 110, + 505, + 123 + ], + "score": 1.0, + "content": "We can think of several future directions. In addition to evaluating MDPO algorithms in more", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 121, + 505, + 135 + ], + "spans": [ + { + "bbox": [ + 105, + 121, + 505, + 135 + ], + "score": 1.0, + "content": "complex and realistic problems, we would like to see their performance in discrete action problems", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 132, + 505, + 145 + ], + "spans": [ + { + "bbox": [ + 105, + 132, + 505, + 145 + ], + "score": 1.0, + "content": "in comparison with algorithms like DQN and PPO. Investigating the use of Bregman divergences", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 144, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 144, + 505, + 156 + ], + "score": 1.0, + "content": "other than KL seems to be promising. Our work with Tsallis entropy is in this direction but more", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "score": 1.0, + "content": "algorithmic and empirical work needs to be done. Finally, there are recent theoretical results on", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 166, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 106, + 166, + 505, + 178 + ], + "score": 1.0, + "content": "incorporating exploration into the MD-based updates. 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In addition to evaluating MDPO algorithms in more", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 121, + 505, + 135 + ], + "spans": [ + { + "bbox": [ + 105, + 121, + 505, + 135 + ], + "score": 1.0, + "content": "complex and realistic problems, we would like to see their performance in discrete action problems", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 132, + 505, + 145 + ], + "spans": [ + { + "bbox": [ + 105, + 132, + 505, + 145 + ], + "score": 1.0, + "content": "in comparison with algorithms like DQN and PPO. Investigating the use of Bregman divergences", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 144, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 105, + 144, + 505, + 156 + ], + "score": 1.0, + "content": "other than KL seems to be promising. Our work with Tsallis entropy is in this direction but more", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "spans": [ + { + "bbox": [ + 106, + 154, + 505, + 167 + ], + "score": 1.0, + "content": "algorithmic and empirical work needs to be done. Finally, there are recent theoretical results on", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 166, + 505, + 178 + ], + "spans": [ + { + "bbox": [ + 106, + 166, + 505, + 178 + ], + "score": 1.0, + "content": "incorporating exploration into the MD-based updates. 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All experiments are", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 149, + 505, + 160 + ], + "spans": [ + { + "bbox": [ + 106, + 149, + 505, + 160 + ], + "score": 1.0, + "content": "run across 5 random seeds. Each plot shows the empirical mean of the random runs while the shaded", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 159, + 507, + 172 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 182, + 172 + ], + "score": 1.0, + "content": "region represents a", + "type": "text" + }, + { + "bbox": [ + 183, + 159, + 203, + 171 + ], + "score": 0.91, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 159, + 348, + 172 + ], + "score": 1.0, + "content": "confidence interval (empirical mean", + "type": "text" + }, + { + "bbox": [ + 348, + 160, + 383, + 171 + ], + "score": 0.9, + "content": "\\pm 1 . 9 6 \\times", + "type": "inline_equation" + }, + { + "bbox": [ + 384, + 159, + 507, + 172 + ], + "score": 1.0, + "content": "empirical standard deviation /", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 107, + 171, + 505, + 185 + ], + "spans": [ + { + "bbox": [ + 107, + 171, + 141, + 183 + ], + "score": 0.92, + "content": "\\sqrt { n = 5 }", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 172, + 505, + 185 + ], + "score": 1.0, + "content": "). We report results in both figure and tabular forms. The tabular results denote the mean", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 183, + 490, + 195 + ], + "spans": [ + { + "bbox": [ + 105, + 183, + 490, + 195 + ], + "score": 1.0, + "content": "final training performance and the best values with overlapping confidence intervals are bolded.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 4.5 + }, + { + "type": "text", + "bbox": [ + 107, + 199, + 505, + 309 + ], + "lines": [ + { + "bbox": [ + 105, + 200, + 505, + 211 + ], + "spans": [ + { + "bbox": [ + 105, + 200, + 269, + 211 + ], + "score": 1.0, + "content": "For all off-policy experiments, we use", + "type": "text" + }, + { + "bbox": [ + 269, + 200, + 306, + 210 + ], + "score": 0.9, + "content": "\\lambda = 0 . 2", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 200, + 505, + 211 + ], + "score": 1.0, + "content": "across all tasks, which is known to be the best", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 210, + 504, + 223 + ], + "spans": [ + { + "bbox": [ + 105, + 210, + 504, + 223 + ], + "score": 1.0, + "content": "performing value for all tasks according to [13] (In our experiments, a value of 0.2 worked equally", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 220, + 505, + 235 + ], + "spans": [ + { + "bbox": [ + 105, + 220, + 505, + 235 + ], + "score": 1.0, + "content": "well for Humanoid as the reported 0.05 in the SAC paper). We report all details of our off-policy", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 233, + 506, + 245 + ], + "spans": [ + { + "bbox": [ + 105, + 233, + 506, + 245 + ], + "score": 1.0, + "content": "experiments including hyperparameter values in Table 3. 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This ensures that the total number of environment steps are", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 276, + 506, + 289 + ], + "spans": [ + { + "bbox": [ + 105, + 276, + 429, + 289 + ], + "score": 1.0, + "content": "always equal to the total number of gradients steps, irrespective of the value of", + "type": "text" + }, + { + "bbox": [ + 430, + 278, + 439, + 286 + ], + "score": 0.56, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 440, + 276, + 506, + 289 + ], + "score": 1.0, + "content": ". Finally, for all", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 288, + 505, + 299 + ], + "spans": [ + { + "bbox": [ + 105, + 288, + 295, + 299 + ], + "score": 1.0, + "content": "experiments, we use a fixed Bregman stepsize", + "type": "text" + }, + { + "bbox": [ + 295, + 288, + 321, + 299 + ], + "score": 0.89, + "content": "( 1 / t _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 288, + 505, + 299 + ], + "score": 1.0, + "content": "as opposed to an annealed version like in the", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 299, + 169, + 311 + ], + "spans": [ + { + "bbox": [ + 106, + 299, + 169, + 311 + ], + "score": 1.0, + "content": "on-policy case.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 12.5 + }, + { + "type": "title", + "bbox": [ + 107, + 323, + 315, + 334 + ], + "lines": [ + { + "bbox": [ + 105, + 322, + 316, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 322, + 316, + 336 + ], + "score": 1.0, + "content": "B.2 CODE-LEVEL OPTIMIZATION TECHNIQUES", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 343, + 505, + 476 + ], + "lines": [ + { + "bbox": [ + 105, + 344, + 504, + 356 + ], + "spans": [ + { + "bbox": [ + 105, + 344, + 504, + 356 + ], + "score": 1.0, + "content": "The widely available OpenAI Baselines [8] based PPO implementation uses the following five", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 355, + 505, + 367 + ], + "spans": [ + { + "bbox": [ + 105, + 355, + 505, + 367 + ], + "score": 1.0, + "content": "major modifications to the original algorithm presented in [28] – value function clipping, reward", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 365, + 505, + 379 + ], + "spans": [ + { + "bbox": [ + 105, + 365, + 505, + 379 + ], + "score": 1.0, + "content": "normalization, observation normalization, orthogonal weight initialization and an annealed learning", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 376, + 505, + 389 + ], + "spans": [ + { + "bbox": [ + 105, + 376, + 505, + 389 + ], + "score": 1.0, + "content": "rate schedule for the Adam optimizer. These are referred to as code level optimization techniques", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 388, + 506, + 400 + ], + "spans": [ + { + "bbox": [ + 105, + 388, + 506, + 400 + ], + "score": 1.0, + "content": "(as mentioned in above sections) and are originally noted in [9]. Following the original notation, we", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 399, + 506, + 411 + ], + "spans": [ + { + "bbox": [ + 105, + 399, + 506, + 411 + ], + "score": 1.0, + "content": "refer to the vanilla or minimal version of PPO, i.e. without these modifications as PPO-M. Then, we", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 409, + 506, + 423 + ], + "spans": [ + { + "bbox": [ + 105, + 409, + 506, + 423 + ], + "score": 1.0, + "content": "consider two PPO versions which include all such code level optimizations, with the hyperparameters", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 420, + 505, + 434 + ], + "spans": [ + { + "bbox": [ + 105, + 420, + 505, + 434 + ], + "score": 1.0, + "content": "given in [28]. One of them does not use GAE while the other version includes GAE. Therefore they", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 104, + 430, + 505, + 445 + ], + "spans": [ + { + "bbox": [ + 104, + 430, + 505, + 445 + ], + "score": 1.0, + "content": "are referred to as PPO-LOADED and PPO-LOADED+GAE respectively. These versions, although", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 442, + 505, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 455 + ], + "score": 1.0, + "content": "being far from the theory, have been shown to be the best performing ones, and so form as a good", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 453, + 506, + 466 + ], + "spans": [ + { + "bbox": [ + 105, + 453, + 506, + 466 + ], + "score": 1.0, + "content": "baseline. We do a similar bifurcation for TRPO and on-policy MDPO. We report all details of our", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 464, + 375, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 375, + 477 + ], + "score": 1.0, + "content": "on-policy experiments including hyperparameter values in Table 2.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 24.5 + }, + { + "type": "text", + "bbox": [ + 107, + 481, + 504, + 537 + ], + "lines": [ + { + "bbox": [ + 106, + 481, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 106, + 481, + 506, + 494 + ], + "score": 1.0, + "content": "Similarly, for the off-policy MDPO versions, we again restrain from using the optimization tricks", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 492, + 505, + 504 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 505, + 504 + ], + "score": 1.0, + "content": "mentioned above. However we do employ three techniques that are common in actor-critic based", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 106, + 503, + 250, + 516 + ], + "score": 1.0, + "content": "algorithms, namely: using separate", + "type": "text" + }, + { + "bbox": [ + 251, + 504, + 260, + 515 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 261, + 503, + 278, + 516 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 279, + 504, + 288, + 514 + ], + "score": 0.64, + "content": "V", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 503, + 414, + 516 + ], + "score": 1.0, + "content": "functions as in [13], using two", + "type": "text" + }, + { + "bbox": [ + 415, + 504, + 424, + 515 + ], + "score": 0.84, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 424, + 503, + 506, + 516 + ], + "score": 1.0, + "content": "functions to reduce", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 514, + 506, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 514, + 506, + 527 + ], + "score": 1.0, + "content": "overestimation bias and using soft target updates for the value function. Prior work [11, 19] has", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 524, + 294, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 524, + 294, + 540 + ], + "score": 1.0, + "content": "shown these techniques help improve stability.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 107, + 542, + 504, + 597 + ], + "lines": [ + { + "bbox": [ + 106, + 541, + 505, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 541, + 505, + 555 + ], + "score": 1.0, + "content": "Similar to the on-policy experiments, we include a minimal and loaded version for the off-policy", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 552, + 506, + 565 + ], + "spans": [ + { + "bbox": [ + 105, + 552, + 506, + 565 + ], + "score": 1.0, + "content": "experiments as well, which are described in Appendix D. In particular, this branching is done based", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 563, + 505, + 577 + ], + "spans": [ + { + "bbox": [ + 105, + 563, + 505, + 577 + ], + "score": 1.0, + "content": "on the neural network and batch sizes used. Since the standard values in all on-policy algorithms is", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 574, + 506, + 588 + ], + "spans": [ + { + "bbox": [ + 105, + 574, + 506, + 588 + ], + "score": 1.0, + "content": "different from the standard values used by most off-policy approaches, we show results for both set", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 586, + 449, + 599 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 449, + 599 + ], + "score": 1.0, + "content": "of values. This elicits a better comparison between on-policy and off-policy methods.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 38 + } + ], + "page_idx": 13, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 751, + 310, + 760 + ], + "lines": [ + { + "bbox": [ + 299, + 750, + 312, + 764 + ], + "spans": [ + { + "bbox": [ + 299, + 750, + 312, + 764 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 14, + "width": 13 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "title", + "bbox": [ + 108, + 81, + 257, + 93 + ], + "lines": [ + { + "bbox": [ + 105, + 80, + 258, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 80, + 258, + 96 + ], + "score": 1.0, + "content": "B EXPERIMENTAL DETAILS", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "title", + "bbox": [ + 107, + 106, + 162, + 117 + ], + "lines": [ + { + "bbox": [ + 105, + 105, + 163, + 119 + ], + "spans": [ + { + "bbox": [ + 105, + 105, + 163, + 119 + ], + "score": 1.0, + "content": "B.1 SETUP", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 1 + }, + { + "type": "text", + "bbox": [ + 107, + 127, + 506, + 194 + ], + "lines": [ + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 506, + 140 + ], + "score": 1.0, + "content": "We evaluate all algorithms on OpenAI Gym [7] based continuous control tasks, including Hopper-v2,", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 136, + 506, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 136, + 506, + 150 + ], + "score": 1.0, + "content": "Walker2d-v2, HalfCheetah-v2, Ant-v2, Humanoid-v2 and HumanoidStandup-v2. All experiments are", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 149, + 505, + 160 + ], + "spans": [ + { + "bbox": [ + 106, + 149, + 505, + 160 + ], + "score": 1.0, + "content": "run across 5 random seeds. Each plot shows the empirical mean of the random runs while the shaded", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 159, + 507, + 172 + ], + "spans": [ + { + "bbox": [ + 105, + 159, + 182, + 172 + ], + "score": 1.0, + "content": "region represents a", + "type": "text" + }, + { + "bbox": [ + 183, + 159, + 203, + 171 + ], + "score": 0.91, + "content": "9 5 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 159, + 348, + 172 + ], + "score": 1.0, + "content": "confidence interval (empirical mean", + "type": "text" + }, + { + "bbox": [ + 348, + 160, + 383, + 171 + ], + "score": 0.9, + "content": "\\pm 1 . 9 6 \\times", + "type": "inline_equation" + }, + { + "bbox": [ + 384, + 159, + 507, + 172 + ], + "score": 1.0, + "content": "empirical standard deviation /", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 107, + 171, + 505, + 185 + ], + "spans": [ + { + "bbox": [ + 107, + 171, + 141, + 183 + ], + "score": 0.92, + "content": "\\sqrt { n = 5 }", + "type": "inline_equation" + }, + { + "bbox": [ + 142, + 172, + 505, + 185 + ], + "score": 1.0, + "content": "). We report results in both figure and tabular forms. The tabular results denote the mean", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 183, + 490, + 195 + ], + "spans": [ + { + "bbox": [ + 105, + 183, + 490, + 195 + ], + "score": 1.0, + "content": "final training performance and the best values with overlapping confidence intervals are bolded.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 4.5, + "bbox_fs": [ + 105, + 126, + 507, + 195 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 199, + 505, + 309 + ], + "lines": [ + { + "bbox": [ + 105, + 200, + 505, + 211 + ], + "spans": [ + { + "bbox": [ + 105, + 200, + 269, + 211 + ], + "score": 1.0, + "content": "For all off-policy experiments, we use", + "type": "text" + }, + { + "bbox": [ + 269, + 200, + 306, + 210 + ], + "score": 0.9, + "content": "\\lambda = 0 . 2", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 200, + 505, + 211 + ], + "score": 1.0, + "content": "across all tasks, which is known to be the best", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 210, + 504, + 223 + ], + "spans": [ + { + "bbox": [ + 105, + 210, + 504, + 223 + ], + "score": 1.0, + "content": "performing value for all tasks according to [13] (In our experiments, a value of 0.2 worked equally", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 220, + 505, + 235 + ], + "spans": [ + { + "bbox": [ + 105, + 220, + 505, + 235 + ], + "score": 1.0, + "content": "well for Humanoid as the reported 0.05 in the SAC paper). We report all details of our off-policy", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 233, + 506, + 245 + ], + "spans": [ + { + "bbox": [ + 105, + 233, + 506, + 245 + ], + "score": 1.0, + "content": "experiments including hyperparameter values in Table 3. Moreover, since doing multiple gradient", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 244, + 505, + 255 + ], + "spans": [ + { + "bbox": [ + 105, + 244, + 505, + 255 + ], + "score": 1.0, + "content": "steps at each iteration becomes quite time consuming for the off-policy case, we get around this issue", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 255, + 505, + 267 + ], + "spans": [ + { + "bbox": [ + 106, + 255, + 199, + 267 + ], + "score": 1.0, + "content": "by fixing the old policy", + "type": "text" + }, + { + "bbox": [ + 200, + 255, + 221, + 266 + ], + "score": 0.87, + "content": "( \\pi _ { \\theta _ { k } } )", + "type": "inline_equation" + }, + { + "bbox": [ + 222, + 255, + 236, + 267 + ], + "score": 1.0, + "content": "for", + "type": "text" + }, + { + "bbox": [ + 236, + 256, + 246, + 265 + ], + "score": 0.75, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 255, + 505, + 267 + ], + "score": 1.0, + "content": "number of gradient steps, in order to mimic the effect from taking", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 265, + 506, + 278 + ], + "spans": [ + { + "bbox": [ + 105, + 265, + 506, + 278 + ], + "score": 1.0, + "content": "multiple gradients steps at each iteration. This ensures that the total number of environment steps are", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 276, + 506, + 289 + ], + "spans": [ + { + "bbox": [ + 105, + 276, + 429, + 289 + ], + "score": 1.0, + "content": "always equal to the total number of gradients steps, irrespective of the value of", + "type": "text" + }, + { + "bbox": [ + 430, + 278, + 439, + 286 + ], + "score": 0.56, + "content": "m", + "type": "inline_equation" + }, + { + "bbox": [ + 440, + 276, + 506, + 289 + ], + "score": 1.0, + "content": ". Finally, for all", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 288, + 505, + 299 + ], + "spans": [ + { + "bbox": [ + 105, + 288, + 295, + 299 + ], + "score": 1.0, + "content": "experiments, we use a fixed Bregman stepsize", + "type": "text" + }, + { + "bbox": [ + 295, + 288, + 321, + 299 + ], + "score": 0.89, + "content": "( 1 / t _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 321, + 288, + 505, + 299 + ], + "score": 1.0, + "content": "as opposed to an annealed version like in the", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 299, + 169, + 311 + ], + "spans": [ + { + "bbox": [ + 106, + 299, + 169, + 311 + ], + "score": 1.0, + "content": "on-policy case.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 12.5, + "bbox_fs": [ + 105, + 200, + 506, + 311 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 323, + 315, + 334 + ], + "lines": [ + { + "bbox": [ + 105, + 322, + 316, + 336 + ], + "spans": [ + { + "bbox": [ + 105, + 322, + 316, + 336 + ], + "score": 1.0, + "content": "B.2 CODE-LEVEL OPTIMIZATION TECHNIQUES", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 343, + 505, + 476 + ], + "lines": [ + { + "bbox": [ + 105, + 344, + 504, + 356 + ], + "spans": [ + { + "bbox": [ + 105, + 344, + 504, + 356 + ], + "score": 1.0, + "content": "The widely available OpenAI Baselines [8] based PPO implementation uses the following five", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 355, + 505, + 367 + ], + "spans": [ + { + "bbox": [ + 105, + 355, + 505, + 367 + ], + "score": 1.0, + "content": "major modifications to the original algorithm presented in [28] – value function clipping, reward", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 365, + 505, + 379 + ], + "spans": [ + { + "bbox": [ + 105, + 365, + 505, + 379 + ], + "score": 1.0, + "content": "normalization, observation normalization, orthogonal weight initialization and an annealed learning", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 376, + 505, + 389 + ], + "spans": [ + { + "bbox": [ + 105, + 376, + 505, + 389 + ], + "score": 1.0, + "content": "rate schedule for the Adam optimizer. These are referred to as code level optimization techniques", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 388, + 506, + 400 + ], + "spans": [ + { + "bbox": [ + 105, + 388, + 506, + 400 + ], + "score": 1.0, + "content": "(as mentioned in above sections) and are originally noted in [9]. Following the original notation, we", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 399, + 506, + 411 + ], + "spans": [ + { + "bbox": [ + 105, + 399, + 506, + 411 + ], + "score": 1.0, + "content": "refer to the vanilla or minimal version of PPO, i.e. without these modifications as PPO-M. Then, we", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 409, + 506, + 423 + ], + "spans": [ + { + "bbox": [ + 105, + 409, + 506, + 423 + ], + "score": 1.0, + "content": "consider two PPO versions which include all such code level optimizations, with the hyperparameters", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 420, + 505, + 434 + ], + "spans": [ + { + "bbox": [ + 105, + 420, + 505, + 434 + ], + "score": 1.0, + "content": "given in [28]. One of them does not use GAE while the other version includes GAE. Therefore they", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 104, + 430, + 505, + 445 + ], + "spans": [ + { + "bbox": [ + 104, + 430, + 505, + 445 + ], + "score": 1.0, + "content": "are referred to as PPO-LOADED and PPO-LOADED+GAE respectively. These versions, although", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 442, + 505, + 455 + ], + "spans": [ + { + "bbox": [ + 105, + 442, + 505, + 455 + ], + "score": 1.0, + "content": "being far from the theory, have been shown to be the best performing ones, and so form as a good", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 453, + 506, + 466 + ], + "spans": [ + { + "bbox": [ + 105, + 453, + 506, + 466 + ], + "score": 1.0, + "content": "baseline. We do a similar bifurcation for TRPO and on-policy MDPO. We report all details of our", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 464, + 375, + 477 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 375, + 477 + ], + "score": 1.0, + "content": "on-policy experiments including hyperparameter values in Table 2.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 24.5, + "bbox_fs": [ + 104, + 344, + 506, + 477 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 481, + 504, + 537 + ], + "lines": [ + { + "bbox": [ + 106, + 481, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 106, + 481, + 506, + 494 + ], + "score": 1.0, + "content": "Similarly, for the off-policy MDPO versions, we again restrain from using the optimization tricks", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 492, + 505, + 504 + ], + "spans": [ + { + "bbox": [ + 106, + 492, + 505, + 504 + ], + "score": 1.0, + "content": "mentioned above. However we do employ three techniques that are common in actor-critic based", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 106, + 503, + 250, + 516 + ], + "score": 1.0, + "content": "algorithms, namely: using separate", + "type": "text" + }, + { + "bbox": [ + 251, + 504, + 260, + 515 + ], + "score": 0.85, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 261, + 503, + 278, + 516 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 279, + 504, + 288, + 514 + ], + "score": 0.64, + "content": "V", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 503, + 414, + 516 + ], + "score": 1.0, + "content": "functions as in [13], using two", + "type": "text" + }, + { + "bbox": [ + 415, + 504, + 424, + 515 + ], + "score": 0.84, + "content": "Q", + "type": "inline_equation" + }, + { + "bbox": [ + 424, + 503, + 506, + 516 + ], + "score": 1.0, + "content": "functions to reduce", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 514, + 506, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 514, + 506, + 527 + ], + "score": 1.0, + "content": "overestimation bias and using soft target updates for the value function. Prior work [11, 19] has", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 524, + 294, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 524, + 294, + 540 + ], + "score": 1.0, + "content": "shown these techniques help improve stability.", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 33, + "bbox_fs": [ + 105, + 481, + 506, + 540 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 542, + 504, + 597 + ], + "lines": [ + { + "bbox": [ + 106, + 541, + 505, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 541, + 505, + 555 + ], + "score": 1.0, + "content": "Similar to the on-policy experiments, we include a minimal and loaded version for the off-policy", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 552, + 506, + 565 + ], + "spans": [ + { + "bbox": [ + 105, + 552, + 506, + 565 + ], + "score": 1.0, + "content": "experiments as well, which are described in Appendix D. In particular, this branching is done based", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 563, + 505, + 577 + ], + "spans": [ + { + "bbox": [ + 105, + 563, + 505, + 577 + ], + "score": 1.0, + "content": "on the neural network and batch sizes used. Since the standard values in all on-policy algorithms is", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 574, + 506, + 588 + ], + "spans": [ + { + "bbox": [ + 105, + 574, + 506, + 588 + ], + "score": 1.0, + "content": "different from the standard values used by most off-policy approaches, we show results for both set", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 586, + 449, + 599 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 449, + 599 + ], + "score": 1.0, + "content": "of values. This elicits a better comparison between on-policy and off-policy methods.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 38, + "bbox_fs": [ + 105, + 541, + 506, + 599 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "table", + "bbox": [ + 79, + 80, + 537, + 228 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 79, + 80, + 537, + 228 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 79, + 80, + 537, + 228 + ], + "spans": [ + { + "bbox": [ + 79, + 80, + 537, + 228 + ], + "score": 0.94, + "html": "
HyperparameterTRPO-MTRPO-LOADEDPPO-MPPO-LOADEDMDPO-MMDPO-LOADED
Adam stepsize=3×10-4Annealed from 1 to 03×10-4Annealed from 1 to 0
minibatch size1281286464128128
number of gradient updates (m)-1510
reward normalization×XX
observation normalizationX×X
orthogonal weight initializationX××
value function clipping GAE入XXX
horizon (T)1.00.951.00.95 20481.00.95
entropy coefficient
discount factor0.0 0.99
107
total number of timesteps
#runs used for plot averages5
confidence interval for plot runs~95%
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HyperparameterMDPO-M KLMDPO-M TsallisSAC-MMDPO-LOADED KLMDPO-LOADED TsallisSAC-LOADED
number of hidden units per layer minibatch size646464256256256
entropy coefficient (λ)646464256 0.2256256
Adam stepsize3×10-4
reward normalization×
observation normalization×
orthogonal weight initializationX
value function clippingX
replay buffer size106
target value function smoothing coefficient0.005
number of hidden layers2
discount factor0.99
#runs used for plot averages5
confidence interval for plot runs~ 95%
", + "type": "table", + "image_path": "1cf8670e419b56207122b84ba522c4bc20108c5845af292bf67d1195f5968414.jpg" + } + ] + } + ], + "index": 5, + "virtual_lines": [ + { + "bbox": [ + 79, + 257, + 543, + 307.0 + ], + "spans": [], + "index": 4 + }, + { + "bbox": [ + 79, + 307.0, + 543, + 357.0 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 79, + 357.0, + 543, + 407.0 + ], + "spans": [], + "index": 6 + } + ] + }, + { + "type": "table_caption", + "bbox": [ + 211, + 408, + 401, + 419 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 209, + 407, + 401, + 420 + ], + "spans": [ + { + "bbox": [ + 209, + 407, + 401, + 420 + ], + "score": 1.0, + "content": "Table 3: Hyper-parameters of all off-policy methods.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + } + ], + "index": 6.0 + }, + { + "type": "table", + "bbox": [ + 72, + 435, + 551, + 467 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 72, + 435, + 551, + 467 + ], + "group_id": 2, + "lines": [ + { + "bbox": [ + 72, + 435, + 551, + 467 + ], + "spans": [ + { + "bbox": [ + 72, + 435, + 551, + 467 + ], + "score": 0.967, + "html": "
Hopper-v22Walker2d-v2HHalfCheetah-v22Ant-v21Humanoid-v2HumanoidStandup-v2
Bregman stepsize (1/tk)0.80.40.30.50.50.3
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HyperparameterTRPO-MTRPO-LOADEDPPO-MPPO-LOADEDMDPO-MMDPO-LOADED
Adam stepsize=3×10-4Annealed from 1 to 03×10-4Annealed from 1 to 0
minibatch size1281286464128128
number of gradient updates (m)-1510
reward normalization×XX
observation normalizationX×X
orthogonal weight initializationX××
value function clipping GAE入XXX
horizon (T)1.00.951.00.95 20481.00.95
entropy coefficient
discount factor0.0 0.99
107
total number of timesteps
#runs used for plot averages5
confidence interval for plot runs~95%
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HyperparameterMDPO-M KLMDPO-M TsallisSAC-MMDPO-LOADED KLMDPO-LOADED TsallisSAC-LOADED
number of hidden units per layer minibatch size646464256256256
entropy coefficient (λ)646464256 0.2256256
Adam stepsize3×10-4
reward normalization×
observation normalization×
orthogonal weight initializationX
value function clippingX
replay buffer size106
target value function smoothing coefficient0.005
number of hidden layers2
discount factor0.99
#runs used for plot averages5
confidence interval for plot runs~ 95%
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Hopper-v22Walker2d-v2HHalfCheetah-v22Ant-v21Humanoid-v2HumanoidStandup-v2
Bregman stepsize (1/tk)0.80.40.30.50.50.3
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A Bregman", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 118, + 505, + 129 + ], + "spans": [ + { + "bbox": [ + 106, + 118, + 482, + 129 + ], + "score": 1.0, + "content": "divergence is a measure of distance between two points, induced by a strongly convex function", + "type": "text" + }, + { + "bbox": [ + 482, + 118, + 490, + 129 + ], + "score": 0.85, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 118, + 505, + 129 + ], + "score": 1.0, + "content": ". In", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 128, + 505, + 141 + ], + "spans": [ + { + "bbox": [ + 105, + 128, + 253, + 141 + ], + "score": 1.0, + "content": "the case where the potential function", + "type": "text" + }, + { + "bbox": [ + 253, + 129, + 261, + 140 + ], + "score": 0.86, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 128, + 505, + 141 + ], + "score": 1.0, + "content": "is the negative Shannon entropy, the resulting Bregman is the", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 138, + 468, + 152 + ], + "spans": [ + { + "bbox": [ + 105, + 138, + 236, + 152 + ], + "score": 1.0, + "content": "KL divergence. Similarly, when", + "type": "text" + }, + { + "bbox": [ + 237, + 140, + 244, + 151 + ], + "score": 0.86, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 245, + 138, + 441, + 152 + ], + "score": 1.0, + "content": "is the negative Tsallis entropy, for a real number", + "type": "text" + }, + { + "bbox": [ + 441, + 141, + 446, + 151 + ], + "score": 0.77, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 138, + 468, + 152 + ], + "score": 1.0, + "content": ", i.e.,", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2.5 + }, + { + "type": "interline_equation", + "bbox": [ + 233, + 155, + 378, + 185 + ], + "lines": [ + { + "bbox": [ + 233, + 155, + 378, + 185 + ], + "spans": [ + { + "bbox": [ + 233, + 155, + 378, + 185 + ], + "score": 0.95, + "content": "\\psi ( \\pi ) = { \\frac { 1 } { 1 - q } } { \\Big ( } 1 - \\sum _ { a } \\pi ( a \\mid s ) ^ { q } { \\Big ) } ,", + "type": "interline_equation", + "image_path": "93d1bde7cebc63d6e21545b04b0b85b66e8cef4ac32edda7146656af0e0662a4.jpg" + } + ] + } + ], + "index": 5.5, + "virtual_lines": [ + { + "bbox": [ + 233, + 155, + 378, + 170.0 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 233, + 170.0, + 378, + 185.0 + ], + "spans": [], + "index": 6 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 189, + 294, + 201 + ], + "lines": [ + { + "bbox": [ + 105, + 187, + 296, + 204 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 296, + 204 + ], + "score": 1.0, + "content": "we obtain the Tsallis Bregamn divergence, i.e.,", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + }, + { + "type": "interline_equation", + "bbox": [ + 124, + 205, + 470, + 235 + ], + "lines": [ + { + "bbox": [ + 124, + 205, + 470, + 235 + ], + "spans": [ + { + "bbox": [ + 124, + 205, + 470, + 235 + ], + "score": 0.94, + "content": "B _ { \\psi } ( \\pi , \\pi _ { k } ) = { \\frac { q } { 1 - q } } \\sum _ { a } \\pi ( a \\mid s ) \\pi _ { k } ( a \\mid s ) ^ { q - 1 } - { \\frac { 1 } { 1 - q } } \\sum _ { a } \\pi ( a \\mid s ) ^ { q } + \\sum _ { a } \\pi _ { k } ( a \\mid s ) ^ { q } .", + "type": "interline_equation", + "image_path": "6546da40b3909c4ac8ba01184cbf00eeb7f6da23265ddec6f82947be9661b906.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 124, + 205, + 470, + 215.0 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 124, + 215.0, + 470, + 225.0 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 124, + 225.0, + 470, + 235.0 + ], + "spans": [], + "index": 10 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 239, + 505, + 285 + ], + "lines": [ + { + "bbox": [ + 105, + 239, + 505, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 239, + 386, + 252 + ], + "score": 1.0, + "content": "Note that the last term on the RHS of (18) is independent of the policy", + "type": "text" + }, + { + "bbox": [ + 387, + 242, + 394, + 250 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 239, + 505, + 252 + ], + "score": 1.0, + "content": "being optimized. Also note", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 250, + 506, + 264 + ], + "spans": [ + { + "bbox": [ + 105, + 250, + 135, + 264 + ], + "score": 1.0, + "content": "that as", + "type": "text" + }, + { + "bbox": [ + 135, + 252, + 161, + 262 + ], + "score": 0.91, + "content": "q \\to 1", + "type": "inline_equation" + }, + { + "bbox": [ + 162, + 250, + 376, + 264 + ], + "score": 1.0, + "content": ", the Tsallis entropy collapses to the Shannon entropy", + "type": "text" + }, + { + "bbox": [ + 376, + 251, + 484, + 263 + ], + "score": 0.91, + "content": "\\begin{array} { r } { - \\sum _ { a } \\pi ( a \\mid s ) \\log \\pi ( a \\mid s ) } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 484, + 250, + 506, + 264 + ], + "score": 1.0, + "content": ", and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 261, + 505, + 274 + ], + "spans": [ + { + "bbox": [ + 105, + 261, + 325, + 274 + ], + "score": 1.0, + "content": "thus, it generalizes the Shannon entropy. Moreover, for", + "type": "text" + }, + { + "bbox": [ + 325, + 263, + 349, + 273 + ], + "score": 0.9, + "content": "q = 2", + "type": "inline_equation" + }, + { + "bbox": [ + 349, + 261, + 505, + 274 + ], + "score": 1.0, + "content": ", the Tsallis entropy is called the sparse", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 272, + 170, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 170, + 286 + ], + "score": 1.0, + "content": "Tsallis entropy.", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 12.5 + }, + { + "type": "text", + "bbox": [ + 106, + 289, + 504, + 313 + ], + "lines": [ + { + "bbox": [ + 106, + 289, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 289, + 506, + 303 + ], + "score": 1.0, + "content": "At first glance, the above expression is very different from the definition of the KL divergence.", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 299, + 276, + 315 + ], + "spans": [ + { + "bbox": [ + 105, + 299, + 245, + 315 + ], + "score": 1.0, + "content": "However, by defining the function", + "type": "text" + }, + { + "bbox": [ + 245, + 301, + 263, + 314 + ], + "score": 0.89, + "content": "\\log _ { q }", + "type": "inline_equation" + }, + { + "bbox": [ + 264, + 299, + 276, + 315 + ], + "score": 1.0, + "content": "as", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 15.5 + }, + { + "type": "interline_equation", + "bbox": [ + 218, + 319, + 391, + 353 + ], + "lines": [ + { + "bbox": [ + 218, + 319, + 391, + 353 + ], + "spans": [ + { + "bbox": [ + 218, + 319, + 391, + 353 + ], + "score": 0.94, + "content": "\\log _ { q } x : = { \\left\\{ \\begin{array} { l l } { { \\frac { x ^ { q - 1 } - 1 } { q - 1 } } , } & { { \\mathrm { i f ~ } } q \\neq 1 { \\mathrm { ~ a n d ~ } } x > 0 , } \\\\ { \\log q , } & { { \\mathrm { i f ~ } } q = 1 { \\mathrm { ~ a n d ~ } } x > 0 , } \\end{array} \\right. }", + "type": "interline_equation", + "image_path": "136fd440fc2bea6b312393bd55cb300155255aaee3e1d161b63b74c341d938ee.jpg" + } + ] + } + ], + "index": 17.5, + "virtual_lines": [ + { + "bbox": [ + 218, + 319, + 391, + 336.0 + ], + "spans": [], + "index": 17 + }, + { + "bbox": [ + 218, + 336.0, + 391, + 353.0 + ], + "spans": [], + "index": 18 + } + ] + }, + { + "type": "text", + "bbox": [ + 105, + 357, + 353, + 369 + ], + "lines": [ + { + "bbox": [ + 105, + 356, + 354, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 356, + 354, + 371 + ], + "score": 1.0, + "content": "we may write the negative Tsallis entropy, defined by (17), as", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 19 + }, + { + "type": "interline_equation", + "bbox": [ + 235, + 374, + 375, + 400 + ], + "lines": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "spans": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "score": 0.94, + "content": "\\psi ( \\pi ) = \\sum _ { a } \\pi ( a \\mid s ) \\log _ { q } \\pi ( a \\mid s ) ,", + "type": "interline_equation", + "image_path": "a7ef8ef872f309d6d7385c4719d66b4b0bfeb860f747face6599d7ef4e44feef.jpg" + } + ] + } + ], + "index": 20, + "virtual_lines": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "spans": [], + "index": 20 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 405, + 450, + 417 + ], + "lines": [ + { + "bbox": [ + 105, + 404, + 452, + 419 + ], + "spans": [ + { + "bbox": [ + 105, + 404, + 379, + 419 + ], + "score": 1.0, + "content": "and the Tsallis Bregman, defined by (18), in a similar manner to the", + "type": "text" + }, + { + "bbox": [ + 379, + 405, + 394, + 415 + ], + "score": 0.31, + "content": "\\mathrm { K L }", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 404, + 452, + 419 + ], + "score": 1.0, + "content": "divergence as", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 433, + 506, + 479 + ], + "lines": [ + { + "bbox": [ + 111, + 433, + 506, + 479 + ], + "spans": [ + { + "bbox": [ + 111, + 433, + 506, + 479 + ], + "score": 0.92, + "content": "3 _ { \\psi } ( \\pi , \\pi _ { k } ) = \\underbrace { \\sum _ { a } \\pi ( a \\mid s ) { \\big ( } \\log _ { q } \\pi ( a \\mid s ) - q \\log _ { q } \\pi _ { k } ( a \\mid s ) { \\big ) } } _ { = \\mathbf { K } \\mathbf { L } ( \\pi , \\pi _ { k } ) , { \\mathrm { ~ f o r ~ } } q = 1 } - \\underbrace { { \\overbrace { ( 1 - q ) \\sum _ { a } \\pi _ { k } ( a \\mid s ) \\log _ { q } \\pi _ { k } ( a \\mid s ) } ^ { \\left( 1 - q \\right) \\sum _ { a } } } } _ { = 0 , { \\mathrm { ~ f o r ~ } } q = 1 } .", + "type": "interline_equation", + "image_path": "21aa9a6364e56507605de2e2c012f667f2fd7ee25351221430e5f6f95f787abf.jpg" + } + ] + } + ], + "index": 23, + "virtual_lines": [ + { + "bbox": [ + 111, + 433, + 506, + 448.3333333333333 + ], + "spans": [], + "index": 22 + }, + { + "bbox": [ + 111, + 448.3333333333333, + 506, + 463.66666666666663 + ], + "spans": [], + "index": 23 + }, + { + "bbox": [ + 111, + 463.66666666666663, + 506, + 478.99999999999994 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 486, + 504, + 510 + ], + "lines": [ + { + "bbox": [ + 105, + 486, + 505, + 499 + ], + "spans": [ + { + "bbox": [ + 105, + 486, + 505, + 499 + ], + "score": 1.0, + "content": "With this convenient definition, we can write the Tsallis-based version of the off-policy MDPO", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 498, + 218, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 218, + 511 + ], + "score": 1.0, + "content": "objective defined in (11) as", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 25.5 + }, + { + "type": "interline_equation", + "bbox": [ + 113, + 515, + 481, + 536 + ], + "lines": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "spans": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "score": 0.91, + "content": "L ^ { \\mathrm { T s a l i s } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\big [ \\log _ { q } \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - q \\log _ { q } \\pi _ { \\theta _ { k } } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - t _ { k } Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] .", + "type": "interline_equation", + "image_path": "f595cc07d70149d76eab61064ff02c426258e390daf85e91072d8c1b0f307ed9.jpg" + } + ] + } + ], + "index": 27, + "virtual_lines": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "spans": [], + "index": 27 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 542, + 504, + 565 + ], + "lines": [ + { + "bbox": [ + 106, + 542, + 505, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 542, + 473, + 555 + ], + "score": 1.0, + "content": "Note that the last term on the RHS of (20) is independent of the policy being optimized (i.e.,", + "type": "text" + }, + { + "bbox": [ + 474, + 544, + 481, + 552 + ], + "score": 0.72, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 482, + 542, + 493, + 555 + ], + "score": 1.0, + "content": "or", + "type": "text" + }, + { + "bbox": [ + 493, + 543, + 499, + 552 + ], + "score": 0.67, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 500, + 542, + 505, + 555 + ], + "score": 1.0, + "content": "),", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 550, + 376, + 567 + ], + "spans": [ + { + "bbox": [ + 104, + 550, + 289, + 567 + ], + "score": 1.0, + "content": "and thus, does not appear in the loss function", + "type": "text" + }, + { + "bbox": [ + 289, + 552, + 342, + 565 + ], + "score": 0.94, + "content": "L ^ { \\mathrm { T s a l l i s } } ( \\theta , \\theta _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 550, + 376, + 567 + ], + "score": 1.0, + "content": "in (21).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 28.5 + }, + { + "type": "text", + "bbox": [ + 106, + 569, + 505, + 626 + ], + "lines": [ + { + "bbox": [ + 106, + 570, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 570, + 505, + 582 + ], + "score": 1.0, + "content": "Note that on-policy MDPO uses a closed form version for the Bregman divergence (since both", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 581, + 505, + 594 + ], + "spans": [ + { + "bbox": [ + 105, + 581, + 505, + 594 + ], + "score": 1.0, + "content": "policies are Gaussian in our implementation, a closed form of their KL exists). Such a closed form", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 592, + 505, + 604 + ], + "spans": [ + { + "bbox": [ + 106, + 592, + 505, + 604 + ], + "score": 1.0, + "content": "version for the Tsallis based Bregman is quite cumbersome to handle in terms of implementation, and", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 602, + 506, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 602, + 506, + 616 + ], + "score": 1.0, + "content": "thus we did not pursue the Tsallis based version in the on-policy experiments. However, in principle,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 613, + 369, + 627 + ], + "spans": [ + { + "bbox": [ + 105, + 613, + 369, + 627 + ], + "score": 1.0, + "content": "it is very much feasible and we leave this for future investigation.", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 32 + } + ], + "page_idx": 15, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 26, + 293, + 38 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 751, + 311, + 760 + ], + "lines": [ + { + "bbox": [ + 299, + 750, + 312, + 764 + ], + "spans": [ + { + "bbox": [ + 299, + 750, + 312, + 764 + ], + "score": 1.0, + "content": "16", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "title", + "bbox": [ + 106, + 80, + 340, + 94 + ], + "lines": [ + { + "bbox": [ + 105, + 79, + 341, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 79, + 341, + 96 + ], + "score": 1.0, + "content": "C TSALLIS-BASED BREGMAN DIVERGENCE", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "text", + "bbox": [ + 106, + 105, + 505, + 151 + ], + "lines": [ + { + "bbox": [ + 106, + 106, + 505, + 118 + ], + "spans": [ + { + "bbox": [ + 106, + 106, + 505, + 118 + ], + "score": 1.0, + "content": "As described in section 2.1, the MD update contains a Bregman divergence term. A Bregman", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 118, + 505, + 129 + ], + "spans": [ + { + "bbox": [ + 106, + 118, + 482, + 129 + ], + "score": 1.0, + "content": "divergence is a measure of distance between two points, induced by a strongly convex function", + "type": "text" + }, + { + "bbox": [ + 482, + 118, + 490, + 129 + ], + "score": 0.85, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 490, + 118, + 505, + 129 + ], + "score": 1.0, + "content": ". 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Similarly, when", + "type": "text" + }, + { + "bbox": [ + 237, + 140, + 244, + 151 + ], + "score": 0.86, + "content": "\\psi", + "type": "inline_equation" + }, + { + "bbox": [ + 245, + 138, + 441, + 152 + ], + "score": 1.0, + "content": "is the negative Tsallis entropy, for a real number", + "type": "text" + }, + { + "bbox": [ + 441, + 141, + 446, + 151 + ], + "score": 0.77, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 138, + 468, + 152 + ], + "score": 1.0, + "content": ", i.e.,", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2.5, + "bbox_fs": [ + 105, + 106, + 505, + 152 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 233, + 155, + 378, + 185 + ], + "lines": [ + { + "bbox": [ + 233, + 155, + 378, + 185 + ], + "spans": [ + { + "bbox": [ + 233, + 155, + 378, + 185 + ], + "score": 0.95, + "content": "\\psi ( \\pi ) = { \\frac { 1 } { 1 - q } } { \\Big ( } 1 - \\sum _ { a } \\pi ( a \\mid s ) ^ { q } { \\Big ) } ,", + "type": "interline_equation", + "image_path": "93d1bde7cebc63d6e21545b04b0b85b66e8cef4ac32edda7146656af0e0662a4.jpg" + } + ] + } + ], + "index": 5.5, + "virtual_lines": [ + { + "bbox": [ + 233, + 155, + 378, + 170.0 + ], + "spans": [], + "index": 5 + }, + { + "bbox": [ + 233, + 170.0, + 378, + 185.0 + ], + "spans": [], + "index": 6 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 189, + 294, + 201 + ], + "lines": [ + { + "bbox": [ + 105, + 187, + 296, + 204 + ], + "spans": [ + { + "bbox": [ + 105, + 187, + 296, + 204 + ], + "score": 1.0, + "content": "we obtain the Tsallis Bregamn divergence, i.e.,", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7, + "bbox_fs": [ + 105, + 187, + 296, + 204 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 124, + 205, + 470, + 235 + ], + "lines": [ + { + "bbox": [ + 124, + 205, + 470, + 235 + ], + "spans": [ + { + "bbox": [ + 124, + 205, + 470, + 235 + ], + "score": 0.94, + "content": "B _ { \\psi } ( \\pi , \\pi _ { k } ) = { \\frac { q } { 1 - q } } \\sum _ { a } \\pi ( a \\mid s ) \\pi _ { k } ( a \\mid s ) ^ { q - 1 } - { \\frac { 1 } { 1 - q } } \\sum _ { a } \\pi ( a \\mid s ) ^ { q } + \\sum _ { a } \\pi _ { k } ( a \\mid s ) ^ { q } .", + "type": "interline_equation", + "image_path": "6546da40b3909c4ac8ba01184cbf00eeb7f6da23265ddec6f82947be9661b906.jpg" + } + ] + } + ], + "index": 9, + "virtual_lines": [ + { + "bbox": [ + 124, + 205, + 470, + 215.0 + ], + "spans": [], + "index": 8 + }, + { + "bbox": [ + 124, + 215.0, + 470, + 225.0 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 124, + 225.0, + 470, + 235.0 + ], + "spans": [], + "index": 10 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 239, + 505, + 285 + ], + "lines": [ + { + "bbox": [ + 105, + 239, + 505, + 252 + ], + "spans": [ + { + "bbox": [ + 105, + 239, + 386, + 252 + ], + "score": 1.0, + "content": "Note that the last term on the RHS of (18) is independent of the policy", + "type": "text" + }, + { + "bbox": [ + 387, + 242, + 394, + 250 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 239, + 505, + 252 + ], + "score": 1.0, + "content": "being optimized. Also note", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 250, + 506, + 264 + ], + "spans": [ + { + "bbox": [ + 105, + 250, + 135, + 264 + ], + "score": 1.0, + "content": "that as", + "type": "text" + }, + { + "bbox": [ + 135, + 252, + 161, + 262 + ], + "score": 0.91, + "content": "q \\to 1", + "type": "inline_equation" + }, + { + "bbox": [ + 162, + 250, + 376, + 264 + ], + "score": 1.0, + "content": ", the Tsallis entropy collapses to the Shannon entropy", + "type": "text" + }, + { + "bbox": [ + 376, + 251, + 484, + 263 + ], + "score": 0.91, + "content": "\\begin{array} { r } { - \\sum _ { a } \\pi ( a \\mid s ) \\log \\pi ( a \\mid s ) } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 484, + 250, + 506, + 264 + ], + "score": 1.0, + "content": ", and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 261, + 505, + 274 + ], + "spans": [ + { + "bbox": [ + 105, + 261, + 325, + 274 + ], + "score": 1.0, + "content": "thus, it generalizes the Shannon entropy. Moreover, for", + "type": "text" + }, + { + "bbox": [ + 325, + 263, + 349, + 273 + ], + "score": 0.9, + "content": "q = 2", + "type": "inline_equation" + }, + { + "bbox": [ + 349, + 261, + 505, + 274 + ], + "score": 1.0, + "content": ", the Tsallis entropy is called the sparse", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 272, + 170, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 170, + 286 + ], + "score": 1.0, + "content": "Tsallis entropy.", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 12.5, + "bbox_fs": [ + 105, + 239, + 506, + 286 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 289, + 504, + 313 + ], + "lines": [ + { + "bbox": [ + 106, + 289, + 506, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 289, + 506, + 303 + ], + "score": 1.0, + "content": "At first glance, the above expression is very different from the definition of the KL divergence.", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 299, + 276, + 315 + ], + "spans": [ + { + "bbox": [ + 105, + 299, + 245, + 315 + ], + "score": 1.0, + "content": "However, by defining the function", + "type": "text" + }, + { + "bbox": [ + 245, + 301, + 263, + 314 + ], + "score": 0.89, + "content": "\\log _ { q }", + "type": "inline_equation" + }, + { + "bbox": [ + 264, + 299, + 276, + 315 + ], + "score": 1.0, + "content": "as", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 15.5, + "bbox_fs": [ + 105, + 289, + 506, + 315 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 218, + 319, + 391, + 353 + ], + "lines": [ + { + "bbox": [ + 218, + 319, + 391, + 353 + ], + "spans": [ + { + "bbox": [ + 218, + 319, + 391, + 353 + ], + "score": 0.94, + "content": "\\log _ { q } x : = { \\left\\{ \\begin{array} { l l } { { \\frac { x ^ { q - 1 } - 1 } { q - 1 } } , } & { { \\mathrm { i f ~ } } q \\neq 1 { \\mathrm { ~ a n d ~ } } x > 0 , } \\\\ { \\log q , } & { { \\mathrm { i f ~ } } q = 1 { \\mathrm { ~ a n d ~ } } x > 0 , } \\end{array} \\right. }", + "type": "interline_equation", + "image_path": "136fd440fc2bea6b312393bd55cb300155255aaee3e1d161b63b74c341d938ee.jpg" + } + ] + } + ], + "index": 17.5, + "virtual_lines": [ + { + "bbox": [ + 218, + 319, + 391, + 336.0 + ], + "spans": [], + "index": 17 + }, + { + "bbox": [ + 218, + 336.0, + 391, + 353.0 + ], + "spans": [], + "index": 18 + } + ] + }, + { + "type": "text", + "bbox": [ + 105, + 357, + 353, + 369 + ], + "lines": [ + { + "bbox": [ + 105, + 356, + 354, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 356, + 354, + 371 + ], + "score": 1.0, + "content": "we may write the negative Tsallis entropy, defined by (17), as", + "type": "text" + } + ], + "index": 19 + } + ], + "index": 19, + "bbox_fs": [ + 105, + 356, + 354, + 371 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 235, + 374, + 375, + 400 + ], + "lines": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "spans": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "score": 0.94, + "content": "\\psi ( \\pi ) = \\sum _ { a } \\pi ( a \\mid s ) \\log _ { q } \\pi ( a \\mid s ) ,", + "type": "interline_equation", + "image_path": "a7ef8ef872f309d6d7385c4719d66b4b0bfeb860f747face6599d7ef4e44feef.jpg" + } + ] + } + ], + "index": 20, + "virtual_lines": [ + { + "bbox": [ + 235, + 374, + 375, + 400 + ], + "spans": [], + "index": 20 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 405, + 450, + 417 + ], + "lines": [ + { + "bbox": [ + 105, + 404, + 452, + 419 + ], + "spans": [ + { + "bbox": [ + 105, + 404, + 379, + 419 + ], + "score": 1.0, + "content": "and the Tsallis Bregman, defined by (18), in a similar manner to the", + "type": "text" + }, + { + "bbox": [ + 379, + 405, + 394, + 415 + ], + "score": 0.31, + "content": "\\mathrm { K L }", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 404, + 452, + 419 + ], + "score": 1.0, + "content": "divergence as", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21, + "bbox_fs": [ + 105, + 404, + 452, + 419 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 433, + 506, + 479 + ], + "lines": [ + { + "bbox": [ + 111, + 433, + 506, + 479 + ], + "spans": [ + { + "bbox": [ + 111, + 433, + 506, + 479 + ], + "score": 0.92, + "content": "3 _ { \\psi } ( \\pi , \\pi _ { k } ) = \\underbrace { \\sum _ { a } \\pi ( a \\mid s ) { \\big ( } \\log _ { q } \\pi ( a \\mid s ) - q \\log _ { q } \\pi _ { k } ( a \\mid s ) { \\big ) } } _ { = \\mathbf { K } \\mathbf { L } ( \\pi , \\pi _ { k } ) , { \\mathrm { ~ f o r ~ } } q = 1 } - \\underbrace { { \\overbrace { ( 1 - q ) \\sum _ { a } \\pi _ { k } ( a \\mid s ) \\log _ { q } \\pi _ { k } ( a \\mid s ) } ^ { \\left( 1 - q \\right) \\sum _ { a } } } } _ { = 0 , { \\mathrm { ~ f o r ~ } } q = 1 } .", + "type": "interline_equation", + "image_path": "21aa9a6364e56507605de2e2c012f667f2fd7ee25351221430e5f6f95f787abf.jpg" + } + ] + } + ], + "index": 23, + "virtual_lines": [ + { + "bbox": [ + 111, + 433, + 506, + 448.3333333333333 + ], + "spans": [], + "index": 22 + }, + { + "bbox": [ + 111, + 448.3333333333333, + 506, + 463.66666666666663 + ], + "spans": [], + "index": 23 + }, + { + "bbox": [ + 111, + 463.66666666666663, + 506, + 478.99999999999994 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 486, + 504, + 510 + ], + "lines": [ + { + "bbox": [ + 105, + 486, + 505, + 499 + ], + "spans": [ + { + "bbox": [ + 105, + 486, + 505, + 499 + ], + "score": 1.0, + "content": "With this convenient definition, we can write the Tsallis-based version of the off-policy MDPO", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 498, + 218, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 218, + 511 + ], + "score": 1.0, + "content": "objective defined in (11) as", + "type": "text" + } + ], + "index": 26 + } + ], + "index": 25.5, + "bbox_fs": [ + 105, + 486, + 505, + 511 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 113, + 515, + 481, + 536 + ], + "lines": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "spans": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "score": 0.91, + "content": "L ^ { \\mathrm { T s a l i s } } ( \\theta , \\theta _ { k } ) = \\mathbb { E } _ { s \\sim \\mathcal { D } } \\big [ \\log _ { q } \\pi _ { \\theta } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - q \\log _ { q } \\pi _ { \\theta _ { k } } \\big ( \\widetilde { a } _ { \\theta } ( \\epsilon , s ) | s \\big ) - t _ { k } Q _ { \\psi } ^ { \\theta _ { k } } \\big ( s , \\widetilde { a } _ { \\theta } ( \\epsilon , s ) \\big ) \\big ] .", + "type": "interline_equation", + "image_path": "f595cc07d70149d76eab61064ff02c426258e390daf85e91072d8c1b0f307ed9.jpg" + } + ] + } + ], + "index": 27, + "virtual_lines": [ + { + "bbox": [ + 113, + 515, + 481, + 536 + ], + "spans": [], + "index": 27 + } + ] + }, + { + "type": "text", + "bbox": [ + 108, + 542, + 504, + 565 + ], + "lines": [ + { + "bbox": [ + 106, + 542, + 505, + 555 + ], + "spans": [ + { + "bbox": [ + 106, + 542, + 473, + 555 + ], + "score": 1.0, + "content": "Note that the last term on the RHS of (20) is independent of the policy being optimized (i.e.,", + "type": "text" + }, + { + "bbox": [ + 474, + 544, + 481, + 552 + ], + "score": 0.72, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 482, + 542, + 493, + 555 + ], + "score": 1.0, + "content": "or", + "type": "text" + }, + { + "bbox": [ + 493, + 543, + 499, + 552 + ], + "score": 0.67, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 500, + 542, + 505, + 555 + ], + "score": 1.0, + "content": "),", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 550, + 376, + 567 + ], + "spans": [ + { + "bbox": [ + 104, + 550, + 289, + 567 + ], + "score": 1.0, + "content": "and thus, does not appear in the loss function", + "type": "text" + }, + { + "bbox": [ + 289, + 552, + 342, + 565 + ], + "score": 0.94, + "content": "L ^ { \\mathrm { T s a l l i s } } ( \\theta , \\theta _ { k } )", + "type": "inline_equation" + }, + { + "bbox": [ + 343, + 550, + 376, + 567 + ], + "score": 1.0, + "content": "in (21).", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 28.5, + "bbox_fs": [ + 104, + 542, + 505, + 567 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 569, + 505, + 626 + ], + "lines": [ + { + "bbox": [ + 106, + 570, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 106, + 570, + 505, + 582 + ], + "score": 1.0, + "content": "Note that on-policy MDPO uses a closed form version for the Bregman divergence (since both", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 581, + 505, + 594 + ], + "spans": [ + { + "bbox": [ + 105, + 581, + 505, + 594 + ], + "score": 1.0, + "content": "policies are Gaussian in our implementation, a closed form of their KL exists). Such a closed form", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 592, + 505, + 604 + ], + "spans": [ + { + "bbox": [ + 106, + 592, + 505, + 604 + ], + "score": 1.0, + "content": "version for the Tsallis based Bregman is quite cumbersome to handle in terms of implementation, and", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 602, + 506, + 616 + ], + "spans": [ + { + "bbox": [ + 105, + 602, + 506, + 616 + ], + "score": 1.0, + "content": "thus we did not pursue the Tsallis based version in the on-policy experiments. However, in principle,", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 613, + 369, + 627 + ], + "spans": [ + { + "bbox": [ + 105, + 613, + 369, + 627 + ], + "score": 1.0, + "content": "it is very much feasible and we leave this for future investigation.", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 32, + "bbox_fs": [ + 105, + 570, + 506, + 627 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 107, + 81, + 334, + 94 + ], + "lines": [ + { + "bbox": [ + 105, + 80, + 335, + 96 + ], + "spans": [ + { + "bbox": [ + 105, + 80, + 335, + 96 + ], + "score": 1.0, + "content": "D REVERSE VS. FORWARD KL DIRECTION", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "text", + "bbox": [ + 107, + 106, + 505, + 271 + ], + "lines": [ + { + "bbox": [ + 106, + 105, + 505, + 119 + ], + "spans": [ + { + "bbox": [ + 106, + 105, + 505, + 119 + ], + "score": 1.0, + "content": "Similar to the on-policy case, the mode-seeking or reverse direction of the KL term in off-policy", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 106, + 117, + 505, + 129 + ], + "spans": [ + { + "bbox": [ + 106, + 117, + 505, + 129 + ], + "score": 1.0, + "content": "MDPO (Eq. 16) is consistent with that in the MD update rule in convex optimization. With this", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 106, + 128, + 505, + 141 + ], + "spans": [ + { + "bbox": [ + 106, + 128, + 505, + 141 + ], + "score": 1.0, + "content": "direction of KL, the optimization problems for policy update in both off-policy MDPO and SAC are", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 138, + 506, + 153 + ], + "spans": [ + { + "bbox": [ + 105, + 138, + 250, + 153 + ], + "score": 1.0, + "content": "invariant to the normalization term", + "type": "text" + }, + { + "bbox": [ + 250, + 139, + 271, + 151 + ], + "score": 0.93, + "content": "Z ( s )", + "type": "inline_equation" + }, + { + "bbox": [ + 271, + 138, + 506, + 153 + ], + "score": 1.0, + "content": ". Thus, these algorithms can update their policies without", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 150, + 506, + 164 + ], + "spans": [ + { + "bbox": [ + 105, + 150, + 151, + 164 + ], + "score": 1.0, + "content": "computing", + "type": "text" + }, + { + "bbox": [ + 152, + 150, + 172, + 162 + ], + "score": 0.9, + "content": "Z ( s )", + "type": "inline_equation" + }, + { + "bbox": [ + 173, + 150, + 506, + 164 + ], + "score": 1.0, + "content": ". In [21], the authors proposed an algorithm, called exploratory conservative policy", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 160, + 506, + 174 + ], + "spans": [ + { + "bbox": [ + 105, + 160, + 506, + 174 + ], + "score": 1.0, + "content": "optimization (ECPO), that resembles our soft off-policy MDPO, except in the direction of KL.", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 171, + 505, + 184 + ], + "spans": [ + { + "bbox": [ + 105, + 171, + 505, + 184 + ], + "score": 1.0, + "content": "Switching the direction of KL to mean-seeking or forward has the extra overhead of estimating the", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 105, + 182, + 507, + 196 + ], + "spans": [ + { + "bbox": [ + 105, + 182, + 507, + 196 + ], + "score": 1.0, + "content": "normalization term for ECPO. However, in [21], they argue that it results in better performance.", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 106, + 194, + 506, + 206 + ], + "spans": [ + { + "bbox": [ + 106, + 194, + 506, + 206 + ], + "score": 1.0, + "content": "They empirically show that ECPO performs better than several algorithms, including one that is", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 204, + 506, + 218 + ], + "spans": [ + { + "bbox": [ + 105, + 204, + 506, + 218 + ], + "score": 1.0, + "content": "close to off-policy MDPO, which they refer to as policy mirror descent (PMD), and report poor", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 215, + 505, + 228 + ], + "spans": [ + { + "bbox": [ + 105, + 215, + 505, + 228 + ], + "score": 1.0, + "content": "performance for it. We did not use their code-base and exact configuration, but we did not observe", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 227, + 506, + 239 + ], + "spans": [ + { + "bbox": [ + 106, + 227, + 506, + 239 + ], + "score": 1.0, + "content": "such poor performance for our off-policy MDPO. In fact, experimental results of Section 5.4 show", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 237, + 505, + 250 + ], + "spans": [ + { + "bbox": [ + 105, + 237, + 505, + 250 + ], + "score": 1.0, + "content": "that off-policy MDPO performs better than or on-par with SAC in six commonly used MuJoCo", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 249, + 505, + 262 + ], + "spans": [ + { + "bbox": [ + 106, + 249, + 505, + 262 + ], + "score": 1.0, + "content": "domains. 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MDPOTRPOPPO
Hopper-v21964 (±217)2382 (±445)1281 (±353)
Walker2d-v22948 (±298)2454 (±171)424 (±92)
HalfCheetah-v22873 (±835)1726 (±690)617 (±135)
Ant-v21162 (±738)1716 (±338)-40 (±33)
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MDPOTRPOPPO
Hopper-v21964 (±217)2382 (±445)1281 (±353)
Walker2d-v22948 (±298)2454 (±171)424 (±92)
HalfCheetah-v22873 (±835)1726 (±690)617 (±135)
Ant-v21162 (±738)1716 (±338)-40 (±33)
Humanoid-v2635 (±46)449 (±9)448 (±56)
HumanoidStandup-v2127901 (±6217)100408 (±12564)96068 (±11721)
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v21385 (±648)1385 (±648), q = 1.01501 (±414)
Walker2d-v2873 (±180)1151 (±218), q = 1.8635 (±137)
HalfCheetah-v28098 (±428)8477 (±450), q = 1.49298 (±371)
Ant-v21051 (±284)2348 (±338), q = 2.0378 (±33)
Humanoid-v22258 (±372)4426 (±229), q = 1.63598 (±172)
HumanoidStandup-v2131702 (±7203)138157 (±8983), q = 1.2142774 (±4864)
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v21385 (±648)1385 (±648), q = 1.01501 (±414)
Walker2d-v2873 (±180)1151 (±218), q = 1.8635 (±137)
HalfCheetah-v28098 (±428)8477 (±450), q = 1.49298 (±371)
Ant-v21051 (±284)2348 (±338), q = 2.0378 (±33)
Humanoid-v22258 (±372)4426 (±229), q = 1.63598 (±172)
HumanoidStandup-v2131702 (±7203)138157 (±8983), q = 1.2142774 (±4864)
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v22428 (±395)2428 (±395), q = 1.01870 (±404)
Walker2d-v23591 (±366)4028 (±287), q = 2.03738 (±312)
HalfCheetah-v211823 (±154)11823 (±154), q = 1.011928 (±342)
Ant-v24434 (±749)5486 (±737), q = 2.04989 (±579)
Humanoid-v25323 (±348)5611 (±260), q = 1.25191 (±312)
HumanoidStandup-v2143955 (±4499)165882 (±16604), q = 1.4154765 (±11721)
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v22428 (±395)2428 (±395), q = 1.01870 (±404)
Walker2d-v23591 (±366)4028 (±287), q = 2.03738 (±312)
HalfCheetah-v211823 (±154)11823 (±154), q = 1.011928 (±342)
Ant-v24434 (±749)5486 (±737), q = 2.04989 (±579)
Humanoid-v25323 (±348)5611 (±260), q = 1.25191 (±312)
HumanoidStandup-v2143955 (±4499)165882 (±16604), q = 1.4154765 (±11721)
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Note that although there is overlap in the performance of all methods, MDPO", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 499, + 285, + 512 + ], + "spans": [ + { + "bbox": [ + 105, + 499, + 285, + 512 + ], + "score": 1.0, + "content": "achieves a higher mean score in 5 out 6 domains.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 10.5 + } + ], + "index": 8.75 + } + ] + }, + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 108, + 81, + 272, + 94 + ], + "lines": [ + { + "bbox": [ + 106, + 80, + 274, + 96 + ], + "spans": [ + { + "bbox": [ + 106, + 80, + 274, + 96 + ], + "score": 1.0, + "content": "G ADDITIONAL EXPERIMENTS", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "title", + "bbox": [ + 108, + 106, + 224, + 118 + ], + "lines": [ + { + "bbox": [ + 106, + 105, + 226, + 118 + ], + "spans": [ + { + "bbox": [ + 106, + 105, + 226, + 118 + ], + "score": 1.0, + "content": "G.1 MULTI-STEP UPDATE", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 1 + }, + { + "type": "text", + "bbox": [ + 107, + 127, + 336, + 247 + ], + "lines": [ + { + "bbox": [ + 105, + 126, + 338, + 140 + ], + "spans": [ + { + "bbox": [ + 105, + 126, + 338, + 140 + ], + "score": 1.0, + "content": "For off-policy MDPO, we use a modified version of doing", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 138, + 337, + 150 + ], + "spans": [ + { + "bbox": [ + 106, + 138, + 337, + 150 + ], + "score": 1.0, + "content": "multi-step updates at each iteration (see section 5.1) due", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 149, + 338, + 160 + ], + "spans": [ + { + "bbox": [ + 106, + 149, + 338, + 160 + ], + "score": 1.0, + "content": "to computational reasons. 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MDP qBregman q
q=1.0q= 1.5q=2.0
Walker2d-v2q=1.03591 (±366)3268(±234)1007 (±422)
q= 1.52126 (±456)2805 (±302)1573 (±328)
q=2.014(±5)2915 (±391)4028 (±287)
Ant-v2q=1.04434 (±749)3007 (±572)1913 (±973)
q=1.54119 (±326)5488 (±233)2781(±812)
q=2.0-807 (±951)4418 (±184)5486 (±737)
q=1.05323 (±348)4734 (±341)4561 (±381)
Humanoid-v2q=1.524(±4)5013 (±274)3766(±331)
q=2.012(±5)28(±3)2751(±304)
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In our preliminary experiments with", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 551, + 505, + 564 + ], + "spans": [ + { + "bbox": [ + 105, + 551, + 430, + 564 + ], + "score": 1.0, + "content": "SAC-Tsallis in Table 9, we did not see much improvement over SAC by tuning", + "type": "text" + }, + { + "bbox": [ + 430, + 554, + 437, + 563 + ], + "score": 0.65, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 437, + 551, + 505, + 564 + ], + "score": 1.0, + "content": ", unlike what we", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 561, + 505, + 576 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 505, + 576 + ], + "score": 1.0, + "content": "observed in our MDPO-Tsallis results. 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In Figure 8 we see that", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 225, + 337, + 237 + ], + "spans": [ + { + "bbox": [ + 105, + 225, + 337, + 237 + ], + "score": 1.0, + "content": "doing multiple updates helps improve the score of both", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 235, + 239, + 249 + ], + "spans": [ + { + "bbox": [ + 106, + 235, + 239, + 249 + ], + "score": 1.0, + "content": "MDPO and SAC, as is expected.", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 8, + "bbox_fs": [ + 105, + 126, + 338, + 249 + ] + }, + { + "type": "image", + "bbox": [ + 357, + 103, + 477, + 195 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 357, + 103, + 477, + 195 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 357, + 103, + 477, + 195 + ], + "spans": [ + { + "bbox": [ + 357, + 103, + 477, + 195 + ], + "score": 0.939, + "type": "image", + "image_path": "aa9ecd62506828f3a77314187c8f04e1b18c2ffc046e2dc4bb2422b194e28933.jpg" + } + ] + } + ], + "index": 8.0, + "virtual_lines": [ + { + "bbox": [ + 357, + 103, + 477, + 149.0 + ], + "spans": [], + "index": 2 + }, + { + "bbox": [ + 357, + 149.0, + 477, + 195.0 + ], + "spans": [], + "index": 14 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 344, + 204, + 506, + 244 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 343, + 204, + 506, + 216 + ], + "spans": [ + { + "bbox": [ + 343, + 204, + 506, + 216 + ], + "score": 1.0, + "content": "Figure 8: Performance of off-policy MDPO,", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 343, + 214, + 505, + 225 + ], + "spans": [ + { + "bbox": [ + 343, + 214, + 505, + 225 + ], + "score": 1.0, + "content": "compared with SAC on Hopper-v2, when do-", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 343, + 224, + 505, + 235 + ], + "spans": [ + { + "bbox": [ + 343, + 224, + 505, + 235 + ], + "score": 1.0, + "content": "ing both single and multiple gradient updates", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 344, + 234, + 397, + 244 + ], + "spans": [ + { + "bbox": [ + 344, + 234, + 397, + 244 + ], + "score": 1.0, + "content": "each iteration.", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 16.5 + } + ], + "index": 12.25 + }, + { + "type": "title", + "bbox": [ + 107, + 261, + 335, + 283 + ], + "lines": [ + { + "bbox": [ + 105, + 260, + 336, + 273 + ], + "spans": [ + { + "bbox": [ + 105, + 260, + 336, + 273 + ], + "score": 1.0, + "content": "G.2 DIFFERENT TSALLIS ENTROPIES FOR BREGMAN", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 272, + 233, + 284 + ], + "spans": [ + { + "bbox": [ + 106, + 272, + 233, + 284 + ], + "score": 1.0, + "content": "AND MDP REGULARIZATION", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 19.5 + }, + { + "type": "text", + "bbox": [ + 106, + 292, + 506, + 380 + ], + "lines": [ + { + "bbox": [ + 105, + 291, + 506, + 306 + ], + "spans": [ + { + "bbox": [ + 105, + 291, + 367, + 306 + ], + "score": 1.0, + "content": "So far in the paper, we have used the same Tsallis entropy (same", + "type": "text" + }, + { + "bbox": [ + 367, + 295, + 374, + 304 + ], + "score": 0.78, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 374, + 291, + 506, + 306 + ], + "score": 1.0, + "content": "value) for defining the Bregman", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 304, + 505, + 316 + ], + "spans": [ + { + "bbox": [ + 106, + 304, + 505, + 316 + ], + "score": 1.0, + "content": "divergence as well as the MDP regularizer. 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We test this on the Walker2d-v2, Humanoid-v2, and Ant-v2 domains (domains", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 346, + 506, + 361 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 506, + 361 + ], + "score": 1.0, + "content": "where we see the most improvement due to the addition of Tsallis entropy) and observe that sticking", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 358, + 505, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 358, + 156, + 371 + ], + "score": 1.0, + "content": "to the same", + "type": "text" + }, + { + "bbox": [ + 157, + 361, + 163, + 370 + ], + "score": 0.78, + "content": "q", + "type": "inline_equation" + }, + { + "bbox": [ + 164, + 358, + 505, + 371 + ], + "score": 1.0, + "content": "values for both cases results in the best performance across all three domains (see", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 367, + 144, + 382 + ], + "spans": [ + { + "bbox": [ + 105, + 367, + 144, + 382 + ], + "score": 1.0, + "content": "Table 9).", + "type": "text" + } + ], + "index": 28 + } + ], + "index": 24.5, + "bbox_fs": [ + 105, + 291, + 506, + 382 + ] + }, + { + "type": "table", + "bbox": [ + 169, + 381, + 438, + 481 + ], + "blocks": [ + { + "type": "table_body", + "bbox": [ + 169, + 381, + 438, + 481 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 169, + 381, + 438, + 481 + ], + "spans": [ + { + "bbox": [ + 169, + 381, + 438, + 481 + ], + "score": 0.976, + "html": "
MDP qBregman q
q=1.0q= 1.5q=2.0
Walker2d-v2q=1.03591 (±366)3268(±234)1007 (±422)
q= 1.52126 (±456)2805 (±302)1573 (±328)
q=2.014(±5)2915 (±391)4028 (±287)
Ant-v2q=1.04434 (±749)3007 (±572)1913 (±973)
q=1.54119 (±326)5488 (±233)2781(±812)
q=2.0-807 (±951)4418 (±184)5486 (±737)
q=1.05323 (±348)4734 (±341)4561 (±381)
Humanoid-v2q=1.524(±4)5013 (±274)3766(±331)
q=2.012(±5)28(±3)2751(±304)
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On-PolicyOff-Policy
EnvMDPOTRPOPPOMDPO-KLMDPO-TsallisSAC
Hopper-v22361(±518)1979 (± 672)2051 (± 241)2428(±395)2428(± 395),q = 1.01870 (± 404)
Walker2d-v24834 (± 607)4473 (± 558)1490 (± 292)3591 (± 366)4028(± 287),q = 2.03738 (± 312)
HalfCheetah-v24172 (± 1156)3751 (± 910)2041 (± 1319)11823 (± 154)11823 (± 154), q = 1.011928 (± 342)
Ant-v25211 (± 43)4682 (± 278)59 (±133)4434 (± 749)5486(± 737), q = 2.04989 (± 579)
Humanoid-v23234 (± 566)4414 (± 132)529 (±47)5323 (± 348)5611(± 260), q = 1.25191 (± 312)
H. Standup-v2155261(± 3898)149847 (± 2632)97223 (±4479)143955 (± 4499)165882 (± 16604), q = 1.4 154765 (± 11721)
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Hopper-v22Walker2d-v2HHalfCheetah-v22Ant-v21Humanoid-v2HumanoidStandup-v2
Bregman stepsize (1/tk)0.80.40.30.50.50.3
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HyperparameterTRPO-MTRPO-LOADEDPPO-MPPO-LOADEDMDPO-MMDPO-LOADED
Adam stepsize=3×10-4Annealed from 1 to 03×10-4Annealed from 1 to 0
minibatch size1281286464128128
number of gradient updates (m)-1510
reward normalization×XX
observation normalizationX×X
orthogonal weight initializationX××
value function clipping GAE入XXX
horizon (T)1.00.951.00.95 20481.00.95
entropy coefficient
discount factor0.0 0.99
107
total number of timesteps
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confidence interval for plot runs~95%
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HyperparameterMDPO-M KLMDPO-M TsallisSAC-MMDPO-LOADED KLMDPO-LOADED TsallisSAC-LOADED
number of hidden units per layer minibatch size646464256256256
entropy coefficient (λ)646464256 0.2256256
Adam stepsize3×10-4
reward normalization×
observation normalization×
orthogonal weight initializationX
value function clippingX
replay buffer size106
target value function smoothing coefficient0.005
number of hidden layers2
discount factor0.99
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v21385 (±648)1385 (±648), q = 1.01501 (±414)
Walker2d-v2873 (±180)1151 (±218), q = 1.8635 (±137)
HalfCheetah-v28098 (±428)8477 (±450), q = 1.49298 (±371)
Ant-v21051 (±284)2348 (±338), q = 2.0378 (±33)
Humanoid-v22258 (±372)4426 (±229), q = 1.63598 (±172)
HumanoidStandup-v2131702 (±7203)138157 (±8983), q = 1.2142774 (±4864)
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MDPO-KLMDPO-Tsallis, qbestSAC
Hopper-v22428 (±395)2428 (±395), q = 1.01870 (±404)
Walker2d-v23591 (±366)4028 (±287), q = 2.03738 (±312)
HalfCheetah-v211823 (±154)11823 (±154), q = 1.011928 (±342)
Ant-v24434 (±749)5486 (±737), q = 2.04989 (±579)
Humanoid-v25323 (±348)5611 (±260), q = 1.25191 (±312)
HumanoidStandup-v2143955 (±4499)165882 (±16604), q = 1.4154765 (±11721)
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b/parse/dev/dNigytemkL/dNigytemkL.md new file mode 100644 index 0000000000000000000000000000000000000000..650ca2f5f45a9addc42b271753cd319af4f25057 --- /dev/null +++ b/parse/dev/dNigytemkL/dNigytemkL.md @@ -0,0 +1,491 @@ +# The Role of Permutation Invariance in Linear Mode Connectivity of Neural Networks + +Rahim Entezari1, Hanie Seghi2, Olga Saukh1, and Behnam Neyshabur3 + +1TU Graz / CSH Vienna, 2Google Research, Brain Team, 3Google Research, Blueshift Team + +ABSTRACT + +In this paper, we conjecture that if the permutation invariance of neural networks is taken into account, SGD solutions will likely have no barrier in the linear interpolation between them. Although it is a bold conjecture, we show how extensive empirical attempts fall short of refuting it. We further provide a preliminary theoretical result to support our conjecture. Our conjecture has implications for lottery ticket hypothesis, distributed training and ensemble methods. The source code is available at https://github.com/rahimentezari/PermutationInvariance. + +# 1 INTRODUCTION + +Understanding the loss landscape of deep neural networks has been the subject of many studies due to its close connections to optimization and generalization (Li et al., 2017; Mei et al., 2018; Geiger et al., 2019; Nguyen et al., 2018; Fort et al., 2019; Baldassi et al., 2020). Empirical observations suggest that loss landscape of deep networks has many minima (Keskar et al., 2017; Draxler et al., 2018; Zhang et al., 2017). One reason behind the abundance of minima is over-parametrization. Over-parametrized networks have enough capacity to present different functions that behave similarly on the training data but vastly different on other inputs (Neyshabur et al., 2017; Nguyen et al., 2018; Li et al., 2018; Liu et al., 2020). Another contributing factor is the existence of scale and permutation invariances which allows the same function to be represented with many different parameter values of the same network and imposes a counter-intuitive geometry on the loss landscape (Neyshabur et al., 2015; Brea et al., 2019a). + +Previous work study the relationship between different minima found by SGD and establish that they are connected by a path of non-increasing loss; however, they are not connected by a linear path (Freeman & Bruna, 2016; Draxler et al., 2018; Garipov et al., 2018). This phenomenon is often referred to as mode connectivity (Garipov et al., 2018) and the loss increase on the path between two solutions is often referred to as (energy) barrier (Draxler et al., 2018). Understanding linear mode connectivity (LMC) is highly motivated by several direct conceptual and practical implications from pruning and sparse training to distributed optimization and ensemble methods. + +The relationship between LMC and pruning was established by Frankle et al. (2020) where they showed the correspondence between LMC and the well-known lottery ticket hypothesis (LTH) (Frankle & Carbin, 2019). In short, LTH conjectures that neural networks contain sparse subnetworks that can be trained in isolation, from initialization, or early in training to achieve comparable test accuracy. Frankle et al. (2020) showed that solutions that are linearly connected with no barrier have the same lottery ticket. They further discuss how linear-connectivity is associated with stability of SGD. This view suggests that SGD solutions that are linearly connected with no barrier can be thought of as being in the same basin of the loss landscape and once SGD converges to a basin, it shows a stable behavior inside the basin1. Because of the direct correspondence between LMC and LTH, any understanding of LMC, has implications for LTH, stability of SGD and pruning techniques. + +Linear mode connectivity has also direct implications for ensemble methods and distributed training. Ensemble methods highly depend on an understanding of the loss landscape and being able to sample from solutions. Better understanding of mode connectivity has been shown to be essential in devising better ensemble methods (Garipov et al., 2018). Linear mode connectivity between solutions or checkpoints also allows for weight averaging techniques for distributed optimization to be used as effectively in deep learning as convex optimization (Scaman et al., 2019). + +![](images/bd39910b9bbb3c320e78441a0a0cde113638c5b22f4b22aaff247f0d15b7a77a.jpg) +Figure 1: Linear mode connectivity when using permutation invariance. Left: Schematic picture of four minima $A , B , C , D$ in different basins with an energy barrier between each pair. However, our conjecture suggests that permuting hidden units of $B$ , $C$ and $D$ would result in $B ^ { \prime }$ , $C ^ { \prime }$ and $\bar { D } ^ { \prime }$ which present the exact same function as before permutation while having no barrier on their linear interpolation with $A$ . Middle: Our model for barriers in real world SGD solutions. In real world we train networks by running SGD with different random seeds starting from different initializations. In our model, different final networks are achieved by applying random permutations to the same SGD solution (or equivalently, applying random permutations to the same initialization and then running SGD with the same seed on them). Right: Aggregation of our extensive empirical evidence (more than 3000 trained networks) in one density plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. Points in the lower left mostly correspond to lowest barrier found after searching in the space of valid permutations using a Simulated Annealing (SA). For a detailed view on architectures and datasets see Figure 10 in Appendix A.3. + +In this paper, we conjecture that by taking permutation invariance into account, the loss landscape can be simplified significantly resulting in linear mode connectivity between SGD solutions. We investigate this conjecture both theoretically and empirically through extensive experiments. We show how our attempts fall short of refuting this hypothesis and end up as supporting evidence for it (see Figure 1). We believe our conjecture sheds light into the structure of loss landscape and could lead to practical implications for the aforementioned areas. + +Contributions. This paper makes the following contributions: + +• We study linear mode connectivity (LMC) between solutions trained from different initializations and investigate how it is affected by choices such as width, depth and task difficulty for fully connected and convolutional networks ( Section 2). +• We introduce our main conjecture in Section 3: If invariances are taken into account, there will likely be no barrier on the linear interpolation of SGD solutions (see the left panel of Figure 1). +• By investigating the conjecture theoretically, we prove that it holds for a wide enough fully-connected network with one hidden layer at random initialization ( Section 3). +• In Section 4, we provide strong empirical evidence in support of our conjecture. To overcome the computational challenge of directly evaluating the hypothesis empirically, which requires searching in the space of all possible permutations, we propose an alternative approach. We consider a set of solutions corresponding to random permutations of a single fixed SGD solution (our model) and show several empirical evidences suggesting our model is a good approximation for all SGD solutions(real world) with different random seeds (see the middle and right panel of Figure 1). + +Further related work. Permutation symmetry of neurons in every layer results in multiple equivalent minima connected via saddle points. Few studies investigate the role of these symmetries in the context of connectivity of different basins. Given a network with $\mathrm { L }$ layers of minimal widths $r _ { 1 } ^ { * } , . . . , r _ { L - 1 } ^ { * }$ that reaches zero-loss minima at $r _ { 1 } ! , . . . , r _ { L - 1 } !$ isolated points (permutations of one another), ¸Sim¸sek et al. (2021) showed that adding one extra neuron to each layer is sufficient to connect all these previously discrete minima into a single manifold. Fukumizu & Amari (2000) prove that a point corresponding to the global minimum of a smaller model can be a local minimum or a saddle point of the larger model. Brea et al. (2019b) find smooth paths between equivalent global minima that lead through a permutation point, i.e., where the input and output weight vectors of two neurons in the same hidden layer interchange. They describe a method to permute all neuron indices in the same layer at the same cost. Singh & Jaggi (2020) proposed a layer-wise model fusion algorithm for making ensembles. Their method utilizes optimal transport for aligning neurons across the models trained from different initializations. Tatro et al. (2020) showed that aligning the neurons in two different neural networks makes it easier to find second order curves between them in the loss landscape where barriers are absent. + +# 2 LOSS BARRIERS + +In this section, we first give a formal definition for linear mode connectivity and study how it is affected by different factors such as network width, depth, and task difficulty for a variety of architectures. + +# 2.1 DEFINITIONS + +Let $f _ { \theta } ( \cdot )$ be a function presented by a neural network with parameter vector $\theta$ that includes all parameters and $\mathcal { L } ( \boldsymbol { \theta } )$ be the any given loss (e.g., train or test error) of $f _ { \theta } ( \cdot )$ . Let $\mathcal { E } _ { \alpha } ( \theta _ { 1 } , \theta _ { 2 } ) =$ $\mathbf { \bar { \mathcal { L } } } ( \alpha \theta _ { 1 } + ( 1 - \alpha ) \dot { \theta } _ { 2 } )$ , for $\alpha \in [ 0 , 1 ]$ be the loss of the network created by linearly interpolating between parameters of two networks $f _ { \theta _ { 1 } } ( \cdot )$ and $f _ { \theta _ { 2 } } ( \cdot )$ . The loss barrier $B ( \theta _ { 1 } , \theta _ { 2 } )$ along the linear path between $\theta _ { 1 }$ and $\theta _ { 2 }$ is defined as the highest difference between the loss occurred when linearly connecting two points $\theta _ { 1 } , \theta _ { 2 }$ and linear interpolation of the loss values at each of them: + +$$ +B ( \theta _ { 1 } , \theta _ { 2 } ) = \operatorname* { s u p } _ { \alpha } [ [ { \mathcal { L } } ( \alpha \theta _ { 1 } + ( 1 - \alpha ) \theta _ { 2 } ) ] - [ \alpha { \mathcal { L } } ( \theta _ { 1 } ) + ( 1 - \alpha ) { \mathcal { L } } ( \theta _ { 2 } ) ] ] . +$$ + +The above definition differs from what was proposed by Frankle et al. (2020) in that they used $0 . 5 \mathcal { L } ( \theta _ { 1 } ) + 0 . 5 \mathcal { L } ( \theta _ { 2 } )$ instead of $\alpha \mathcal { L } ( \theta _ { 1 } ) + ( \bar { 1 } - \bar { \alpha } ) \mathcal { L } ( \theta _ { 2 } ) $ in our definition. These definitions are the same if $\mathcal { L } ( \theta _ { 1 } ) \stackrel { \cdot } { = } \mathcal { L } ( \theta _ { 2 } )$ . But if $\mathcal { L } ( \theta _ { 1 } ) , \mathcal { L } ( \theta _ { 2 } )$ are different, we find our definition to be more appropriate because it assigns no barrier value to a loss that is changing linearly between $\theta _ { 1 }$ and $\theta _ { 2 }$ We say that two networks $\theta _ { 1 }$ and $\theta _ { 2 }$ are linear mode connected if the barrier between them along a linear path is $\approx 0$ (Frankle et al., 2020). It has been observed in the literature that any two minimizers of a deep network can be connected via a non-linear low-loss path (Garipov et al., 2018; Draxler et al., 2018; Fort & Jastrzebski, 2019). This work examines linear mode connectivity (LMC) between minima. Next, we empirically investigate the effect of task difficulty and choices such as architecture family, width and depth on LMC of SGD solutions. + +# 2.2 EMPIRICAL INVESTIGATION: BARRIERS + +In this section, we look into barriers between different SGD solutions on all combinations of four architecture families (MLP (Rosenblatt, 1961), Shallow CNN (Neyshabur, 2020), ResNet (He et al., 2015) and VGG (Simonyan & Zisserman, 2015)) and four datasets (MNIST (LeCun & Cortes, 2010), SVHN (Netzer et al., 2011), CIFAR-10 (Krizhevsky et al., 2009) and CIFAR-100 (Krizhevsky et al., 2009)). The main motivation to use Shallow CNN is to move from fully connected layers (MLP) to convolutions. The main difference between Shallow CNN and VGG16 is depth and the main difference between ResNet18 and VGG16 is existence of residual connections. We empirically investigate how different factors such as architecture family, width, depth and task difficulty impact the barrier size2. We refer to training loss barrier as barrier. For loss barriers on a test set see E.4. For train and test errors see A.2 . + +Width: We evaluate the impact of width on the barrier size in Figure 2. We note that for large values of width the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals that the barrier increases with width up to a point and beyond that increasing width leads to lower barrier size. This effect is reminiscent of the double descent phenomena (Belkin et al., 2019; Nakkiran et al., 2019). Checking the test error (Figure 8) indicates that in our experiments the barrier peak happens at the same size that needed to fit the training data. This phenomena is observed for both fully-connected and convolutional architectures. MLP architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNets the barrier size is saturated at a high value and does not change. The barrier value for VGG architecture on different datasets is also saturated at a high value and does not change by increasing the width. Such similar behavior observed for both ResNets and VGG architectures is due to the effect of depth as discussed in the next paragraph. + +![](images/5816762c83bb4acdce92cab590a21ba7f2c561574375a64893a36539493c9ab0.jpg) +Figure 2: Effect of width on barrier size. From left to right: one-layer MLP, two-layer Shallow CNN, VGG-16 and ResNet-18 architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For large width sizes the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals a similar trend to that of double-descent phenomena. MLP architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNet, the barrier size is saturated at a high value and does not change due to the effect of depth as discussed in Figure 3. + +![](images/f1bdf451ba6cbe72c7cb3dbde2d761c257653f1ecaf694ac0f107cff3d18e534.jpg) +Figure 3: Effect of depth on barrier size. From left to right MLP, Shallow CNN, VGG(11,13,16,19), and ResNet(18,34,50) architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and Shallow CNN, we fix the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\mathbf { X }$ -axis. Similar behavior is observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values until it saturates (as seen for VGG and ResNet). + +Depth: We vary network depth in Figure 3 to evaluate its impact on the barrier between optimal solutions obtained from different initializations. For MLPs, we fix the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\mathbf { X }$ -axis. We observe a fast and significant barrier increase as more layers are added. For VGG architecture family we observe significant barriers. This might be due to the effect of convolution or depth. In order to shed light on this observation, we use Shallow CNN (Neyshabur, 2020) with only two convolutional layers. As can be seen in Figure 3 when Shallow CNN has two layers the barrier size is low, while keeping the layer width fixed at $2 ^ { 1 0 }$ and adding more layers increases the barrier size. For residual networks we also consider three ResNet architectures with 18, 34 and 50 layers and observe the same barrier sizes as VGG for all these depth values. The main overall observation from depth experiments is that for both fully-connected and convolutional architectures, increasing depth increases the barrier size significantly so the effect of depth is not similar to width. This can also be attributed to the observations that deeper networks usually have a less smooth landscape (Li et al., 2017). + +Task difficulty and architecture choice: In Figure 4 we look into the impact of the task difficulty provided by the dataset choice (MNIST, SVHN, CIFAR-10, CIFAR-100, and ImageNet (Deng et al., 2009)) and the architecture type (one-layer MLP with $2 ^ { 1 0 }$ neurons, Shallow CNN with two convolutional layer and width of $2 ^ { 1 \mathrm { { 0 } } }$ , VGG-16 with batch-normalization, ResNet18 and ResNet50). Each row in Figure 4a and Figure 4b shows the effect of task difficulty, e.g., fixing the task to SVHN and moving from MLP to Shallow CNN gives lower test error hence lower barrier size. Each column also represents the effect of architecture on a specific dataset, e.g., fixing the architecture to Shallow CNN and moving from CIFAR10 to CIFAR100 presents an increase in test error, hence increase in the barrier size. Although deep architectures like VGG16 and ResNet18 present low test error, the discussed effect of depth saturates their barrier at a high level. Figure 4c aggregates the correlation between test error and size of the barrier. For MLP and Shallow CNN we observe a high positive correlation between test error and barrier size across different datasets. Deeper networks (VGGs, ResNets) form a cluster in the top-left, with low test error and high barrier size. + +![](images/f2639658cf8347671406c5bf7e4215f49926dbcbc8ff00b7e09fde221ba273bf.jpg) +Figure 4: Effect of architecture choice and task difficulty on barrier size. Each row in Figure 4a and Figure 4b shows the effect of task difficulty while each column represents the effect of architecture on a specific dataset. Figure 4c notes that a pair of (architecture, task) has lower barrier if the test error is lower. Therefore, any changes in the architecture or the task that improves the test error, also improves the loss barrier. Effect of depth is stronger than (architecture, task) which leads to high barrier values for ResNets on MNIST, SVHN, CIFAR10, CIFAR100, and ImageNet. + +# 3 ROLE OF INVARIANCE IN LOSS BARRIERS + +Understanding the loss landscape of deep networks has proven to be very challenging. One of the main challenges in studying the loss landscape without taking the optimization algorithm into account is that there exist many minima with different generalization properties. Most of such minima are not reachable by SGD and we only know about their existence through artificially-made optimization algorithms and training regimes (Neyshabur et al., 2017). To circumvent this issue, we focus on parts of the landscape that are reachable by SGD. Given a dataset and an architecture, one could define a probability distribution over all solutions reachable by SGD and focus on the subset where SGD is more likely to converge to. + +# 3.1 INVARIANCES IN NEURAL NETWORK FUNCTION CLASS + +We say that a network is invariant with respect to a transformation if and only if the network resulting from the transformation represents the same function as the original network. There are two well-known invariances: one is the unit-rescaling due to positive homogeneity of ReLU activations (Neyshabur et al., 2015) and the other is permutation of hidden units. Unit-rescaling has been well-studied and empirical evidence suggests that implicit bias of SGD would make the solution converge to a stage where the weights are more balanced (Neyshabur et al., 2015; Wu et al., 2019). Since we are interested in the loss landscape through the lens of SGD and SGD is much more likely to converge to a particular rescaling, consideration of this type of invariance does not seem useful. However, in the case of permutations, all permutations are equally likely for SGD and therefore, it is important to understand their role in the geometric properties of the landscape and its basins of attraction. Here we consider invariances that are in form of permutations of hidden units in each layer of the network, i.e., each layer $i$ with parameters $W _ { i }$ is replaced with $P _ { i } W _ { i } P _ { i - 1 }$ where $P _ { i }$ is a permutation matrix and $P _ { l } = P _ { 0 }$ is the identity matrix. Note that our results only hold for permutation matrices since only permutation commutes with nonlinearity. We use $\mathcal { P }$ to refer to the set of valid permutations for a neural network and use $\pi$ to refer to a valid permutation. + +# 3.2 OUR CONJECTURE + +As mentioned above, SGD’s implicit regularization balances weight norms and, therefore, scale invariance does not seem to play an important role in understanding symmetries of solutions found by SGD. Consequently, here we focus on permutation invariance and conjecture that taking it into account allows us to have a much simpler view of SGD solutions. We first state our conjecture informally: + +Most SGD solutions belong to a set $\boldsymbol { S }$ whose elements can be permuted in such a way that there is no barrier on the linear interpolation between any two permuted elements in $s$ . + +The above conjecture suggests that most SGD solutions end up in the same basin in the loss landscape after proper permutation (see Figure 1 left panel). We acknowledge that the above conjecture is bold. + +Nonetheless, we argue that coming up with strong conjectures and attempting to disprove them is an effective method for scientific progress. Note, our conjecture also has great practical implications for model ensembling and parallelism since one can average models that are in the same basin in the loss landscape. The conjecture can be formalized as follows: + +Conjecture 1. Let $f ( \theta )$ be the function representing a feedforward network with parameters $\boldsymbol \theta \in \mathbb { R } ^ { k }$ , $\mathcal { P }$ be the set of all valid permutations for the network, $\dot { P } : \dot { \mathbb R } ^ { k } \times \mathcal P \mathbb R ^ { k }$ be the function that applies a given permutation to parameters and returns the permuted version, and $B ( \cdot , \cdot )$ be the function that returns barrier value between two solutions as defined in Equation $^ { l }$ . Then, there exists a width $h > 0$ such that for any network $f ( \theta )$ of width at least $h$ the following holds: There exist a set of solutions $S \subseteq \mathbb { R } ^ { k }$ and a function $Q : S \mathcal { P }$ such for any $\theta _ { 1 } , \theta _ { 2 } \in { \mathcal { S } }$ , $B ( P ( \theta _ { 1 } , Q ( \theta _ { 1 } ) ) , \theta _ { 2 } ) \approx 0$ and with high probability over an SGD solution $\theta$ , we have $\theta \in S$ . + +Next, we approach Conjecture 1 from both theoretical and empirical aspects and provide some evidence to support it. + +# 3.3 A THEORETICAL RESULT + +In this section we provide elementary theoretical results in support of our conjecture. Although the theoretical result is provided for a very limited setting, we believe it helps us understand the mechanism that could give rise to our conjecture. Bellow, we theoretically show that Conjecture 1 holds for a fully-connected network with a single hidden layer at initialization. Proof is given in Appendix D. + +Theorem 3.1. Let $f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) = \mathbf { v } ^ { \top } \boldsymbol { \sigma } ( \mathbf { U } \mathbf { x } )$ be a fully-connected network with h hidden units where $\sigma ( \cdot )$ is ReLU activation, $\mathbf { v } \in \mathbb { R } ^ { h }$ and $\mathbf { U } \in \mathbb { R } ^ { h \times d }$ are the parameters and √ √ $\mathbf { x } \in \mathbb { R } ^ { d }$ is the input. If each element of $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ is sampled uniformly from $[ - 1 / \sqrt { d } , 1 / \sqrt { d } ]$ and each element of v and $\mathbf { v } ^ { \prime }$ is sampled uniformly from $[ - 1 / \sqrt { h } , 1 / \sqrt { h } ]$ , then for any $\mathbf { x } \in \mathbb { R } ^ { d }$ such that $\| \mathbf { x } \| _ { 2 } = { \sqrt { d } }$ , with probability $1 - \delta$ over ${ \bf U } , { \bf U } ^ { \prime } , { \bf v } , { \bf v } ^ { \prime }$ , there exist a permutation such that + +$$ +\begin{array} { r } { \bigg | f _ { \alpha \mathbf { v } + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } , \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } } ( \mathbf { x } ) - \alpha f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) - ( 1 - \alpha ) f _ { \mathbf { v } ^ { \prime } , \mathbf { U } ^ { \prime } } ( \mathbf { x } ) \bigg | = \tilde { O } ( h ^ { - \frac { 1 } { 2 d + 4 } } ) } \end{array} +$$ + +where $\mathbf { v } ^ { \prime \prime }$ and $\mathbf { U } ^ { \prime \prime }$ are permuted versions of $\mathbf { v } ^ { \prime }$ and $\mathbf { U } ^ { \prime }$ . + +Theorem 3.1 states that for wide enough fully-connected networks with a single hidden layer, one can find a permutation that leads to having no barrier at random initialization. Although, our prove only covers random initialization, we believe with a more involved proof, it might be possible to extend it to NTK regime (Jacot et al., 2018). We leave this for future work. + +# 3.4 DIRECT EMPIRICAL EVALUATION OF CONJECTURE 1 + +Another possible approach is to use brute-force (BF) search mechanism and find the function $Q$ for elements of $s$ . The factorial growth of the number of permutations with the size of hidden units in each layer hinders exhaustive search for a winning permutation $\pi$ to linear mode connect $P ( \theta _ { 1 } , \pi )$ and $\theta _ { 2 }$ . Even for MLPs with just one hidden layer brute-force works in reasonable time up to $2 ^ { 4 }$ neurons only, forcing the search to examine $2 ^ { 4 } ! \overset { \cdot } { \approx } 2 \cdot 1 0 ^ { 1 3 }$ permuted networks. BF is not feasible even for modest size deep networks. For small networks, one can use BF to find permutations between different models (see E.3). However, small size networks are not the focus of this paper and Conjecture 1 specifically mentions that. + +Given the size of search space, using a more advanced search algorithm can be useful. The issue with this approach is that since it relies on the strength of a search algorithm, if the search algorithm fails in finding the permutation, one cannot be sure about the source of failure being the search algorithm or nonexistence of a permutation that leads to no barrier. + +# 3.5 OUR MODEL VS REAL WORLD: AN ALTERNATIVE APPROACH + +We propose the following approach to circumvent the above obstacles. We create a competing set $S ^ { \prime }$ (our model) as a proxy for set $s$ (real world). Given an SGD solution $\theta _ { 1 } \in { \mathcal { S } }$ , we define $S ^ { \prime } = \{ P ( \theta _ { 1 } , \pi ) | \forall \pi \in \bar { \mathcal { P } } \}$ . We know that set $S ^ { \prime }$ satisfies the conjecture. For set $S ^ { \prime }$ , all points are known permutations of $\theta _ { 1 }$ . Therefore, one can permute all points to remove their barriers with $\theta _ { 1 }$ , i.e, for all $\bar { \theta } _ { 2 } = P ( \theta _ { 1 } , \pi )$ , one can use $Q ( \theta _ { 2 } ) = \pi ^ { \bar { - } 1 }$ to remove the barrier between $\theta _ { 1 }$ and $\theta _ { 2 }$ . Our goal is therefore to show that $s$ is similar to $S ^ { \prime }$ in terms of barrier behavior. + +![](images/c981dcb5bf04d6b277cc49b46b4df793404b7771d2d07ad42af7a3cf021e5331.jpg) +Figure 5: Similar loss barrier between real world and our model BEFORE applying permutation. From left to right: one-layer MLP, two-layer Shallow CNN, MLP and Shallow CNN with layer width of $2 ^ { 1 0 }$ . Increasing width first increases and then decreases the barrier, while adding more layers significantly increases the barrier size. We observe that $S ^ { \prime }$ and $s$ behave similarly in terms of barrier as we change different architecture parameters such as width, depth across various datasets. + +Equivalence of $S ^ { \prime }$ and $s$ in terms of barriers, means that if we choose an element $\theta$ in $s$ , one should be able to find permutations for each of other elements of the $s$ so that the permuted elements have no barrier with $\theta$ and hence are in the same basin as $\theta$ . The consequence of the equivalence of our model to real world is that Conjecture 1 holds. The conjecture effectively means that different basins exist because of the permutation invariance and if permutation invariance is taken into account (by permuting solutions to remove the barriers between them), there is only one basin, i.e., all solutions reside in the same basin in the loss landscape. We actually want to show $s$ is similar to $S ^ { \prime }$ in terms of optimizing over all permutations but that is not possible so we show $s$ is similar to $S ^ { \prime }$ in terms of barrier without search or when we search over a smaller set of permutations using a search algorithm. In the next section, we investigate our conjecture using this approach. + +# 4 EMPIRICAL INVESTIGATION + +In this section we show that $s$ and $S ^ { \prime }$ have similar loss barrier along different factors such as width, depth, architecture, dataset and other model parameters (with and without searching for a permutation that reduces the barrier), hence supporting our conjecture. As discussed in Section 2, the barrier for both VGG and ResNet architectures is saturated at a high value hinting that the loss landscape might be more complex for these architecture families. In our experiments we observed that $s$ and $S ^ { \prime }$ have similar high barriers for both of these architectures (see Appendix E.2). Moreover, we observed that for both $s$ and $S ^ { \prime }$ the employed algorithms (Section 4.2) were unable to find a permutation to reduce the barrier and hence our model shows a similar behavior to real world 3. Given that the width and depth do not influence the barrier behavior in VGG and ResNet architectures, here we only focus on the effect of width and depth on barrier sizes for MLPs and Shallow CNNs. + +# 4.1 SIMILARITY OF $s$ AND $S ^ { \prime }$ + +Figure 5 compares our model to the real world and shows that $S ^ { \prime }$ and $s$ have strikingly similar barriers as we change different architecture parameters such as width and depth across various architecture families and datasets. This surprising level of similarity between our model and real world on variety of settings provide strong evidence for the conjecture. Even if the conjecture is not precisely correct as stated, the empirical results suggest that the structural similarities between our model and real world makes our model a useful simplification of the real world for studying the loss landscape. For example, the effect of width and depth on the barrier is almost identical in our model and the real world which suggests that permutations are perhaps playing the main role in such behaviors. + +# 4.2 SEARCH ALGORITHMS FOR FINDING A WINNING PERMUTATION + +The problem of finding a winning permutation $\pi \in { \mathcal { P } }$ is a variant of the Travelling Salesman Problem where neurons are mapped to cities visited by a salesman. The problem belongs to the class of NP-hard optimization problems and simulated annealing (SA) is often used to find a solution for such a combinatorial search problem. SA’s performance however highly depends on the parameter + +# Algorithm 1 Simulated Annealing (SA) for Permutation Search + +1: procedure SA({θi}, i = 1..n, n ≥ 2) . Goal: minimize the barrier between $n$ solutions +2: $\pi _ { i } = \pi _ { 0 } , \forall i = 1 . . n$ +3: for $k = 0$ ; k < kmax; k++ do +4: $T \gets$ temperature( k+1 ) kmax +5: Pick random candidate permutations $\{ \hat { \pi } _ { i } \} , \forall i = 1 . . n$ +6: if $\Psi ( P ( \theta _ { i } , \hat { \pi } _ { i } ) ) < \Psi ( P \mathbf { \bar { ( } } \theta _ { i } , \pi _ { i } ) )$ then $\triangleright \Psi$ : barrier objective function +7: πi ← πˆi return {πi} + +![](images/49281a5655bf6135b7a7da12585a3c45d18b8b1b9f6b36d82d164366f46f1ff5.jpg) +Figure 6: Performance of Simulated Annealing (SA). Two Left: $\mathbf { S } \mathbf { A } _ { 2 }$ where we average the weights of permuted models first and $\psi$ is defined as the train error of the resulting average model. Two Right: Search space is reduced i.e., we take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . When search space is reduced, SA is able to find better permutations. + +choices, including the minimum and maximum temperatures, the cooling schedule and the number of optimization steps. The pseudocode of SA is shown in Algorithm 1. SA takes a set of solutions $\{ \theta _ { i } \} , i = 1 . . n , n \geq 2$ as input (we use $n = 5$ ) and searches for a set of permutations $\{ \pi _ { i } \}$ that reduce the barriers between all permuted $\binom { n } { 2 }$ solution pairs. To find the best $\{ \pi _ { i } \}$ , in each step of SA the current candidate permutations $\{ \hat { \pi } _ { i } \} , i = 1 . . n$ are evaluated to minimize the objective function $\Psi$ . We use two versions of simulated annealing that vary in their definition of $\Psi$ to evaluate the conjecture. + +Simulated Annealing 1 $( \mathbf { S } \mathbf { A } _ { 1 } )$ . In the first version $\mathbf { S A } _ { 1 }$ , $\Psi$ is defined as the average pairwise barrier between candidate permutations $B ( P ( \theta _ { i } , \pi _ { i } ) , P ( \theta _ { j } , \pi _ { j } ) ) , i \neq j$ . + +Simulated Annealing 2 $\mathbf { ( S A _ { 2 } ) }$ . In the second version $\mathbf { S } \mathbf { A } _ { 2 }$ , we average the weights of permuted models $P ( \theta _ { i } , \pi _ { i } )$ first and defined $\Psi$ as the train error of the resulting average model. The simplest form of $\mathbf { S } \mathbf { A } _ { 2 }$ happens if $n = 2$ and is discussed in Section A.3. + +The rationale behind these two versions is that if the solutions reside in one basin, there is no barrier between them. Therefore averaging solutions in one basin yields another solution inside their convex hull. Although each version of SA has a different definition of the objective function $\Psi$ to find the best permutation, for all SA versions we report the average barrier between all pairs in the plots. Our empirical results suggest that $\mathbf { S A } _ { 1 }$ and $\mathbf { S A } _ { 2 }$ yield very similar performance. However, $\mathbf { S A } _ { 2 }$ is significantly less computationally expensive, which makes it more suitable for exploring larger models. In the following sections we present the results obtained with $\mathbf { S A } _ { 2 }$ only and refer to this version as SA. For more details on SA implementation see Appendix A.4. The left two plots in Figure 6 show that $\mathbf { S A } _ { 2 }$ is not able to find permutations that improve pair-wise barrier significantly. We know that SA does not guarantee finding a solution and is known to lose its effectiveness on TSP benchmarks beyond $1 ^ { \circ } 0 0 0$ cities (Zhan et al., 2016). The effectiveness of SA is also reduced here as we can only evaluate the cost of full route (divide and conquer is not possible). One way to increase this effectiveness is to reduce the search space which we will discuss next. + +Search space reduction. In order to reduce the search space, here we only take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . The right two plots in Figure 6 shows this intervention helps SA to find better permutations. In particular, the barrier improves significantly for MNIST and SVHN datasets for both MLP and Shallow CNN across different width. However, similar to Section 2, we did not observe significant improvements when increasing depth (see Figure 12). + +![](images/1fb67d56308165521203ab6851d4aa51c7f4a00a83e592db19b1324c72b5fe4a.jpg) +Figure 7: Similar loss barrier between real world and our model AFTER applying permutation, when search space is reduced. We observe that reducing the search space makes SA more successful in finding the permutation to remove the barriers. Specifically, SA could indeed find permutations that when applied to $\theta _ { 1 }$ result in zero barrier e.g., MLP for MNIST where depth is 1 (across all width), 2 and 4 (where width is $2 ^ { 1 0 }$ ) + +# 4.3 SIMILARITY OF $s$ AND $S ^ { \prime }$ AFTER SEARCH + +Figure 7 shows the surprising similarity of the barrier between $s$ and $S ^ { \prime }$ even after applying a permutation found by a search algorithm (when search space is reduced). We also observe that reducing the search space makes SA more successful in finding the permutation $\{ \pi \}$ to remove the barriers. Specifically, in some cases SA could indeed find permutations that when applied to $\theta _ { 1 }$ result in zero barrier. However, the fact that SA’s success shows a similar pattern for $s , s ^ { \prime }$ provides another evidence in support of the conjecture. For example, SA successfully reduces the barrier for both $s , s ^ { \prime }$ on MNIST and SVHN datasets. Figure 1 (right) summarizes our extensive empirical evidence (more than 3000 trained networks) in one density plot, supporting similarity of barriers in real world and our model across different choices of architecture family, dataset, width, depth, and random seed. Putting together, all our empirical results support our main conjecture. + +# 5 DISCUSSIONS AND CONCLUSION + +We investigated the loss landscape of ReLU networks, proposed and probed the conjecture that the barriers in the loss landscape between different solutions of a neural network optimization problem are an artifact of ignoring the permutation invariance of the function class. In a nutshell, this conjecture suggests that if one considers permutation invariance, there is essentially no loss barrier between different solutions and they all exist in the same basin in the loss landscape. Our analysis has direct implication on initialization schemes for neural networks. Essentially it postulates that randomness in terms of permutation does not impact the quality of the final result. It is interesting to explore whether it is possible to come up with an initialization that does not have permutation invariance and only acts like a perturbation to the same permutation. If all basins in the loss landscape are basically the same function, there will be no need to search all of them. One can explore the same basin while looking for diverse solutions and this makes search much easier and would lead to substantially more efficient search algorithms. + +Another area where our analysis is of importance is for ensembles and distributed training. Related works (Frankle et al., 2020; Fort et al., 2019) show that simply averaging two SGD solutions would fail. If these models lie at the periphery of a wide and flat low loss region then ensembling them in their weight space (averaging), creates a model tending to the center of the region, which leads to performance improvement (Izmailov et al., 2019; Wen et al., 2020). If we can track the optimal permutation (that brings all solutions to one basin), it is possible to use it to do weight averaging and build ensembles more efficiently. Moreover, we are interested in answering the question whether there is a one-to-one mapping between lottery tickets and permutations. Frankle et al. (2020) requires stability to find lottery tickets. They define stability as the point in training trajectory where, if we branch at this point and train two copies with different seeds, the trained solutions are linearly mode connected. We conjecture that all the SGD trained solutions are linearly mode connected if the permutation is considered (satisfying the necessary condition for Lottery Ticket Hypothesis). We believe our analysis laid the ground for investigating these important questions and testing the usefulness of our conjecture in ensemble methods and pruning, which is the subject of future studies. + +The biggest limiting factor of our study is the size of the search space and hence we need a strong search algorithm, specially for deep models where the size and complexity of the search space was prohibitive in terms of computation for the existing search methods. We hope improvements of search algorithms can help us to extend these results. Lastly, our analysis focuses on image recognition task and extending the results to natural language tasks is of interest for future work. + +# REFERENCES + +Carlo Baldassi, Fabrizio Pittorino, and Riccardo Zecchina. Shaping the learning landscape in neural networks around wide flat minima. Proceedings of the National Academy of Sciences, 117(1): 161–170, 2020. + +Mikhail Belkin, Daniel Hsu, Siyuan Ma, and Soumik Mandal. 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Hyper-parametersMLPShallow CNNVGGResNet
Learning RateFixed 0.011, Fixed 0.001²Cosine 0.02Cosine 0.02Cosine 0.02
Batch Size64256256256
Epochs3000100010001000
Momentum0.90.90.90.9
Weight Decay1-=
Data AugmentationNormalizationNormalizationNormalizationNormalization
+ +1 MNIST 2 SVHN, CIFAR10, CIFAR100 + +A.2 PERFORMANCE EVALUATION OF TRAINED MODELS: ERROR AND LOSS + +Figure 8 demonstrate Train and Test error/loss for experiments on the effect of width. Here for MLP we have one hidden layer, for Shallow CNN two convolutional layer, ResNet is fixed to ResNet18, and VGG16 is selected from VGG family. Figure 9 also demonstrates Train and Test error/loss for different depth. We set MLP to have 1024 hidden units in each layer, Shallow CNN, VGG and ResNest to have 1024, 64, 64 channels in each convolutional layer, respectively. + +![](images/03cf489fbb068bf9317f6c6a3039c5c037fede35c237fe2e6f34777ea1c661ea.jpg) +Figure 8: Train and Test Error/Loss for Width. Solid and dotted lines correspond to train and test respectively. All models are trained for 1000 epochs except MLP networks that are trained for 3000 epochs. The stopping criteria is either Cross Entropy Loss reaching 0.01 or number of epochs reaching maximum epochs. + +![](images/f46b42d8ada14ad9635fe5e3aa1e3f45f1ee0e6b85501f9a780587380228387c.jpg) +Figure 9: Train and Test Error/Loss for Depth. Solid and dotted lines correspond to train and test respectively. All models are trained for 1000 epochs except MLP networks that are trained for 3000 epochs. The stopping criteria is either Cross Entropy Loss reaching 0.01 or number of epochs reaching maximum epochs. + +# A.3 SIMILARITY OF $s$ AND $S ^ { \prime }$ : DETAILED VIEW + +Aggregated empirical results. Figure 10 shows the aggregation of our extensive empirical evidence (more than 3000 trained networks) in one plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. Points with solid edges correspond to lowest barrier found after searching in the space of valid permutations using a Simulated Annealing (SA). SA shows better performance for shallow networks pushing more solid edge points to the lower left corner. + +![](images/275ac1e8a1ed959ed1b2cbe0f461c30e5cbd82468acc1d60b21c49fc96f34649.jpg) +Figure 10: Aggregation of empirical evidence on similarity of Real World and Our Model. aggregation of our extensive empirical evidence (more than 3000 trained networks) in one plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. + +Simulated Annealing performance. In this Section, we show that $s$ and $S ^ { \prime }$ have similar loss barriers we change different architecture parameters such as as width, depth across various datasets. Here we consider the mean over all pair-wise barriers as barrier size. Figure 5 shows the similarity of $s$ and $S ^ { \prime }$ before permutation. In each plot, barrier size for $s$ is similar to $S ^ { \prime }$ . Such similarity is also observed in Figure 11, where we see the barrier after permutation using SA. + +![](images/b2eb2945ebf538181e476ee2e5349f3f03c1a2154e8ea88df37b5f7ce076c732.jpg) +Figure 12: Performance of Simulated Annealing (SA). Left: $\mathbf { S } \mathbf { A } _ { 2 }$ where we average the weights of permuted models first and $\psi$ is defined as the train error of the resulting average model. Right: Search space is reduced i.e., we take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . When search space is reduced, SA is able to find better permutations. + +![](images/fe2aa3e03d5f38eeb60ae1febf728f60394e07ff411e60c351f6c098da478db8.jpg) +Figure 11: Similar loss barrier between real world and our model after applying permutation. Effects of width and depth also holds in this setting. Compared to Figure 5, we observe slight barrier reduction. Reducing search space helps SA to find better solutions (see section A.3). + +Search space reduction. In order to reduce the search space, here we only take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . Figure 13 and Figure 7 show the effect of width and depth on barrier similarity between $s$ and $S ^ { \prime }$ before and after permutation. Comparing Figure 13 and Figure 7 shows that SA succeeds in barrier removal. SA performance on $s$ and $S ^ { \prime }$ yields similar results for both before and after permutation scenarios. Such similar performance is observed along a wide range of width and depth for both MLP and Shallow-CNN over different datasets (MNIST, SVHN, CIFAR10, CIFAR100). We look into effects of changing model size in terms of width and depth as in earlier sections, and note that similar trends hold for before and after permuting solution $\theta _ { 1 }$ . Comparing Figure 13 and Figure 7 shows that reducing the search space makes SA more successful in finding the permutation $\{ \pi \}$ to remove the barriers. Specifically, SA can indeed find permutations across different networks and datasets that result in zero barrier when applied to $\theta _ { 1 }$ . SA can also find permutations that reduce the barrier for both MLP and Shallow-CNN across different width, depth and datasets. For example, such cases include MLP for MNIST, SVHN, CIFAR10, and CIFAR100 where depth is 1 and width is $2 ^ { 3 }$ and $2 ^ { 4 }$ , MLP for MNIST where depth is 2 and width is $2 ^ { 1 0 }$ , Shallow-CNN for MNIST, SVHN, CIFAR10, CIFAR100 where depth is 2 and width is $2 ^ { 4 }$ and for Shallow-CNN for MNIST where depth is 2 and width is $2 ^ { 6 }$ . + +![](images/2896b6d8340569045e114781769c96b8ed2f88580a8241174f40bf8be3d188f4.jpg) +Figure 13: Effect of width and depth on barrier similarity between real world and our model before permutation. Search space is reduced here i.e., we take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . Similarity of loss barrier between real world and our model is preserved across model type and dataset choices as width and depth of the models are increased. + +# A.4 SIMULATED ANNEALING + +We use Simanneal4 as python module for simulated annealing. The process involves: + +• Randomly move or alter the state (generate a permutation) +• Assess the energy of the new state (permuted model) using the objective function (Linear Mode Connectivity based on Equation 1) +• Compare the energy to the previous state and decide whether to accept the new solution or reject it based on the current temperature. + +For a move to be accepted, it must meet one of two requirements: + +• The move causes a decrease in state energy (i.e. an improvement in the objective function) • The move increases the state energy (i.e. a slightly worse solution) but is within the bounds of the temperature. + +Temperature. In each step, the generated permutation is chosen with the probability of $P =$ $e ^ { \frac { - c o s t } { t e m p e r a t u r e } }$ , where cost is the barrier at $\begin{array} { r } { \alpha = \frac { 1 } { 2 } } \end{array}$ . In the first steps, as the temperature is high, there is a high probability that the worse neighbor is also selected. The neighbor is another permutation that if applied, differs slightly in the order of the neurons/channels. As we move forward the temperature decreases with $\ T = e ^ { e ^ { - \frac { - T m a x \times s t e p s } { T m i n \times s t e p s } } }$ and we stick to permutations that improve the barrier. + +Scaling the computation for SA. In an experiment, we scale number of steps in simulated annealing to investigate the effect of this hyper-parameter. If the barrier continues to decrease as the amount of computation increases and does not plateau, then this would suggest that with enough computation, the barrier found by simulated annealing could eventually go to zero. Figure 14 shows that increasing number of steps exponentially, helps SA to find better solutions. Table 3 shows that as the number of steps increases $( 1 0 \times )$ , $\Delta$ moves towards 2 i.e., $50 \%$ reduction in barrier ( $\Delta > 0$ means barrier does not plateau) . Running SA for 50K steps takes 10K seconds on an n1-standard-8 GCP machine (8 vCPU, 30 GB RAM) with $1 \mathrm { x V } 1 0 0$ GPU. Due to limited computational resources, we set number of the steps to 50K. + +![](images/278731906a1d267c92379c2612a58b43f7807369f3008685e61948582fb4eae9.jpg) +Figure 14: Scaling cost for Simulated Annealing. Increasing number of steps exponentially, helps SA to find better solutions. As the amount of computation increases the barrier continues to decrease. + +Table 2: Scaling cost for Simulated Annealing As the amount of computation increases the barrier continues to decrease. As the number of steps increases, $\Delta$ increases toward 2 and does not plateau. + +
width=16width=32width=64
stepsbarrier△barrierstepsbarrier△barrierstepsbarrier△barrier
100.470=100.430-100.2711
1000.3311.42×11000.3021.43×1000.2021.35×
1K0.1901.73×1K0.1751.71×1K0.1211.41×
10K0.1051.80×10K0.9951.75×10K0.0851.71×
50K0.0551.90×50K0.0551.80×50K0.0481.77×
+ +1 $\begin{array} { r } { \Delta = { \frac { 0 . 4 7 0 } { 0 . 3 3 1 } } = 1 . 4 2 } \end{array}$ + +The following code runs simulated annealing to find the best permutation in Section 4.1 + +
// Simulated Annealing from simanneal import Annealer def barrier_SA(arch,model,sd1,sd2,w2,init_state,tmax,tmin,steps,train_inputs,
deftrain_targets,train_avg_org_models,nchannels,nclasses,nunits):
class BarrierCalculationProblem(Annealer): """anealer with a travelling salesman problem. 11 11 11
__init__(self,state): super(BarrierCalculationProblem,self).__init__(state)# important!
def move(self):
"""Swaps two cities in the route."""
initial_energy = self.energy()
for j in range(5):
fori in range(len(self.state[j])): X = self.state[j][i] a = random.randint(O,len(x)- 1)
b = random.randint(o,len(x)- 1)
self.state[j][i][a],self.state[j][i][b]=self.state[j][i][b],
self.state[j][i][a]
return self.energy()- initial_energy
def energy(self):
"""Calculates the cost for proposed permutation.""
permuted_models = []
for i in range(5):
permuted_models.append(permute(arch,model,self.state[i],sd2[i],w2[i],
nchannels,nclasses,nunits))
#### form one model which is the average of 5 permuted models
permuted_avg = copy.deepcopy(model)
new_params = OrderedDict()
for key in sd2[O].keys():
param = 0
fori in range(len(permuted_models)):
param = param + permuted_models[i][key]
new_params[key]= param /len(permuted_models)
permuted_avg.load_state_dict(new_params)
eval_train = evaluate_model(permuted_avg,train_inputs,train_targets)['top1'
cost = 1 - eval_train
return cost
+ +# B IMPROVE SEARCH ALGORITHM + +In the main text we use simulated annealing (SA) to find the winning permutation $\pi$ . Figure 6 shows that SA is only able to reduce the barrier, and reducing search space $\left( \mathrm { n } = 2 \right)$ ) helps in finding better permutations. However, a critical question still remains: Is there an algorithm that finds better permutations? + +He et al. (2018) proposed an algorithms that merges correlated, pre-trained deep neural networks for cross-model compression. Their objective is to zip two neural networks, optimized for two different tasks, into one network. The ultimate network does both tasks without losing too much accuracy on each task. Their algorithm is based on layer-wise neuron sharing, which uses f(weights, post activations) to find which neurons could be zipped together. They define the similarity (or equivalently difference) of two neurons as below (Eq. 12 in the original paper): + +$$ +\delta _ { n _ { A } , n _ { B } } = \frac { 1 } { 2 } ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } ) . ( ( H _ { l , i } ^ { A } ) ^ { - 1 } + ( H _ { l , i } ^ { B } ) ^ { - 1 } ) ^ { - 1 } . ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } ) +$$ + +We also used their "functional difference" as a measure for neuron matching between two randomly initialized trained networks. They used post activation as an approximation for Hessian matrices. Calculating the difference between each pair of neurons based on Equation 2, gives an $m \times m$ matrix (m is width of the network). In the second step, neurons with minimum distance are matched together in a greedy way i.e., if $n _ { i , A }$ and $n _ { j , B }$ have the minimum distance, row $i$ and column $j$ is removed from the distance matrix. Figure 15 shows that using functional difference, the barrier could be improved. + +![](images/f94f98c5a4042b025956dbf1cfd7f75bc63cf72eb70d49433a556e5ff578b706.jpg) +Figure 15: Performance of Functional Difference compared to Simulated Annealing. Functional Difference could indeed find better permutations, improving the barrier size between two solutions. + +# C MAKING ENSEMBLES + +As stated before, our conjecture has implications for ensemble methods. If two solutions lie at the periphery of a wide and flat low loss region (a basin where models are linearly connected to each other), then ensembling them in their weight space (averaging), creates a model tending to the center of the region, which leads to performance improvement. However, Simulated Annealing could not find the optimal permutations for all cases. Section B shows that using matching algorithms like functional difference could help to find better permutations. Motivated to create ensembles, Wortsman et al. (2021) start with two (or more) random initializations and learn a subspace (a line or simplex) connecting them. Throughout training they sample one (or more) points on this line and add the loss at this point to the loss of training. In order to enforce diversity in function space, they also add a regularization term as cosine similarity of two endpoints of the line. However as they enforce two models to be in a line, the functional diversity of the final ensemble is limited compare to our methods. Here we combine their method with functional difference to make best of both worlds. + +In this experiment, we train two randomly initialized networks separately, and then use functional difference to decrease the barrier between final solutions. Then we use learning subspace method to make them in one basin. Our results on MLP with one hidden layer and width of 1024 neurons on MNIST and CIFAR10 shows that this method outperforms the others. + +
ArchitectureWidthDatasetFD1SL²FD + SL
MLP1024MNIST96.8597.6398.22
MLP1024CIFAR1052.9557.8958.94
+ +1 Functional Difference (He et al., 2018) 2 Subspace Learning (Wortsman et al., 2021) + +Table 3: Performance comparison of ensemble methods. While functional difference (He et al., 2018) gives better permutations compared to simulated annealing, Subspace Learning (Wortsman et al., 2021) enforces two solutions into one basin from scratch. We combine the best of two worlds in $\mathrm { F D } + \mathrm { S L }$ to guarantee functional diversity of learned solutions and also make them in one basin. + +# D PROOF OF THEOREM 3.1 + +We first recap Theorem 3.1 below for convenience and then provide the proof + +Theorem D.1 (3.1). Let $h$ be the number of hidden units, d be the input size. Let the function $f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) = \mathbf { v } ^ { \top } \boldsymbol { \sigma } ( \mathbf { U } \mathbf { x } )$ where $\sigma ( \cdot )$ is ReLU activation, $\mathbf { v } \in \mathbb { R } ^ { h }$ and $\dot { \textbf { U } } \in \mathbb { R } ^ { h \times d }$ are parameters and $\mathbf { x } \in \mathbb { R } ^ { d }$ is the input. We show that if each element of √ $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ is sampled uniformly from√ √ $[ - 1 / \sqrt { d } , 1 / \sqrt { d } ]$ and each element of v and √ $\mathbf { v } ^ { \prime }$ is sampled uniformly from $[ - 1 / \sqrt { h } , 1 / \sqrt { h } ]$ , then for any $\mathbf { x } \in \mathbb { R } ^ { d }$ such that $\| \mathbf { x } \| _ { 2 } = { \sqrt { d } } ,$ , with probability $1 - \delta$ over U, $\mathbf { U } ^ { \prime } , \mathbf { v } , \mathbf { v } ^ { \prime }$ , there exist a permutation such that + +$$ +\begin{array} { r } { \bigg | f _ { \alpha \mathbf { v } + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } , \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } } ( \mathbf { x } ) - \alpha f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) - ( 1 - \alpha ) f _ { \mathbf { v } ^ { \prime } , \mathbf { U } ^ { \prime } } ( \mathbf { x } ) \bigg | = \tilde { O } ( h ^ { - \frac { 1 } { 2 d + 4 } } ) } \end{array} +$$ + +where $\mathbf { v } ^ { \prime \prime }$ and $\mathbf { U } ^ { \prime \prime }$ are permuted versions of $\mathbf { v } ^ { \prime }$ and $\mathbf { U } ^ { \prime }$ . + +Proof. For any given $\xi > 0$ , we consider the set $S _ { \xi } = \{ - 1 / \sqrt { d } + \xi , - 1 / \sqrt { d } + 3 \xi , \ldots , 1 / \sqrt { d } - \xi \} ^ { d }$ which has size $\displaystyle ( \frac { 1 } { \xi \sqrt { d } } ) ^ { d }$ 5. For any $s \in S _ { \xi }$ , let $C _ { s } ( \mathbf { U } )$ be the set of indices of rows of $\mathbf { U }$ that are closest in Euclidean distance to $s$ than any other element in $S _ { \xi }$ : + +$$ +C _ { s } ( \mathbf { U } ) = \{ i | s = \underset { s ^ { \prime } \in S _ { \xi } } { \arg \operatorname* { m i n } } \big \| \mathbf { u } _ { i } - s ^ { \prime } \big \| _ { \infty } \} +$$ + +where for simplicity we assume that arg min returns a single element. We next use the function $C _ { s }$ to specify a permutation that allows each row in $\mathbf { U } ^ { \prime }$ to be close to its corresponding row in $\mathbf { U }$ . For every $s \in S _ { \xi }$ , we consider a random matching of elements in $C _ { s } ( \mathbf { U } )$ and $C _ { s } ( { \bf \bar { U } } ^ { \prime } )$ and when the sizes don’t match, add the extra items in $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ to the sets $I$ and $I ^ { \prime }$ accordingly to deal with them later. + +Since each element of $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ is sampled uniformly from $[ - 1 / \sqrt { d } , 1 / \sqrt { d } ]$ , for each row in $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ , the probability of being assigned to each $s \in S _ { \xi }$ is a multinomial distribution with equal probability for each $s$ . Given any $s \in S _ { \xi }$ , we can use Hoeffding’s inequality to bound the size of $| C _ { s } ( \mathbf { U } ) |$ with high probability. For any $t \geq 0$ : + +$$ +P \left( | | C _ { s } ( \mathbf { U } ) | - ( h / | S _ { \xi } | ) | \geq t \right) \leq - 2 \exp ( - 2 t ^ { 2 } / h ) +$$ + +By union bound over all rows of $\mathbf { U }$ and $\mathbf { U } ^ { \prime }$ , with probability $1 - \delta / 3$ , we have that for every $s \in S _ { \xi }$ + +$$ +\frac { h } { | S _ { \xi } | } - \sqrt { \frac { h } { 2 } \log ( 1 2 | S _ { \xi } | / \delta ) } \le | C _ { s } ( \mathbf { U } ) | , | C _ { s } ( \mathbf { U } ^ { \prime } ) | \le \frac { h } { | S _ { \xi } | } + \sqrt { \frac { h } { 2 } \log ( 1 2 | S _ { \xi } | / \delta ) } +$$ + +Consider $I$ and $I ^ { \prime }$ which are the sets of indices that we throw out during the index assignment because of the size mismatch. Then, based on above inequality, we have that with probability $1 - \delta / 3$ , + +$$ +| I | = | I ^ { \prime } | = \frac { 1 } { 2 } \sum _ { s \in S _ { \xi } } \big | | C _ { s } ( \mathbf { U } ) | - | C _ { s } ( \mathbf { U } ^ { \prime } ) | \big | \leq | S _ { \xi } | \sqrt { \frac { h } { 2 } \log ( 1 2 | S _ { \xi } | / \delta ) } +$$ + +We next randomly match the indices in $I$ and $I$ . Let $\mathbf { U } ^ { \prime \prime }$ be the matrix after applying the permutation to $\mathbf { U } ^ { \prime }$ that corresponds to above matching of rows of $\mathbf { U } ^ { \prime }$ to their corresponding row in $\mathbf { U }$ . Note that for any $i \in [ h ] \setminus I$ , we have that $\| \mathbf { u } _ { i } - \mathbf { u } _ { i } ^ { \prime \prime } \| _ { \infty . } \leq 2 \xi$ and for $i \in I$ , we have $\left\| \mathbf { u } _ { i } - \mathbf { u } _ { i } ^ { \prime \prime } \right\| _ { \infty } \leq 2 / \sqrt { d }$ . We next upper bound the left hand side of the inequality in the theorem statement: + +$$ +\begin{array} { r l } & { f _ { \alpha \mathbf { v } + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } , \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } } ( \mathbf { x } ) - \alpha f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) - ( 1 - \alpha ) f _ { \mathbf { v } ^ { \prime } , \mathbf { U } ^ { \prime } } ( \mathbf { x } ) \Big | } \\ & { = \Big | ( \alpha \mathbf { v } + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } ) ^ { \top } \boldsymbol \sigma \big ( ( \alpha \mathbf { U } ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \big ) - \alpha \mathbf { v } ^ { \top } \boldsymbol \sigma ( \mathbf { U } \mathbf { x } ) - ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } ^ { \top } \boldsymbol \sigma \big ( \mathbf { U } ^ { \prime \prime } \mathbf { x } \big ) \Big | } \\ & { = \Big | \alpha \mathbf { v } ^ { \top } \big [ \boldsymbol \sigma \big ( ( \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \big ) - \boldsymbol \sigma ( \mathbf { U } \mathbf { x } ) \big ] + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } ^ { \top } \big [ \sigma \big ( ( \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \big ) - \sigma \big ( \mathbf { U } ^ { \prime \prime } \mathbf { x } \big ) \big ] } \\ & { \leq \Big | \alpha \mathbf { v } ^ { \top } \big [ \boldsymbol \sigma \big ( ( \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \big ) - \boldsymbol \sigma ( \mathbf { U } \mathbf { x } ) \big ] \Big | } \\ & { + \Big | ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } ^ { \top } \big [ \sigma \big ( ( \alpha \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \big ) - \sigma \big ( \mathbf { U } ^ { \prime \prime } \mathbf { x } \big ) \big ] \Big | } \end{array} +$$ + +Since each element of $\mathbf { v }$ is sampled uniformly from $[ - 1 / \sqrt { h } , 1 / \sqrt { h } ]$ , for any $\mathbf { r } \in \mathbb { R } ^ { h }$ we have that $\mathbb { E } [ \mathbf { v } ^ { \top } \mathbf { r } ] = 0$ and by Hoeffding’s inequality, + +$$ +P \left( \left| \mathbf { v } ^ { \top } \mathbf { r } \right| \geq t \right) \leq 2 \exp \left( { \frac { - h t ^ { 2 } } { 2 \left\| \mathbf { r } \right\| _ { 2 } ^ { 2 } } } \right) +$$ + +Using the above argument, with probability $1 - \delta / 3$ , we can bound the right hand side of inequality (7) as follows: + +$$ +\begin{array} { r l } & { \alpha \mathbf { x } ^ { \mathrm { w } } | ^ { T } ( \alpha ( \mathbf { u } + \alpha ) \mathbf { u } ^ { \mathrm { w } } ) \mathbf { x } ^ { \mathrm { w } } - \alpha ( \mathbf { I } \mathbf { x } ) \mathbf { u } ^ { \mathrm { w } } | } \\ & { = \Big | ( 1 - \alpha ) \mathbf { w } ^ { \mathrm { w } } \mathbf { F } ^ { \mathrm { w } } \mathbf { f } [ \alpha ( \mathbf { u } + ( 1 - \alpha ) \mathbf { U } ^ { \mathrm { w } } ) \mathbf { x } - \sigma ( \mathbf { I } \mathbf { w } ^ { \mathrm { w } } ) ] } \\ & { \qquad \quad - \alpha \mathbf { y } ^ { \mathrm { i } } \frac { \partial ^ { T } \log ( 1 / T \delta ) } { \partial t } \Big | \alpha ( \mathbf { f } ( \mathbf { u } \mathbf { u } + ( 1 - \alpha ) \mathbf { u } ^ { \mathrm { w } } ) \mathbf { x } ) - \sigma ( \mathbf { u } \mathbf { x } ) \mathbf { u } \Big | } \\ & { \qquad \quad - ( 1 - \alpha ) \sqrt { \frac { 2 \log ( 1 / T \delta ) } { \delta } } \Big \| \alpha ( \mathbf { f } ( \mathbf { u } \mathbf { u } + ( 1 - \alpha ) \mathbf { u } ^ { \mathrm { w } } ) \mathbf { x } ) - \sigma ( \mathbf { u } \mathbf { x } ) \mathbf { u } ^ { \mathrm { w } } \Big \| _ { 2 } } \\ & { = \alpha \sqrt { \frac { \sigma } { \delta } \frac { \log ( 1 / T \delta ) } { \delta } } \Big \| \alpha ( \mathbf { f } ( \mathbf { u } \mathbf { u } + ( 1 - \alpha ) \mathbf { U } ^ { \mathrm { w } } ) \mathbf { x } ) - \sigma ( \mathbf { u } ^ { \mathrm { w } } \mathbf { x } ) \mathbf { x } \Big \| _ { 2 } } \\ & { \qquad \quad \leq \alpha \sqrt { \frac { \sigma } { \delta } \mathbf { u } ^ { \mathrm { w } } \mathbf { f } [ \alpha ( \mathbf { u } ^ { \mathrm { w } } ) \mathbf { x } ] } \left\| \alpha ( 1 - \alpha ) \mathbf { U } ^ { \mathrm { w } } \mathbf { x } - \mathbf { I } \mathbf { x } \right\| _ { 2 } } \\ & { \qquad \quad - ( 1 - \alpha ) \sqrt { \frac { T \log ( 1 / T \delta ) } { \delta } } \Big \| \alpha ( \mathbf { x } + ( 1 - \alpha ) \mathbf { u } ^ { \mathrm { w } } ) \mathbf { x } - \mathbf { I } \mathbf { y } \mathbf { x } \Big \| _ { 2 } } \\ & = \alpha \sqrt \end{array} +$$ + +where the inequality 10 is due to Lipschitz property of ReLU activations. Now, all we need to do is to bound $\lVert ( \mathbf { U } ^ { \star } - \mathbf { U } ^ { \star } ) \mathbf { x } \rVert _ { 2 }$ . Note that for any $( i , j ) \in [ h ] \times [ d ] , u _ { i j } - u _ { i j } ^ { \prime \prime }$ is an independent random variable with mean zero and bounded magnitude $( 2 / { \sqrt { d } }$ if $i \in I$ and $2 \xi$ otherwise). Therefore, we can again use the Hoffding’s inequality similar to inequality (8) for each row $i$ and after taking a union bound, we have the following inequality with probability $1 - \delta / 3$ , + +$$ +\begin{array} { l } { \displaystyle \left\| ( \mathbf { U } - \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \right\| _ { 2 } = \sqrt { \displaystyle \sum _ { i \in I } ( \mathbf { u } _ { i } - \mathbf { u } _ { i } ^ { \prime \prime } ) \mathbf { x } + \displaystyle \sum _ { i \in [ h ] \setminus I } ( \mathbf { u } _ { i } - \mathbf { u } _ { i } ^ { \prime \prime } ) \mathbf { x } } } \\ { \displaystyle \qquad \leq \| x \| _ { 2 } \sqrt { | I | \frac { 4 \log ( 1 2 h / \delta ) } { d } + ( h - | I | ) ( 4 \xi ^ { 2 } \log ( 1 2 h / \delta ) } } \\ { \displaystyle \qquad \leq 2 \sqrt { \log ( 1 2 h / \delta ) \left( | I | + \xi ^ { 2 } d h \right) } } \end{array} +$$ + +Where the last inequality is using $\| \mathbf { x } \| _ { 2 } = { \sqrt { d } }$ . Substituting the above inequality into the right hand side of the inequality (11), gives us the following upper bound on the left hand side of the inequality in the theorem statement: + +$$ +\begin{array} { r l } & { \left| f _ { \alpha \mathbf { v } + ( 1 - \alpha ) \mathbf { v } ^ { \prime \prime } , \mathbf { u } , \mathbf { U } + ( 1 - \alpha ) \mathbf { U } ^ { \prime \prime } } ( \mathbf { x } ) - \alpha f _ { \mathbf { v } , \mathbf { U } } ( \mathbf { x } ) - ( 1 - \alpha ) f _ { \mathbf { v } ^ { \prime } , \mathbf { U } ^ { \prime } } ( \mathbf { x } ) \right| } \\ & { \leq \sqrt { \frac { \log \left( 1 2 / \delta \right) } { 2 h } } \| ( \mathbf { U } - \mathbf { U } ^ { \prime \prime } ) \mathbf { x } \| _ { 2 } } \\ & { \leq \sqrt { 2 \log \left( 1 2 / \delta \right) \log ( 1 2 h / \delta ) \left( \frac { | I | } { h } + \xi ^ { 2 } d \right) } } \end{array} +$$ + +Setting $\xi = \epsilon / \sqrt { 4 d \log ( 1 2 / \delta ) \log ( 1 2 h / \delta ) }$ , gives the following bound on $h$ : + +$$ +\begin{array} { r l } & { h \leq \frac { 4 \log ( 1 2 / \delta ) \log ( 1 2 h / \delta ) \vert I \vert } { \epsilon ^ { 2 } } } \\ & { \leq \frac { 4 \log ( 1 2 / \delta ) \log ( 1 2 h / \delta ) \vert S _ { \xi } \vert \sqrt { \frac { h } { 2 } \log ( 1 2 \vert S _ { \xi } \vert / \delta ) } } { \epsilon ^ { 2 } } } \end{array} +$$ + +Therefore, we have: + +$$ +\begin{array} { r l } & { h \leq \left( \frac { 4 \log \left( 1 2 / \delta \right) \log \left( 1 2 h / \delta \right) \vert S _ { \xi } \vert \sqrt { \log \left( 1 2 \vert S _ { \xi } \vert / \delta \right) } } { \epsilon ^ { 2 } } \right) ^ { 2 } } \\ & { \quad \leq \left( \frac { 4 \log \left( 1 2 / \delta \right) \log \left( 1 2 h / \delta \right) } { \epsilon ^ { 2 } } \right) ^ { d + 2 } \left( \log ( 1 2 / \delta ) + d \log ( 1 / \epsilon ) \right) } \end{array} +$$ + +Using the above inequality, we have $\epsilon = \tilde { O } ( h ^ { - \frac { 1 } { 2 d + 4 } } )$ + +# E ADDITIONAL PLOTS + +# E.1 BARRIER BEHAVIOR UNDER NOISY LABELS + +Related works (Zhang et al., 2017) show that neural nets can memorize random labels. In this section we want to see whether the barrier changes if one starts to inject random labels into the training dataset. Our results over 5 different runs show that the barrier size behavior does not change, however including higher level of noise in labels lead to small increase in barrier size. + +![](images/c6051d2d73c7415a118687dbe90d752c8249eca8832a4abde60b6a8387223a9f.jpg) +Figure 16: Effect of label noise on barrier size. Left: Train and Test Loss under different label noise. Middle: Train and Test Error under different label noise. Right: Train barrier (accuracy) under different label noise. Our results over 5 different runs show that the barrier size behavior does not change, however including higher level of noise in labels lead to small increase in barrier size. + +# E.2 BARRIER: VGG AND RESNET + +Figure 17 shows the barrier similarity for VGG and ResNet families between real world and our model. The left two panels shows the effect of width, while the right two panels illustrate the depth. As discussed in section 2, the barrier for VGGs and ResNets, for both real world and our model, is saturated at a high value and does not change. + +![](images/76c80df22fb5de0c11f13e44b69e3806797b1d928aa64e9161ddc44abb5d2e27.jpg) +Figure 17: Effect of width and depth on barrier similarity between real world and our model before permutation: VGG and ResNet families. The left two panels shows the effect of width, while the right two panels illustrate the depth. As discussed in section 2, the barrier for VGGs and ResNets, for both real world and our model, is saturated at a high value and does not change. + +# E.3 SMALL NETWORKS + +We consider MLPs with the same architecture starting from 100 different initializations and trained on the MNIST dataset. For each pair of the networks we calculate their loss barrier and plot the histogram on the values. Next for each pair of the networks, we find the permutation that minimizes the barrier between them and plot the histogram for all the pairs. We do this investigation for different network sizes. The results are shown in Figure 18 top row. Note that since we consider all possible pairs, the observed barrier values are not i.i.d. If instead we randomly divide the 100 trained networks into two sets and choose pairs that are made by picking one network from each set, we will have an i.i.d sampling strategy. We investigate the pairs of networks trained on MNIST and measure the value of the direct and indirect barriers between them. Indirect barrier between two networks A, C is minimum over all possible intermediate points $\mathbf { B }$ of maximum of barrier between A, B and barrier between B, C, i.e., + +$$ +\operatorname* { m i n } _ { B ! = A , B ! = C } \operatorname* { m a x } ( B ( \theta _ { A } , \theta _ { B } ) , B ( \theta _ { B } , \theta _ { C } ) ) . +$$ + +The reason we look into this value is that if maximum between two barriers is small, it means that both barriers are small and therefore there exist an indirect path between A and C. + +# E.4 LOSS BARRIERS ON THE TEST SET + +Width. We evaluate the impact of width on the test barrier size in Figure 19. In comparison to Figure 2 the magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy. This effect is intensified for harder tasks such as CIFAR100. The double descent phenomena is also observed here, especially for simpler tasks, e.g., MNIST and SVHN. + +![](images/d1611c87607551c8e953e8a6812aaac2a0d6fd2a4ed29a025f70cde81dcab638.jpg) +Figure 18: Histogram of barrier values between pairs of 100 networks with the same architecture trained on MNIST starting from different initializations. We find a permutation for each pair that minimizes the barrier. This is done for two layer MLPs and repeated for networks of different sizes. Bottom row: Indirect barrier between two networks A,C is minmimum over all possible intermediate points B of maximum of barrier between A, B and barrier between B, C. Left: before the permutation; Right: after the permutation. + +![](images/ace3de8aaed4561d00d2b0415e1224818ee713604c214b648ae76e7ee7f63f8f.jpg) +Figure 19: Effect of width on barrier size (Test). From left to right: one-layer MLP, two-layer Shallow-CNN, VGG-16, and ResNet-18 architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. When the task is hard (CIFAR10, CIFAR100) the test barrier shrinks. For simpler tasks and large width sizes also the barrier becomes small. + +Depth. We evaluate the impact of depth on the test barrier size in Figure 20. For MLPs, we fixed the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\mathbf { X }$ -axis. Similar to Figure 3 we observe a fast and significant barrier increase as more layers are added. In comparison to Figure 3 the magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy. + +# E.5 SIMILARITY OF $s$ AND $S ^ { \prime }$ ON THE TEST SET + +We note SA success on test barrier removal by comparing Figure 21 and Figure 22. SA performance on $s$ and $S ^ { \prime }$ yields similar results for both before and after permutation scenarios. Such similar performance is observed along a wide range of width and depth for both MLP and Shallow-CNN over different datasets(MNIST, SVHN, CIFAR10, CIFAR100). We look into effects of changing model size in terms of width and depth as in earlier Sections, and note that similar trends hold for before and after permuting solution $\theta _ { 1 }$ . + +![](images/3e9bb4d2a48aa03e947d74096c6cecf84149aec587e830fb819e4162616b309f.jpg) +Figure 20: Effect of depth on barrier size (Test). From left to right MLP, Shallow-CNN, VGG(11,13,16,18), and ResNet(18,34,50) architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and ShallowCNN, we fixed the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\mathbf { X }$ -axis. Similar behavior is observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values until it saturates (as seen for ResNet). + +![](images/7621055b4b85b2b4c8b2339effbb4eb8b91e4f9649e53eac4b8a644d826f9f17.jpg) +Figure 21: Effect of width and depth on barrier consistency between real world and our model before permutation (Test). Search space is reduced here i.e., we take two SGD solutions $\theta _ { 1 }$ and $\theta _ { 2 }$ , permute $\theta _ { 1 }$ and report the barrier between permuted $\theta _ { 1 }$ and $\theta _ { 2 }$ as found by SA with $n = 2$ . Similarity of loss barrier between real world and our model is preserved across model type and dataset choices as width and depth of the models are increased. + +![](images/62eb99a26715e0900f520743940d49a8e6a1172c19a386a637384051aa2ecfa2.jpg) +Figure 22: Effect of width and depth on barrier consistency between real world and our model after permutation (Test). We observe that reducing the search space makes SA more successful in finding the permutation $\{ \pi \}$ to remove the barriers. Specifically, SA could indeed find permutations across different networks and datasets that when applied to $\theta _ { 1 }$ result in almost zero test barrier e.g., MLP across MNIST dataset where depth is 1 and width is larger than $2 ^ { 6 }$ , MLP for MNIST where depth is 2 and 4, and width is $2 ^ { 1 0 }$ , Shallow-CNN for MNIST where depth is 2, Shallow-CNN for SVHN where depth is 2 and width is $2 ^ { 1 0 }$ . \ No newline at end of file diff --git a/parse/dev/dNigytemkL/dNigytemkL_content_list.json b/parse/dev/dNigytemkL/dNigytemkL_content_list.json new file mode 100644 index 0000000000000000000000000000000000000000..a12b80b94bf4e5f639cb9fa32aca3682d6b41125 --- /dev/null +++ b/parse/dev/dNigytemkL/dNigytemkL_content_list.json @@ -0,0 +1,2531 @@ +[ + { + "type": "text", + "text": "The Role of Permutation Invariance in Linear Mode Connectivity of Neural Networks ", + "text_level": 1, + "bbox": [ + 176, + 98, + 823, + 147 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Rahim Entezari1, Hanie Seghi2, Olga Saukh1, and Behnam Neyshabur3 ", + "bbox": [ + 263, + 179, + 730, + 195 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1TU Graz / CSH Vienna, 2Google Research, Brain Team, 3Google Research, Blueshift Team ", + "bbox": [ + 197, + 205, + 800, + 222 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "ABSTRACT ", + "bbox": [ + 454, + 226, + 544, + 239 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "In this paper, we conjecture that if the permutation invariance of neural networks is taken into account, SGD solutions will likely have no barrier in the linear interpolation between them. Although it is a bold conjecture, we show how extensive empirical attempts fall short of refuting it. We further provide a preliminary theoretical result to support our conjecture. Our conjecture has implications for lottery ticket hypothesis, distributed training and ensemble methods. The source code is available at https://github.com/rahimentezari/PermutationInvariance. ", + "bbox": [ + 233, + 258, + 766, + 356 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1 INTRODUCTION ", + "text_level": 1, + "bbox": [ + 176, + 368, + 336, + 383 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Understanding the loss landscape of deep neural networks has been the subject of many studies due to its close connections to optimization and generalization (Li et al., 2017; Mei et al., 2018; Geiger et al., 2019; Nguyen et al., 2018; Fort et al., 2019; Baldassi et al., 2020). Empirical observations suggest that loss landscape of deep networks has many minima (Keskar et al., 2017; Draxler et al., 2018; Zhang et al., 2017). One reason behind the abundance of minima is over-parametrization. Over-parametrized networks have enough capacity to present different functions that behave similarly on the training data but vastly different on other inputs (Neyshabur et al., 2017; Nguyen et al., 2018; Li et al., 2018; Liu et al., 2020). Another contributing factor is the existence of scale and permutation invariances which allows the same function to be represented with many different parameter values of the same network and imposes a counter-intuitive geometry on the loss landscape (Neyshabur et al., 2015; Brea et al., 2019a). ", + "bbox": [ + 174, + 401, + 826, + 554 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Previous work study the relationship between different minima found by SGD and establish that they are connected by a path of non-increasing loss; however, they are not connected by a linear path (Freeman & Bruna, 2016; Draxler et al., 2018; Garipov et al., 2018). This phenomenon is often referred to as mode connectivity (Garipov et al., 2018) and the loss increase on the path between two solutions is often referred to as (energy) barrier (Draxler et al., 2018). Understanding linear mode connectivity (LMC) is highly motivated by several direct conceptual and practical implications from pruning and sparse training to distributed optimization and ensemble methods. ", + "bbox": [ + 174, + 560, + 825, + 659 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "The relationship between LMC and pruning was established by Frankle et al. (2020) where they showed the correspondence between LMC and the well-known lottery ticket hypothesis (LTH) (Frankle & Carbin, 2019). In short, LTH conjectures that neural networks contain sparse subnetworks that can be trained in isolation, from initialization, or early in training to achieve comparable test accuracy. Frankle et al. (2020) showed that solutions that are linearly connected with no barrier have the same lottery ticket. They further discuss how linear-connectivity is associated with stability of SGD. This view suggests that SGD solutions that are linearly connected with no barrier can be thought of as being in the same basin of the loss landscape and once SGD converges to a basin, it shows a stable behavior inside the basin1. Because of the direct correspondence between LMC and LTH, any understanding of LMC, has implications for LTH, stability of SGD and pruning techniques. ", + "bbox": [ + 174, + 665, + 825, + 804 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Linear mode connectivity has also direct implications for ensemble methods and distributed training. Ensemble methods highly depend on an understanding of the loss landscape and being able to sample from solutions. Better understanding of mode connectivity has been shown to be essential in devising better ensemble methods (Garipov et al., 2018). Linear mode connectivity between solutions or checkpoints also allows for weight averaging techniques for distributed optimization to be used as effectively in deep learning as convex optimization (Scaman et al., 2019). ", + "bbox": [ + 174, + 810, + 825, + 895 + ], + "page_idx": 0 + }, + { + "type": "image", + "img_path": "images/bd39910b9bbb3c320e78441a0a0cde113638c5b22f4b22aaff247f0d15b7a77a.jpg", + "image_caption": [ + "Figure 1: Linear mode connectivity when using permutation invariance. Left: Schematic picture of four minima $A , B , C , D$ in different basins with an energy barrier between each pair. However, our conjecture suggests that permuting hidden units of $B$ , $C$ and $D$ would result in $B ^ { \\prime }$ , $C ^ { \\prime }$ and $\\bar { D } ^ { \\prime }$ which present the exact same function as before permutation while having no barrier on their linear interpolation with $A$ . Middle: Our model for barriers in real world SGD solutions. In real world we train networks by running SGD with different random seeds starting from different initializations. In our model, different final networks are achieved by applying random permutations to the same SGD solution (or equivalently, applying random permutations to the same initialization and then running SGD with the same seed on them). Right: Aggregation of our extensive empirical evidence (more than 3000 trained networks) in one density plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. Points in the lower left mostly correspond to lowest barrier found after searching in the space of valid permutations using a Simulated Annealing (SA). For a detailed view on architectures and datasets see Figure 10 in Appendix A.3. " + ], + "image_footnote": [], + "bbox": [ + 191, + 77, + 802, + 207 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "In this paper, we conjecture that by taking permutation invariance into account, the loss landscape can be simplified significantly resulting in linear mode connectivity between SGD solutions. We investigate this conjecture both theoretically and empirically through extensive experiments. We show how our attempts fall short of refuting this hypothesis and end up as supporting evidence for it (see Figure 1). We believe our conjecture sheds light into the structure of loss landscape and could lead to practical implications for the aforementioned areas. ", + "bbox": [ + 174, + 387, + 825, + 469 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Contributions. This paper makes the following contributions: ", + "bbox": [ + 174, + 477, + 581, + 492 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "• We study linear mode connectivity (LMC) between solutions trained from different initializations and investigate how it is affected by choices such as width, depth and task difficulty for fully connected and convolutional networks ( Section 2). \n• We introduce our main conjecture in Section 3: If invariances are taken into account, there will likely be no barrier on the linear interpolation of SGD solutions (see the left panel of Figure 1). \n• By investigating the conjecture theoretically, we prove that it holds for a wide enough fully-connected network with one hidden layer at random initialization ( Section 3). \n• In Section 4, we provide strong empirical evidence in support of our conjecture. To overcome the computational challenge of directly evaluating the hypothesis empirically, which requires searching in the space of all possible permutations, we propose an alternative approach. We consider a set of solutions corresponding to random permutations of a single fixed SGD solution (our model) and show several empirical evidences suggesting our model is a good approximation for all SGD solutions(real world) with different random seeds (see the middle and right panel of Figure 1). ", + "bbox": [ + 217, + 503, + 826, + 729 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Further related work. Permutation symmetry of neurons in every layer results in multiple equivalent minima connected via saddle points. Few studies investigate the role of these symmetries in the context of connectivity of different basins. Given a network with $\\mathrm { L }$ layers of minimal widths $r _ { 1 } ^ { * } , . . . , r _ { L - 1 } ^ { * }$ that reaches zero-loss minima at $r _ { 1 } ! , . . . , r _ { L - 1 } !$ isolated points (permutations of one another), ¸Sim¸sek et al. (2021) showed that adding one extra neuron to each layer is sufficient to connect all these previously discrete minima into a single manifold. Fukumizu & Amari (2000) prove that a point corresponding to the global minimum of a smaller model can be a local minimum or a saddle point of the larger model. Brea et al. (2019b) find smooth paths between equivalent global minima that lead through a permutation point, i.e., where the input and output weight vectors of two neurons in the same hidden layer interchange. They describe a method to permute all neuron indices in the same layer at the same cost. Singh & Jaggi (2020) proposed a layer-wise model fusion algorithm for making ensembles. Their method utilizes optimal transport for aligning neurons across the models trained from different initializations. Tatro et al. (2020) showed that aligning the neurons in two different neural networks makes it easier to find second order curves between them in the loss landscape where barriers are absent. ", + "bbox": [ + 173, + 743, + 825, + 922 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 103, + 823, + 132 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "2 LOSS BARRIERS ", + "text_level": 1, + "bbox": [ + 176, + 152, + 341, + 169 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "In this section, we first give a formal definition for linear mode connectivity and study how it is affected by different factors such as network width, depth, and task difficulty for a variety of architectures. ", + "bbox": [ + 174, + 184, + 825, + 227 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "2.1 DEFINITIONS ", + "text_level": 1, + "bbox": [ + 174, + 244, + 307, + 258 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Let $f _ { \\theta } ( \\cdot )$ be a function presented by a neural network with parameter vector $\\theta$ that includes all parameters and $\\mathcal { L } ( \\boldsymbol { \\theta } )$ be the any given loss (e.g., train or test error) of $f _ { \\theta } ( \\cdot )$ . Let $\\mathcal { E } _ { \\alpha } ( \\theta _ { 1 } , \\theta _ { 2 } ) =$ $\\mathbf { \\bar { \\mathcal { L } } } ( \\alpha \\theta _ { 1 } + ( 1 - \\alpha ) \\dot { \\theta } _ { 2 } )$ , for $\\alpha \\in [ 0 , 1 ]$ be the loss of the network created by linearly interpolating between parameters of two networks $f _ { \\theta _ { 1 } } ( \\cdot )$ and $f _ { \\theta _ { 2 } } ( \\cdot )$ . The loss barrier $B ( \\theta _ { 1 } , \\theta _ { 2 } )$ along the linear path between $\\theta _ { 1 }$ and $\\theta _ { 2 }$ is defined as the highest difference between the loss occurred when linearly connecting two points $\\theta _ { 1 } , \\theta _ { 2 }$ and linear interpolation of the loss values at each of them: ", + "bbox": [ + 173, + 270, + 825, + 354 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/c1022ee44d69b435a81053c941360eb15d9d786372dc984280ba442bb16a8d23.jpg", + "text": "$$\nB ( \\theta _ { 1 } , \\theta _ { 2 } ) = \\operatorname* { s u p } _ { \\alpha } [ [ { \\mathcal { L } } ( \\alpha \\theta _ { 1 } + ( 1 - \\alpha ) \\theta _ { 2 } ) ] - [ \\alpha { \\mathcal { L } } ( \\theta _ { 1 } ) + ( 1 - \\alpha ) { \\mathcal { L } } ( \\theta _ { 2 } ) ] ] .\n$$", + "text_format": "latex", + "bbox": [ + 267, + 369, + 728, + 396 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "The above definition differs from what was proposed by Frankle et al. (2020) in that they used $0 . 5 \\mathcal { L } ( \\theta _ { 1 } ) + 0 . 5 \\mathcal { L } ( \\theta _ { 2 } )$ instead of $\\alpha \\mathcal { L } ( \\theta _ { 1 } ) + ( \\bar { 1 } - \\bar { \\alpha } ) \\mathcal { L } ( \\theta _ { 2 } ) $ in our definition. These definitions are the same if $\\mathcal { L } ( \\theta _ { 1 } ) \\stackrel { \\cdot } { = } \\mathcal { L } ( \\theta _ { 2 } )$ . But if $\\mathcal { L } ( \\theta _ { 1 } ) , \\mathcal { L } ( \\theta _ { 2 } )$ are different, we find our definition to be more appropriate because it assigns no barrier value to a loss that is changing linearly between $\\theta _ { 1 }$ and $\\theta _ { 2 }$ We say that two networks $\\theta _ { 1 }$ and $\\theta _ { 2 }$ are linear mode connected if the barrier between them along a linear path is $\\approx 0$ (Frankle et al., 2020). It has been observed in the literature that any two minimizers of a deep network can be connected via a non-linear low-loss path (Garipov et al., 2018; Draxler et al., 2018; Fort & Jastrzebski, 2019). This work examines linear mode connectivity (LMC) between minima. Next, we empirically investigate the effect of task difficulty and choices such as architecture family, width and depth on LMC of SGD solutions. ", + "bbox": [ + 173, + 410, + 825, + 549 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "2.2 EMPIRICAL INVESTIGATION: BARRIERS ", + "text_level": 1, + "bbox": [ + 176, + 566, + 491, + 582 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "In this section, we look into barriers between different SGD solutions on all combinations of four architecture families (MLP (Rosenblatt, 1961), Shallow CNN (Neyshabur, 2020), ResNet (He et al., 2015) and VGG (Simonyan & Zisserman, 2015)) and four datasets (MNIST (LeCun & Cortes, 2010), SVHN (Netzer et al., 2011), CIFAR-10 (Krizhevsky et al., 2009) and CIFAR-100 (Krizhevsky et al., 2009)). The main motivation to use Shallow CNN is to move from fully connected layers (MLP) to convolutions. The main difference between Shallow CNN and VGG16 is depth and the main difference between ResNet18 and VGG16 is existence of residual connections. We empirically investigate how different factors such as architecture family, width, depth and task difficulty impact the barrier size2. We refer to training loss barrier as barrier. For loss barriers on a test set see E.4. For train and test errors see A.2 . ", + "bbox": [ + 173, + 593, + 826, + 732 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Width: We evaluate the impact of width on the barrier size in Figure 2. We note that for large values of width the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals that the barrier increases with width up to a point and beyond that increasing width leads to lower barrier size. This effect is reminiscent of the double descent phenomena (Belkin et al., 2019; Nakkiran et al., 2019). Checking the test error (Figure 8) indicates that in our experiments the barrier peak happens at the same size that needed to fit the training data. This phenomena is observed for both fully-connected and convolutional architectures. MLP architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNets the barrier size is saturated at a high value and does not change. The barrier value for VGG architecture on different datasets is also saturated at a high value and does not change by increasing the width. Such similar behavior observed for both ResNets and VGG architectures is due to the effect of depth as discussed in the next paragraph. ", + "bbox": [ + 173, + 748, + 825, + 847 + ], + "page_idx": 2 + }, + { + "type": "image", + "img_path": "images/5816762c83bb4acdce92cab590a21ba7f2c561574375a64893a36539493c9ab0.jpg", + "image_caption": [ + "Figure 2: Effect of width on barrier size. From left to right: one-layer MLP, two-layer Shallow CNN, VGG-16 and ResNet-18 architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For large width sizes the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals a similar trend to that of double-descent phenomena. MLP architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNet, the barrier size is saturated at a high value and does not change due to the effect of depth as discussed in Figure 3. " + ], + "image_footnote": [], + "bbox": [ + 186, + 75, + 813, + 175 + ], + "page_idx": 3 + }, + { + "type": "image", + "img_path": "images/f1bdf451ba6cbe72c7cb3dbde2d761c257653f1ecaf694ac0f107cff3d18e534.jpg", + "image_caption": [ + "Figure 3: Effect of depth on barrier size. From left to right MLP, Shallow CNN, VGG(11,13,16,19), and ResNet(18,34,50) architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and Shallow CNN, we fix the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\\mathbf { X }$ -axis. Similar behavior is observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values until it saturates (as seen for VGG and ResNet). " + ], + "image_footnote": [], + "bbox": [ + 184, + 256, + 812, + 356 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "", + "bbox": [ + 174, + 460, + 825, + 530 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Depth: We vary network depth in Figure 3 to evaluate its impact on the barrier between optimal solutions obtained from different initializations. For MLPs, we fix the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\\mathbf { X }$ -axis. We observe a fast and significant barrier increase as more layers are added. For VGG architecture family we observe significant barriers. This might be due to the effect of convolution or depth. In order to shed light on this observation, we use Shallow CNN (Neyshabur, 2020) with only two convolutional layers. As can be seen in Figure 3 when Shallow CNN has two layers the barrier size is low, while keeping the layer width fixed at $2 ^ { 1 0 }$ and adding more layers increases the barrier size. For residual networks we also consider three ResNet architectures with 18, 34 and 50 layers and observe the same barrier sizes as VGG for all these depth values. The main overall observation from depth experiments is that for both fully-connected and convolutional architectures, increasing depth increases the barrier size significantly so the effect of depth is not similar to width. This can also be attributed to the observations that deeper networks usually have a less smooth landscape (Li et al., 2017). ", + "bbox": [ + 173, + 546, + 825, + 727 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Task difficulty and architecture choice: In Figure 4 we look into the impact of the task difficulty provided by the dataset choice (MNIST, SVHN, CIFAR-10, CIFAR-100, and ImageNet (Deng et al., 2009)) and the architecture type (one-layer MLP with $2 ^ { 1 0 }$ neurons, Shallow CNN with two convolutional layer and width of $2 ^ { 1 \\mathrm { { 0 } } }$ , VGG-16 with batch-normalization, ResNet18 and ResNet50). Each row in Figure 4a and Figure 4b shows the effect of task difficulty, e.g., fixing the task to SVHN and moving from MLP to Shallow CNN gives lower test error hence lower barrier size. Each column also represents the effect of architecture on a specific dataset, e.g., fixing the architecture to Shallow CNN and moving from CIFAR10 to CIFAR100 presents an increase in test error, hence increase in the barrier size. Although deep architectures like VGG16 and ResNet18 present low test error, the discussed effect of depth saturates their barrier at a high level. Figure 4c aggregates the correlation between test error and size of the barrier. For MLP and Shallow CNN we observe a high positive correlation between test error and barrier size across different datasets. Deeper networks (VGGs, ResNets) form a cluster in the top-left, with low test error and high barrier size. ", + "bbox": [ + 174, + 743, + 825, + 924 + ], + "page_idx": 3 + }, + { + "type": "image", + "img_path": "images/f2639658cf8347671406c5bf7e4215f49926dbcbc8ff00b7e09fde221ba273bf.jpg", + "image_caption": [ + "Figure 4: Effect of architecture choice and task difficulty on barrier size. Each row in Figure 4a and Figure 4b shows the effect of task difficulty while each column represents the effect of architecture on a specific dataset. Figure 4c notes that a pair of (architecture, task) has lower barrier if the test error is lower. Therefore, any changes in the architecture or the task that improves the test error, also improves the loss barrier. Effect of depth is stronger than (architecture, task) which leads to high barrier values for ResNets on MNIST, SVHN, CIFAR10, CIFAR100, and ImageNet. " + ], + "image_footnote": [], + "bbox": [ + 181, + 64, + 818, + 228 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "3 ROLE OF INVARIANCE IN LOSS BARRIERS ", + "text_level": 1, + "bbox": [ + 176, + 330, + 553, + 347 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Understanding the loss landscape of deep networks has proven to be very challenging. One of the main challenges in studying the loss landscape without taking the optimization algorithm into account is that there exist many minima with different generalization properties. Most of such minima are not reachable by SGD and we only know about their existence through artificially-made optimization algorithms and training regimes (Neyshabur et al., 2017). To circumvent this issue, we focus on parts of the landscape that are reachable by SGD. Given a dataset and an architecture, one could define a probability distribution over all solutions reachable by SGD and focus on the subset where SGD is more likely to converge to. ", + "bbox": [ + 174, + 362, + 825, + 473 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "3.1 INVARIANCES IN NEURAL NETWORK FUNCTION CLASS ", + "text_level": 1, + "bbox": [ + 179, + 491, + 589, + 505 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "We say that a network is invariant with respect to a transformation if and only if the network resulting from the transformation represents the same function as the original network. There are two well-known invariances: one is the unit-rescaling due to positive homogeneity of ReLU activations (Neyshabur et al., 2015) and the other is permutation of hidden units. Unit-rescaling has been well-studied and empirical evidence suggests that implicit bias of SGD would make the solution converge to a stage where the weights are more balanced (Neyshabur et al., 2015; Wu et al., 2019). Since we are interested in the loss landscape through the lens of SGD and SGD is much more likely to converge to a particular rescaling, consideration of this type of invariance does not seem useful. However, in the case of permutations, all permutations are equally likely for SGD and therefore, it is important to understand their role in the geometric properties of the landscape and its basins of attraction. Here we consider invariances that are in form of permutations of hidden units in each layer of the network, i.e., each layer $i$ with parameters $W _ { i }$ is replaced with $P _ { i } W _ { i } P _ { i - 1 }$ where $P _ { i }$ is a permutation matrix and $P _ { l } = P _ { 0 }$ is the identity matrix. Note that our results only hold for permutation matrices since only permutation commutes with nonlinearity. We use $\\mathcal { P }$ to refer to the set of valid permutations for a neural network and use $\\pi$ to refer to a valid permutation. ", + "bbox": [ + 174, + 516, + 825, + 724 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "3.2 OUR CONJECTURE ", + "text_level": 1, + "bbox": [ + 176, + 741, + 344, + 756 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "As mentioned above, SGD’s implicit regularization balances weight norms and, therefore, scale invariance does not seem to play an important role in understanding symmetries of solutions found by SGD. Consequently, here we focus on permutation invariance and conjecture that taking it into account allows us to have a much simpler view of SGD solutions. We first state our conjecture informally: ", + "bbox": [ + 174, + 767, + 825, + 837 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Most SGD solutions belong to a set $\\boldsymbol { S }$ whose elements can be permuted in such a way that there is no barrier on the linear interpolation between any two permuted elements in $s$ . ", + "bbox": [ + 200, + 856, + 794, + 883 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "The above conjecture suggests that most SGD solutions end up in the same basin in the loss landscape after proper permutation (see Figure 1 left panel). We acknowledge that the above conjecture is bold. ", + "bbox": [ + 176, + 895, + 823, + 924 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Nonetheless, we argue that coming up with strong conjectures and attempting to disprove them is an effective method for scientific progress. Note, our conjecture also has great practical implications for model ensembling and parallelism since one can average models that are in the same basin in the loss landscape. The conjecture can be formalized as follows: ", + "bbox": [ + 174, + 103, + 825, + 159 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Conjecture 1. Let $f ( \\theta )$ be the function representing a feedforward network with parameters $\\boldsymbol \\theta \\in \\mathbb { R } ^ { k }$ , $\\mathcal { P }$ be the set of all valid permutations for the network, $\\dot { P } : \\dot { \\mathbb R } ^ { k } \\times \\mathcal P \\mathbb R ^ { k }$ be the function that applies a given permutation to parameters and returns the permuted version, and $B ( \\cdot , \\cdot )$ be the function that returns barrier value between two solutions as defined in Equation $^ { l }$ . Then, there exists a width $h > 0$ such that for any network $f ( \\theta )$ of width at least $h$ the following holds: There exist a set of solutions $S \\subseteq \\mathbb { R } ^ { k }$ and a function $Q : S \\mathcal { P }$ such for any $\\theta _ { 1 } , \\theta _ { 2 } \\in { \\mathcal { S } }$ , $B ( P ( \\theta _ { 1 } , Q ( \\theta _ { 1 } ) ) , \\theta _ { 2 } ) \\approx 0$ and with high probability over an SGD solution $\\theta$ , we have $\\theta \\in S$ . ", + "bbox": [ + 174, + 164, + 825, + 262 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Next, we approach Conjecture 1 from both theoretical and empirical aspects and provide some evidence to support it. ", + "bbox": [ + 174, + 273, + 821, + 303 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "3.3 A THEORETICAL RESULT ", + "text_level": 1, + "bbox": [ + 174, + 319, + 387, + 333 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "In this section we provide elementary theoretical results in support of our conjecture. Although the theoretical result is provided for a very limited setting, we believe it helps us understand the mechanism that could give rise to our conjecture. Bellow, we theoretically show that Conjecture 1 holds for a fully-connected network with a single hidden layer at initialization. Proof is given in Appendix D. ", + "bbox": [ + 174, + 345, + 825, + 416 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Theorem 3.1. Let $f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) = \\mathbf { v } ^ { \\top } \\boldsymbol { \\sigma } ( \\mathbf { U } \\mathbf { x } )$ be a fully-connected network with h hidden units where $\\sigma ( \\cdot )$ is ReLU activation, $\\mathbf { v } \\in \\mathbb { R } ^ { h }$ and $\\mathbf { U } \\in \\mathbb { R } ^ { h \\times d }$ are the parameters and √ √ $\\mathbf { x } \\in \\mathbb { R } ^ { d }$ is the input. If each element of $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ is sampled uniformly from $[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]$ and each element of v and $\\mathbf { v } ^ { \\prime }$ is sampled uniformly from $[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]$ , then for any $\\mathbf { x } \\in \\mathbb { R } ^ { d }$ such that $\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } }$ , with probability $1 - \\delta$ over ${ \\bf U } , { \\bf U } ^ { \\prime } , { \\bf v } , { \\bf v } ^ { \\prime }$ , there exist a permutation such that ", + "bbox": [ + 173, + 419, + 826, + 497 + ], + "page_idx": 5 + }, + { + "type": "equation", + "img_path": "images/da5aff8533e50a9adca3c09fd949dd1ca425b9b024d14d5f12f50e76da20bb9f.jpg", + "text": "$$\n\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 233, + 502, + 761, + 530 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "where $\\mathbf { v } ^ { \\prime \\prime }$ and $\\mathbf { U } ^ { \\prime \\prime }$ are permuted versions of $\\mathbf { v } ^ { \\prime }$ and $\\mathbf { U } ^ { \\prime }$ . ", + "bbox": [ + 174, + 536, + 532, + 551 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Theorem 3.1 states that for wide enough fully-connected networks with a single hidden layer, one can find a permutation that leads to having no barrier at random initialization. Although, our prove only covers random initialization, we believe with a more involved proof, it might be possible to extend it to NTK regime (Jacot et al., 2018). We leave this for future work. ", + "bbox": [ + 174, + 564, + 823, + 619 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "3.4 DIRECT EMPIRICAL EVALUATION OF CONJECTURE 1 ", + "text_level": 1, + "bbox": [ + 174, + 637, + 575, + 651 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Another possible approach is to use brute-force (BF) search mechanism and find the function $Q$ for elements of $s$ . The factorial growth of the number of permutations with the size of hidden units in each layer hinders exhaustive search for a winning permutation $\\pi$ to linear mode connect $P ( \\theta _ { 1 } , \\pi )$ and $\\theta _ { 2 }$ . Even for MLPs with just one hidden layer brute-force works in reasonable time up to $2 ^ { 4 }$ neurons only, forcing the search to examine $2 ^ { 4 } ! \\overset { \\cdot } { \\approx } 2 \\cdot 1 0 ^ { 1 3 }$ permuted networks. BF is not feasible even for modest size deep networks. For small networks, one can use BF to find permutations between different models (see E.3). However, small size networks are not the focus of this paper and Conjecture 1 specifically mentions that. ", + "bbox": [ + 174, + 662, + 825, + 775 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Given the size of search space, using a more advanced search algorithm can be useful. The issue with this approach is that since it relies on the strength of a search algorithm, if the search algorithm fails in finding the permutation, one cannot be sure about the source of failure being the search algorithm or nonexistence of a permutation that leads to no barrier. ", + "bbox": [ + 174, + 781, + 825, + 838 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "3.5 OUR MODEL VS REAL WORLD: AN ALTERNATIVE APPROACH", + "text_level": 1, + "bbox": [ + 174, + 856, + 633, + 869 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "We propose the following approach to circumvent the above obstacles. We create a competing set $S ^ { \\prime }$ (our model) as a proxy for set $s$ (real world). Given an SGD solution $\\theta _ { 1 } \\in { \\mathcal { S } }$ , we define $S ^ { \\prime } = \\{ P ( \\theta _ { 1 } , \\pi ) | \\forall \\pi \\in \\bar { \\mathcal { P } } \\}$ . We know that set $S ^ { \\prime }$ satisfies the conjecture. For set $S ^ { \\prime }$ , all points are known permutations of $\\theta _ { 1 }$ . Therefore, one can permute all points to remove their barriers with $\\theta _ { 1 }$ , i.e, for all $\\bar { \\theta } _ { 2 } = P ( \\theta _ { 1 } , \\pi )$ , one can use $Q ( \\theta _ { 2 } ) = \\pi ^ { \\bar { - } 1 }$ to remove the barrier between $\\theta _ { 1 }$ and $\\theta _ { 2 }$ . Our goal is therefore to show that $s$ is similar to $S ^ { \\prime }$ in terms of barrier behavior. ", + "bbox": [ + 174, + 882, + 825, + 924 + ], + "page_idx": 5 + }, + { + "type": "image", + "img_path": "images/c981dcb5bf04d6b277cc49b46b4df793404b7771d2d07ad42af7a3cf021e5331.jpg", + "image_caption": [ + "Figure 5: Similar loss barrier between real world and our model BEFORE applying permutation. From left to right: one-layer MLP, two-layer Shallow CNN, MLP and Shallow CNN with layer width of $2 ^ { 1 0 }$ . Increasing width first increases and then decreases the barrier, while adding more layers significantly increases the barrier size. We observe that $S ^ { \\prime }$ and $s$ behave similarly in terms of barrier as we change different architecture parameters such as width, depth across various datasets. " + ], + "image_footnote": [], + "bbox": [ + 178, + 75, + 820, + 178 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "", + "bbox": [ + 174, + 268, + 825, + 310 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Equivalence of $S ^ { \\prime }$ and $s$ in terms of barriers, means that if we choose an element $\\theta$ in $s$ , one should be able to find permutations for each of other elements of the $s$ so that the permuted elements have no barrier with $\\theta$ and hence are in the same basin as $\\theta$ . The consequence of the equivalence of our model to real world is that Conjecture 1 holds. The conjecture effectively means that different basins exist because of the permutation invariance and if permutation invariance is taken into account (by permuting solutions to remove the barriers between them), there is only one basin, i.e., all solutions reside in the same basin in the loss landscape. We actually want to show $s$ is similar to $S ^ { \\prime }$ in terms of optimizing over all permutations but that is not possible so we show $s$ is similar to $S ^ { \\prime }$ in terms of barrier without search or when we search over a smaller set of permutations using a search algorithm. In the next section, we investigate our conjecture using this approach. ", + "bbox": [ + 174, + 318, + 825, + 457 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "4 EMPIRICAL INVESTIGATION ", + "text_level": 1, + "bbox": [ + 176, + 477, + 437, + 492 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "In this section we show that $s$ and $S ^ { \\prime }$ have similar loss barrier along different factors such as width, depth, architecture, dataset and other model parameters (with and without searching for a permutation that reduces the barrier), hence supporting our conjecture. As discussed in Section 2, the barrier for both VGG and ResNet architectures is saturated at a high value hinting that the loss landscape might be more complex for these architecture families. In our experiments we observed that $s$ and $S ^ { \\prime }$ have similar high barriers for both of these architectures (see Appendix E.2). Moreover, we observed that for both $s$ and $S ^ { \\prime }$ the employed algorithms (Section 4.2) were unable to find a permutation to reduce the barrier and hence our model shows a similar behavior to real world 3. Given that the width and depth do not influence the barrier behavior in VGG and ResNet architectures, here we only focus on the effect of width and depth on barrier sizes for MLPs and Shallow CNNs. ", + "bbox": [ + 174, + 507, + 825, + 647 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "4.1 SIMILARITY OF $s$ AND $S ^ { \\prime }$ ", + "text_level": 1, + "bbox": [ + 176, + 664, + 392, + 678 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Figure 5 compares our model to the real world and shows that $S ^ { \\prime }$ and $s$ have strikingly similar barriers as we change different architecture parameters such as width and depth across various architecture families and datasets. This surprising level of similarity between our model and real world on variety of settings provide strong evidence for the conjecture. Even if the conjecture is not precisely correct as stated, the empirical results suggest that the structural similarities between our model and real world makes our model a useful simplification of the real world for studying the loss landscape. For example, the effect of width and depth on the barrier is almost identical in our model and the real world which suggests that permutations are perhaps playing the main role in such behaviors. ", + "bbox": [ + 174, + 689, + 825, + 801 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "4.2 SEARCH ALGORITHMS FOR FINDING A WINNING PERMUTATION ", + "text_level": 1, + "bbox": [ + 176, + 819, + 650, + 832 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "The problem of finding a winning permutation $\\pi \\in { \\mathcal { P } }$ is a variant of the Travelling Salesman Problem where neurons are mapped to cities visited by a salesman. The problem belongs to the class of NP-hard optimization problems and simulated annealing (SA) is often used to find a solution for such a combinatorial search problem. SA’s performance however highly depends on the parameter ", + "bbox": [ + 174, + 844, + 825, + 901 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Algorithm 1 Simulated Annealing (SA) for Permutation Search ", + "text_level": 1, + "bbox": [ + 174, + 106, + 593, + 121 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "1: procedure SA({θi}, i = 1..n, n ≥ 2) . Goal: minimize the barrier between $n$ solutions \n2: $\\pi _ { i } = \\pi _ { 0 } , \\forall i = 1 . . n$ \n3: for $k = 0$ ; k < kmax; k++ do \n4: $T \\gets$ temperature( k+1 ) kmax \n5: Pick random candidate permutations $\\{ \\hat { \\pi } _ { i } \\} , \\forall i = 1 . . n$ \n6: if $\\Psi ( P ( \\theta _ { i } , \\hat { \\pi } _ { i } ) ) < \\Psi ( P \\mathbf { \\bar { ( } } \\theta _ { i } , \\pi _ { i } ) )$ then $\\triangleright \\Psi$ : barrier objective function \n7: πi ← πˆi return {πi} ", + "bbox": [ + 179, + 123, + 825, + 237 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/49281a5655bf6135b7a7da12585a3c45d18b8b1b9f6b36d82d164366f46f1ff5.jpg", + "image_caption": [ + "Figure 6: Performance of Simulated Annealing (SA). Two Left: $\\mathbf { S } \\mathbf { A } _ { 2 }$ where we average the weights of permuted models first and $\\psi$ is defined as the train error of the resulting average model. Two Right: Search space is reduced i.e., we take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . When search space is reduced, SA is able to find better permutations. " + ], + "image_footnote": [], + "bbox": [ + 178, + 267, + 820, + 371 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "choices, including the minimum and maximum temperatures, the cooling schedule and the number of optimization steps. The pseudocode of SA is shown in Algorithm 1. SA takes a set of solutions $\\{ \\theta _ { i } \\} , i = 1 . . n , n \\geq 2$ as input (we use $n = 5$ ) and searches for a set of permutations $\\{ \\pi _ { i } \\}$ that reduce the barriers between all permuted $\\binom { n } { 2 }$ solution pairs. To find the best $\\{ \\pi _ { i } \\}$ , in each step of SA the current candidate permutations $\\{ \\hat { \\pi } _ { i } \\} , i = 1 . . n$ are evaluated to minimize the objective function $\\Psi$ . We use two versions of simulated annealing that vary in their definition of $\\Psi$ to evaluate the conjecture. ", + "bbox": [ + 174, + 474, + 825, + 561 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Simulated Annealing 1 $( \\mathbf { S } \\mathbf { A } _ { 1 } )$ . In the first version $\\mathbf { S A } _ { 1 }$ , $\\Psi$ is defined as the average pairwise barrier between candidate permutations $B ( P ( \\theta _ { i } , \\pi _ { i } ) , P ( \\theta _ { j } , \\pi _ { j } ) ) , i \\neq j$ . ", + "bbox": [ + 176, + 568, + 820, + 598 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Simulated Annealing 2 $\\mathbf { ( S A _ { 2 } ) }$ . In the second version $\\mathbf { S } \\mathbf { A } _ { 2 }$ , we average the weights of permuted models $P ( \\theta _ { i } , \\pi _ { i } )$ first and defined $\\Psi$ as the train error of the resulting average model. The simplest form of $\\mathbf { S } \\mathbf { A } _ { 2 }$ happens if $n = 2$ and is discussed in Section A.3. ", + "bbox": [ + 174, + 603, + 823, + 646 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "The rationale behind these two versions is that if the solutions reside in one basin, there is no barrier between them. Therefore averaging solutions in one basin yields another solution inside their convex hull. Although each version of SA has a different definition of the objective function $\\Psi$ to find the best permutation, for all SA versions we report the average barrier between all pairs in the plots. Our empirical results suggest that $\\mathbf { S A } _ { 1 }$ and $\\mathbf { S A } _ { 2 }$ yield very similar performance. However, $\\mathbf { S A } _ { 2 }$ is significantly less computationally expensive, which makes it more suitable for exploring larger models. In the following sections we present the results obtained with $\\mathbf { S A } _ { 2 }$ only and refer to this version as SA. For more details on SA implementation see Appendix A.4. The left two plots in Figure 6 show that $\\mathbf { S A } _ { 2 }$ is not able to find permutations that improve pair-wise barrier significantly. We know that SA does not guarantee finding a solution and is known to lose its effectiveness on TSP benchmarks beyond $1 ^ { \\circ } 0 0 0$ cities (Zhan et al., 2016). The effectiveness of SA is also reduced here as we can only evaluate the cost of full route (divide and conquer is not possible). One way to increase this effectiveness is to reduce the search space which we will discuss next. ", + "bbox": [ + 173, + 652, + 825, + 833 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Search space reduction. In order to reduce the search space, here we only take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . The right two plots in Figure 6 shows this intervention helps SA to find better permutations. In particular, the barrier improves significantly for MNIST and SVHN datasets for both MLP and Shallow CNN across different width. However, similar to Section 2, we did not observe significant improvements when increasing depth (see Figure 12). ", + "bbox": [ + 174, + 840, + 825, + 924 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/1fb67d56308165521203ab6851d4aa51c7f4a00a83e592db19b1324c72b5fe4a.jpg", + "image_caption": [ + "Figure 7: Similar loss barrier between real world and our model AFTER applying permutation, when search space is reduced. We observe that reducing the search space makes SA more successful in finding the permutation to remove the barriers. Specifically, SA could indeed find permutations that when applied to $\\theta _ { 1 }$ result in zero barrier e.g., MLP for MNIST where depth is 1 (across all width), 2 and 4 (where width is $2 ^ { 1 0 }$ ) " + ], + "image_footnote": [], + "bbox": [ + 186, + 82, + 812, + 183 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "4.3 SIMILARITY OF $s$ AND $S ^ { \\prime }$ AFTER SEARCH ", + "text_level": 1, + "bbox": [ + 174, + 261, + 501, + 275 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Figure 7 shows the surprising similarity of the barrier between $s$ and $S ^ { \\prime }$ even after applying a permutation found by a search algorithm (when search space is reduced). We also observe that reducing the search space makes SA more successful in finding the permutation $\\{ \\pi \\}$ to remove the barriers. Specifically, in some cases SA could indeed find permutations that when applied to $\\theta _ { 1 }$ result in zero barrier. However, the fact that SA’s success shows a similar pattern for $s , s ^ { \\prime }$ provides another evidence in support of the conjecture. For example, SA successfully reduces the barrier for both $s , s ^ { \\prime }$ on MNIST and SVHN datasets. Figure 1 (right) summarizes our extensive empirical evidence (more than 3000 trained networks) in one density plot, supporting similarity of barriers in real world and our model across different choices of architecture family, dataset, width, depth, and random seed. Putting together, all our empirical results support our main conjecture. ", + "bbox": [ + 173, + 287, + 825, + 426 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "5 DISCUSSIONS AND CONCLUSION ", + "text_level": 1, + "bbox": [ + 176, + 446, + 478, + 463 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "We investigated the loss landscape of ReLU networks, proposed and probed the conjecture that the barriers in the loss landscape between different solutions of a neural network optimization problem are an artifact of ignoring the permutation invariance of the function class. In a nutshell, this conjecture suggests that if one considers permutation invariance, there is essentially no loss barrier between different solutions and they all exist in the same basin in the loss landscape. Our analysis has direct implication on initialization schemes for neural networks. Essentially it postulates that randomness in terms of permutation does not impact the quality of the final result. It is interesting to explore whether it is possible to come up with an initialization that does not have permutation invariance and only acts like a perturbation to the same permutation. If all basins in the loss landscape are basically the same function, there will be no need to search all of them. One can explore the same basin while looking for diverse solutions and this makes search much easier and would lead to substantially more efficient search algorithms. ", + "bbox": [ + 174, + 479, + 825, + 645 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Another area where our analysis is of importance is for ensembles and distributed training. Related works (Frankle et al., 2020; Fort et al., 2019) show that simply averaging two SGD solutions would fail. If these models lie at the periphery of a wide and flat low loss region then ensembling them in their weight space (averaging), creates a model tending to the center of the region, which leads to performance improvement (Izmailov et al., 2019; Wen et al., 2020). If we can track the optimal permutation (that brings all solutions to one basin), it is possible to use it to do weight averaging and build ensembles more efficiently. Moreover, we are interested in answering the question whether there is a one-to-one mapping between lottery tickets and permutations. Frankle et al. (2020) requires stability to find lottery tickets. They define stability as the point in training trajectory where, if we branch at this point and train two copies with different seeds, the trained solutions are linearly mode connected. We conjecture that all the SGD trained solutions are linearly mode connected if the permutation is considered (satisfying the necessary condition for Lottery Ticket Hypothesis). We believe our analysis laid the ground for investigating these important questions and testing the usefulness of our conjecture in ensemble methods and pruning, which is the subject of future studies. ", + "bbox": [ + 174, + 654, + 825, + 848 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "The biggest limiting factor of our study is the size of the search space and hence we need a strong search algorithm, specially for deep models where the size and complexity of the search space was prohibitive in terms of computation for the existing search methods. We hope improvements of search algorithms can help us to extend these results. Lastly, our analysis focuses on image recognition task and extending the results to natural language tasks is of interest for future work. 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", + "bbox": [ + 174, + 181, + 825, + 224 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "A.1 TRAINING HYPER-PARAMETERS ", + "text_level": 1, + "bbox": [ + 176, + 253, + 442, + 268 + ], + "page_idx": 12 + }, + { + "type": "table", + "img_path": "images/338c874dda3b52b4ca43a4ca7c4e1dd66c76d39e1b0c14eeb26e44ecd1332d32.jpg", + "table_caption": [ + "Table 1 summarizes the set of used hyper-parameters for training different networks. ", + "Table 1: Training Hyper-parameters " + ], + "table_footnote": [ + "1 MNIST 2 SVHN, CIFAR10, CIFAR100 " + ], + "table_body": "
Hyper-parametersMLPShallow CNNVGGResNet
Learning RateFixed 0.011, Fixed 0.001²Cosine 0.02Cosine 0.02Cosine 0.02
Batch Size64256256256
Epochs3000100010001000
Momentum0.90.90.90.9
Weight Decay1-=
Data AugmentationNormalizationNormalizationNormalizationNormalization
", + "bbox": [ + 173, + 323, + 841, + 439 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "A.2 PERFORMANCE EVALUATION OF TRAINED MODELS: ERROR AND LOSS ", + "bbox": [ + 176, + 542, + 710, + 558 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "Figure 8 demonstrate Train and Test error/loss for experiments on the effect of width. Here for MLP we have one hidden layer, for Shallow CNN two convolutional layer, ResNet is fixed to ResNet18, and VGG16 is selected from VGG family. Figure 9 also demonstrates Train and Test error/loss for different depth. We set MLP to have 1024 hidden units in each layer, Shallow CNN, VGG and ResNest to have 1024, 64, 64 channels in each convolutional layer, respectively. ", + "bbox": [ + 173, + 573, + 826, + 643 + ], + "page_idx": 12 + }, + { + "type": "image", + "img_path": "images/03cf489fbb068bf9317f6c6a3039c5c037fede35c237fe2e6f34777ea1c661ea.jpg", + "image_caption": [ + "Figure 8: Train and Test Error/Loss for Width. Solid and dotted lines correspond to train and test respectively. All models are trained for 1000 epochs except MLP networks that are trained for 3000 epochs. The stopping criteria is either Cross Entropy Loss reaching 0.01 or number of epochs reaching maximum epochs. " + ], + "image_footnote": [], + "bbox": [ + 186, + 667, + 812, + 868 + ], + "page_idx": 12 + }, + { + "type": "image", + "img_path": "images/f46b42d8ada14ad9635fe5e3aa1e3f45f1ee0e6b85501f9a780587380228387c.jpg", + "image_caption": [ + "Figure 9: Train and Test Error/Loss for Depth. Solid and dotted lines correspond to train and test respectively. All models are trained for 1000 epochs except MLP networks that are trained for 3000 epochs. The stopping criteria is either Cross Entropy Loss reaching 0.01 or number of epochs reaching maximum epochs. " + ], + "image_footnote": [], + "bbox": [ + 187, + 99, + 810, + 301 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "A.3 SIMILARITY OF $s$ AND $S ^ { \\prime }$ : DETAILED VIEW ", + "text_level": 1, + "bbox": [ + 174, + 412, + 519, + 428 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "Aggregated empirical results. Figure 10 shows the aggregation of our extensive empirical evidence (more than 3000 trained networks) in one plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. Points with solid edges correspond to lowest barrier found after searching in the space of valid permutations using a Simulated Annealing (SA). SA shows better performance for shallow networks pushing more solid edge points to the lower left corner. ", + "bbox": [ + 173, + 455, + 825, + 540 + ], + "page_idx": 13 + }, + { + "type": "image", + "img_path": "images/275ac1e8a1ed959ed1b2cbe0f461c30e5cbd82468acc1d60b21c49fc96f34649.jpg", + "image_caption": [ + "Figure 10: Aggregation of empirical evidence on similarity of Real World and Our Model. aggregation of our extensive empirical evidence (more than 3000 trained networks) in one plot comparing barriers in real world against our model across different choices of architecture family, dataset, width, depth, and random seed. " + ], + "image_footnote": [], + "bbox": [ + 372, + 592, + 622, + 738 + ], + "page_idx": 13 + }, + { + "type": "text", + "text": "Simulated Annealing performance. In this Section, we show that $s$ and $S ^ { \\prime }$ have similar loss barriers we change different architecture parameters such as as width, depth across various datasets. Here we consider the mean over all pair-wise barriers as barrier size. Figure 5 shows the similarity of $s$ and $S ^ { \\prime }$ before permutation. In each plot, barrier size for $s$ is similar to $S ^ { \\prime }$ . Such similarity is also observed in Figure 11, where we see the barrier after permutation using SA. ", + "bbox": [ + 174, + 853, + 825, + 924 + ], + "page_idx": 13 + }, + { + "type": "image", + "img_path": "images/b2eb2945ebf538181e476ee2e5349f3f03c1a2154e8ea88df37b5f7ce076c732.jpg", + "image_caption": [ + "Figure 12: Performance of Simulated Annealing (SA). Left: $\\mathbf { S } \\mathbf { A } _ { 2 }$ where we average the weights of permuted models first and $\\psi$ is defined as the train error of the resulting average model. Right: Search space is reduced i.e., we take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . When search space is reduced, SA is able to find better permutations. " + ], + "image_footnote": [], + "bbox": [ + 184, + 101, + 813, + 204 + ], + "page_idx": 14 + }, + { + "type": "image", + "img_path": "images/fe2aa3e03d5f38eeb60ae1febf728f60394e07ff411e60c351f6c098da478db8.jpg", + "image_caption": [ + "Figure 11: Similar loss barrier between real world and our model after applying permutation. Effects of width and depth also holds in this setting. Compared to Figure 5, we observe slight barrier reduction. Reducing search space helps SA to find better solutions (see section A.3). " + ], + "image_footnote": [], + "bbox": [ + 178, + 299, + 820, + 404 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "Search space reduction. In order to reduce the search space, here we only take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . Figure 13 and Figure 7 show the effect of width and depth on barrier similarity between $s$ and $S ^ { \\prime }$ before and after permutation. Comparing Figure 13 and Figure 7 shows that SA succeeds in barrier removal. SA performance on $s$ and $S ^ { \\prime }$ yields similar results for both before and after permutation scenarios. Such similar performance is observed along a wide range of width and depth for both MLP and Shallow-CNN over different datasets (MNIST, SVHN, CIFAR10, CIFAR100). We look into effects of changing model size in terms of width and depth as in earlier sections, and note that similar trends hold for before and after permuting solution $\\theta _ { 1 }$ . Comparing Figure 13 and Figure 7 shows that reducing the search space makes SA more successful in finding the permutation $\\{ \\pi \\}$ to remove the barriers. Specifically, SA can indeed find permutations across different networks and datasets that result in zero barrier when applied to $\\theta _ { 1 }$ . SA can also find permutations that reduce the barrier for both MLP and Shallow-CNN across different width, depth and datasets. For example, such cases include MLP for MNIST, SVHN, CIFAR10, and CIFAR100 where depth is 1 and width is $2 ^ { 3 }$ and $2 ^ { 4 }$ , MLP for MNIST where depth is 2 and width is $2 ^ { 1 0 }$ , Shallow-CNN for MNIST, SVHN, CIFAR10, CIFAR100 where depth is 2 and width is $2 ^ { 4 }$ and for Shallow-CNN for MNIST where depth is 2 and width is $2 ^ { 6 }$ . ", + "bbox": [ + 173, + 488, + 826, + 723 + ], + "page_idx": 14 + }, + { + "type": "image", + "img_path": "images/2896b6d8340569045e114781769c96b8ed2f88580a8241174f40bf8be3d188f4.jpg", + "image_caption": [ + "Figure 13: Effect of width and depth on barrier similarity between real world and our model before permutation. Search space is reduced here i.e., we take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . Similarity of loss barrier between real world and our model is preserved across model type and dataset choices as width and depth of the models are increased. " + ], + "image_footnote": [], + "bbox": [ + 183, + 742, + 812, + 843 + ], + "page_idx": 14 + }, + { + "type": "text", + "text": "A.4 SIMULATED ANNEALING ", + "text_level": 1, + "bbox": [ + 176, + 103, + 392, + 118 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "We use Simanneal4 as python module for simulated annealing. The process involves: ", + "bbox": [ + 173, + 133, + 728, + 150 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "• Randomly move or alter the state (generate a permutation) \n• Assess the energy of the new state (permuted model) using the objective function (Linear Mode Connectivity based on Equation 1) \n• Compare the energy to the previous state and decide whether to accept the new solution or reject it based on the current temperature. ", + "bbox": [ + 214, + 165, + 825, + 271 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "For a move to be accepted, it must meet one of two requirements: ", + "bbox": [ + 173, + 287, + 602, + 303 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "• The move causes a decrease in state energy (i.e. an improvement in the objective function) • The move increases the state energy (i.e. a slightly worse solution) but is within the bounds of the temperature. ", + "bbox": [ + 210, + 319, + 825, + 378 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "Temperature. In each step, the generated permutation is chosen with the probability of $P =$ $e ^ { \\frac { - c o s t } { t e m p e r a t u r e } }$ , where cost is the barrier at $\\begin{array} { r } { \\alpha = \\frac { 1 } { 2 } } \\end{array}$ . In the first steps, as the temperature is high, there is a high probability that the worse neighbor is also selected. The neighbor is another permutation that if applied, differs slightly in the order of the neurons/channels. As we move forward the temperature decreases with $\\ T = e ^ { e ^ { - \\frac { - T m a x \\times s t e p s } { T m i n \\times s t e p s } } }$ and we stick to permutations that improve the barrier. ", + "bbox": [ + 173, + 396, + 825, + 478 + ], + "page_idx": 15 + }, + { + "type": "text", + "text": "Scaling the computation for SA. In an experiment, we scale number of steps in simulated annealing to investigate the effect of this hyper-parameter. If the barrier continues to decrease as the amount of computation increases and does not plateau, then this would suggest that with enough computation, the barrier found by simulated annealing could eventually go to zero. Figure 14 shows that increasing number of steps exponentially, helps SA to find better solutions. Table 3 shows that as the number of steps increases $( 1 0 \\times )$ , $\\Delta$ moves towards 2 i.e., $50 \\%$ reduction in barrier ( $\\Delta > 0$ means barrier does not plateau) . Running SA for 50K steps takes 10K seconds on an n1-standard-8 GCP machine (8 vCPU, 30 GB RAM) with $1 \\mathrm { x V } 1 0 0$ GPU. Due to limited computational resources, we set number of the steps to 50K. ", + "bbox": [ + 173, + 484, + 826, + 611 + ], + "page_idx": 15 + }, + { + "type": "image", + "img_path": "images/278731906a1d267c92379c2612a58b43f7807369f3008685e61948582fb4eae9.jpg", + "image_caption": [ + "Figure 14: Scaling cost for Simulated Annealing. Increasing number of steps exponentially, helps SA to find better solutions. As the amount of computation increases the barrier continues to decrease. " + ], + "image_footnote": [], + "bbox": [ + 348, + 638, + 648, + 833 + ], + "page_idx": 15 + }, + { + "type": "table", + "img_path": "images/c1723be5497caef693971fa19a6e7676e2613ceeb9926f91c1a20f3d35afd1de.jpg", + "table_caption": [ + "Table 2: Scaling cost for Simulated Annealing As the amount of computation increases the barrier continues to decrease. As the number of steps increases, $\\Delta$ increases toward 2 and does not plateau. " + ], + "table_footnote": [ + "1 $\\begin{array} { r } { \\Delta = { \\frac { 0 . 4 7 0 } { 0 . 3 3 1 } } = 1 . 4 2 } \\end{array}$ " + ], + "table_body": "
width=16width=32width=64
stepsbarrier△barrierstepsbarrier△barrierstepsbarrier△barrier
100.470=100.430-100.2711
1000.3311.42×11000.3021.43×1000.2021.35×
1K0.1901.73×1K0.1751.71×1K0.1211.41×
10K0.1051.80×10K0.9951.75×10K0.0851.71×
50K0.0551.90×50K0.0551.80×50K0.0481.77×
", + "bbox": [ + 202, + 101, + 795, + 220 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "The following code runs simulated annealing to find the best permutation in Section 4.1 ", + "bbox": [ + 174, + 311, + 745, + 327 + ], + "page_idx": 16 + }, + { + "type": "table", + "img_path": "images/2c612175ecfa4139f29851c43f4142126d89cb1a91f59a54a1bd5b18924754d2.jpg", + "table_caption": [], + "table_footnote": [], + "table_body": "
// Simulated Annealing from simanneal import Annealer def barrier_SA(arch,model,sd1,sd2,w2,init_state,tmax,tmin,steps,train_inputs,
deftrain_targets,train_avg_org_models,nchannels,nclasses,nunits):
class BarrierCalculationProblem(Annealer): """anealer with a travelling salesman problem. 11 11 11
__init__(self,state): super(BarrierCalculationProblem,self).__init__(state)# important!
def move(self):
"""Swaps two cities in the route."""
initial_energy = self.energy()
for j in range(5):
fori in range(len(self.state[j])): X = self.state[j][i] a = random.randint(O,len(x)- 1)
b = random.randint(o,len(x)- 1)
self.state[j][i][a],self.state[j][i][b]=self.state[j][i][b],
self.state[j][i][a]
return self.energy()- initial_energy
def energy(self):
"""Calculates the cost for proposed permutation.""
permuted_models = []
for i in range(5):
permuted_models.append(permute(arch,model,self.state[i],sd2[i],w2[i],
nchannels,nclasses,nunits))
#### form one model which is the average of 5 permuted models
permuted_avg = copy.deepcopy(model)
new_params = OrderedDict()
for key in sd2[O].keys():
param = 0
fori in range(len(permuted_models)):
param = param + permuted_models[i][key]
new_params[key]= param /len(permuted_models)
permuted_avg.load_state_dict(new_params)
eval_train = evaluate_model(permuted_avg,train_inputs,train_targets)['top1'
cost = 1 - eval_train
return cost
", + "bbox": [ + 173, + 338, + 805, + 852 + ], + "page_idx": 16 + }, + { + "type": "text", + "text": "B IMPROVE SEARCH ALGORITHM ", + "text_level": 1, + "bbox": [ + 176, + 102, + 470, + 118 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "In the main text we use simulated annealing (SA) to find the winning permutation $\\pi$ . Figure 6 shows that SA is only able to reduce the barrier, and reducing search space $\\left( \\mathrm { n } = 2 \\right)$ ) helps in finding better permutations. However, a critical question still remains: Is there an algorithm that finds better permutations? ", + "bbox": [ + 174, + 133, + 825, + 189 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "He et al. (2018) proposed an algorithms that merges correlated, pre-trained deep neural networks for cross-model compression. Their objective is to zip two neural networks, optimized for two different tasks, into one network. The ultimate network does both tasks without losing too much accuracy on each task. Their algorithm is based on layer-wise neuron sharing, which uses f(weights, post activations) to find which neurons could be zipped together. They define the similarity (or equivalently difference) of two neurons as below (Eq. 12 in the original paper): ", + "bbox": [ + 174, + 195, + 825, + 280 + ], + "page_idx": 17 + }, + { + "type": "equation", + "img_path": "images/af652a4f6754b7b4b21a5168a360b40113fbc2d5eca6936206b034f70cf8c8a3.jpg", + "text": "$$\n\\delta _ { n _ { A } , n _ { B } } = \\frac { 1 } { 2 } ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } ) . ( ( H _ { l , i } ^ { A } ) ^ { - 1 } + ( H _ { l , i } ^ { B } ) ^ { - 1 } ) ^ { - 1 } . ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } )\n$$", + "text_format": "latex", + "bbox": [ + 287, + 304, + 712, + 334 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "We also used their \"functional difference\" as a measure for neuron matching between two randomly initialized trained networks. They used post activation as an approximation for Hessian matrices. Calculating the difference between each pair of neurons based on Equation 2, gives an $m \\times m$ matrix (m is width of the network). In the second step, neurons with minimum distance are matched together in a greedy way i.e., if $n _ { i , A }$ and $n _ { j , B }$ have the minimum distance, row $i$ and column $j$ is removed from the distance matrix. Figure 15 shows that using functional difference, the barrier could be improved. ", + "bbox": [ + 173, + 345, + 826, + 444 + ], + "page_idx": 17 + }, + { + "type": "image", + "img_path": "images/f94f98c5a4042b025956dbf1cfd7f75bc63cf72eb70d49433a556e5ff578b706.jpg", + "image_caption": [ + "Figure 15: Performance of Functional Difference compared to Simulated Annealing. Functional Difference could indeed find better permutations, improving the barrier size between two solutions. " + ], + "image_footnote": [], + "bbox": [ + 334, + 462, + 660, + 656 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "C MAKING ENSEMBLES ", + "text_level": 1, + "bbox": [ + 176, + 726, + 390, + 741 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "As stated before, our conjecture has implications for ensemble methods. If two solutions lie at the periphery of a wide and flat low loss region (a basin where models are linearly connected to each other), then ensembling them in their weight space (averaging), creates a model tending to the center of the region, which leads to performance improvement. However, Simulated Annealing could not find the optimal permutations for all cases. Section B shows that using matching algorithms like functional difference could help to find better permutations. Motivated to create ensembles, Wortsman et al. (2021) start with two (or more) random initializations and learn a subspace (a line or simplex) connecting them. Throughout training they sample one (or more) points on this line and add the loss at this point to the loss of training. In order to enforce diversity in function space, they also add a regularization term as cosine similarity of two endpoints of the line. However as they enforce two models to be in a line, the functional diversity of the final ensemble is limited compare to our methods. Here we combine their method with functional difference to make best of both worlds. ", + "bbox": [ + 173, + 757, + 825, + 924 + ], + "page_idx": 17 + }, + { + "type": "text", + "text": "In this experiment, we train two randomly initialized networks separately, and then use functional difference to decrease the barrier between final solutions. Then we use learning subspace method to make them in one basin. Our results on MLP with one hidden layer and width of 1024 neurons on MNIST and CIFAR10 shows that this method outperforms the others. ", + "bbox": [ + 174, + 103, + 825, + 160 + ], + "page_idx": 18 + }, + { + "type": "table", + "img_path": "images/7ef6bc7132ce7ff695a50e342f0ada048b39aa89f342c2aca4f383144fc7261f.jpg", + "table_caption": [], + "table_footnote": [ + "1 Functional Difference (He et al., 2018) 2 Subspace Learning (Wortsman et al., 2021) " + ], + "table_body": "
ArchitectureWidthDatasetFD1SL²FD + SL
MLP1024MNIST96.8597.6398.22
MLP1024CIFAR1052.9557.8958.94
", + "bbox": [ + 281, + 176, + 715, + 234 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Table 3: Performance comparison of ensemble methods. While functional difference (He et al., 2018) gives better permutations compared to simulated annealing, Subspace Learning (Wortsman et al., 2021) enforces two solutions into one basin from scratch. We combine the best of two worlds in $\\mathrm { F D } + \\mathrm { S L }$ to guarantee functional diversity of learned solutions and also make them in one basin. ", + "bbox": [ + 173, + 276, + 826, + 328 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "D PROOF OF THEOREM 3.1 ", + "text_level": 1, + "bbox": [ + 176, + 356, + 415, + 373 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "We first recap Theorem 3.1 below for convenience and then provide the proof ", + "bbox": [ + 173, + 388, + 681, + 405 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Theorem D.1 (3.1). Let $h$ be the number of hidden units, d be the input size. Let the function $f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) = \\mathbf { v } ^ { \\top } \\boldsymbol { \\sigma } ( \\mathbf { U } \\mathbf { x } )$ where $\\sigma ( \\cdot )$ is ReLU activation, $\\mathbf { v } \\in \\mathbb { R } ^ { h }$ and $\\dot { \\textbf { U } } \\in \\mathbb { R } ^ { h \\times d }$ are parameters and $\\mathbf { x } \\in \\mathbb { R } ^ { d }$ is the input. We show that if each element of √ $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ is sampled uniformly from√ √ $[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]$ and each element of v and √ $\\mathbf { v } ^ { \\prime }$ is sampled uniformly from $[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]$ , then for any $\\mathbf { x } \\in \\mathbb { R } ^ { d }$ such that $\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } } ,$ , with probability $1 - \\delta$ over U, $\\mathbf { U } ^ { \\prime } , \\mathbf { v } , \\mathbf { v } ^ { \\prime }$ , there exist a permutation such that ", + "bbox": [ + 173, + 409, + 826, + 500 + ], + "page_idx": 18 + }, + { + "type": "equation", + "img_path": "images/5c444741b2274f8a09435c2ae14e8916cb4c86384d38c5d1cda241d78217a596.jpg", + "text": "$$\n\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 233, + 503, + 761, + 532 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "where $\\mathbf { v } ^ { \\prime \\prime }$ and $\\mathbf { U } ^ { \\prime \\prime }$ are permuted versions of $\\mathbf { v } ^ { \\prime }$ and $\\mathbf { U } ^ { \\prime }$ . ", + "bbox": [ + 174, + 539, + 532, + 555 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Proof. For any given $\\xi > 0$ , we consider the set $S _ { \\xi } = \\{ - 1 / \\sqrt { d } + \\xi , - 1 / \\sqrt { d } + 3 \\xi , \\ldots , 1 / \\sqrt { d } - \\xi \\} ^ { d }$ which has size $\\displaystyle ( \\frac { 1 } { \\xi \\sqrt { d } } ) ^ { d }$ 5. For any $s \\in S _ { \\xi }$ , let $C _ { s } ( \\mathbf { U } )$ be the set of indices of rows of $\\mathbf { U }$ that are closest in Euclidean distance to $s$ than any other element in $S _ { \\xi }$ : ", + "bbox": [ + 173, + 575, + 825, + 625 + ], + "page_idx": 18 + }, + { + "type": "equation", + "img_path": "images/c92ddf90e1c3cc2e2579bfeee97b8f9908969a48edfed6b86d8b8aa6cd74df06.jpg", + "text": "$$\nC _ { s } ( \\mathbf { U } ) = \\{ i | s = \\underset { s ^ { \\prime } \\in S _ { \\xi } } { \\arg \\operatorname* { m i n } } \\big \\| \\mathbf { u } _ { i } - s ^ { \\prime } \\big \\| _ { \\infty } \\}\n$$", + "text_format": "latex", + "bbox": [ + 369, + 633, + 629, + 661 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "where for simplicity we assume that arg min returns a single element. We next use the function $C _ { s }$ to specify a permutation that allows each row in $\\mathbf { U } ^ { \\prime }$ to be close to its corresponding row in $\\mathbf { U }$ . For every $s \\in S _ { \\xi }$ , we consider a random matching of elements in $C _ { s } ( \\mathbf { U } )$ and $C _ { s } ( { \\bf \\bar { U } } ^ { \\prime } )$ and when the sizes don’t match, add the extra items in $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ to the sets $I$ and $I ^ { \\prime }$ accordingly to deal with them later. ", + "bbox": [ + 173, + 670, + 825, + 727 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Since each element of $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ is sampled uniformly from $[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]$ , for each row in $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ , the probability of being assigned to each $s \\in S _ { \\xi }$ is a multinomial distribution with equal probability for each $s$ . Given any $s \\in S _ { \\xi }$ , we can use Hoeffding’s inequality to bound the size of $| C _ { s } ( \\mathbf { U } ) |$ with high probability. For any $t \\geq 0$ : ", + "bbox": [ + 173, + 734, + 825, + 792 + ], + "page_idx": 18 + }, + { + "type": "equation", + "img_path": "images/a523c10e6928340f442af275b10ed96a458751c2ebb6e3fb36eb2bfffaa16e8c.jpg", + "text": "$$\nP \\left( | | C _ { s } ( \\mathbf { U } ) | - ( h / | S _ { \\xi } | ) | \\geq t \\right) \\leq - 2 \\exp ( - 2 t ^ { 2 } / h )\n$$", + "text_format": "latex", + "bbox": [ + 326, + 799, + 669, + 827 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "By union bound over all rows of $\\mathbf { U }$ and $\\mathbf { U } ^ { \\prime }$ , with probability $1 - \\delta / 3$ , we have that for every $s \\in S _ { \\xi }$ ", + "bbox": [ + 173, + 834, + 825, + 851 + ], + "page_idx": 18 + }, + { + "type": "equation", + "img_path": "images/c9cdb07744f876abaecf3c625f3583066304f10e562e65f2ce041aa497d35156.jpg", + "text": "$$\n\\frac { h } { | S _ { \\xi } | } - \\sqrt { \\frac { h } { 2 } \\log ( 1 2 | S _ { \\xi } | / \\delta ) } \\le | C _ { s } ( \\mathbf { U } ) | , | C _ { s } ( \\mathbf { U } ^ { \\prime } ) | \\le \\frac { h } { | S _ { \\xi } | } + \\sqrt { \\frac { h } { 2 } \\log ( 1 2 | S _ { \\xi } | / \\delta ) }\n$$", + "text_format": "latex", + "bbox": [ + 240, + 859, + 758, + 897 + ], + "page_idx": 18 + }, + { + "type": "text", + "text": "Consider $I$ and $I ^ { \\prime }$ which are the sets of indices that we throw out during the index assignment because of the size mismatch. Then, based on above inequality, we have that with probability $1 - \\delta / 3$ , ", + "bbox": [ + 169, + 103, + 825, + 133 + ], + "page_idx": 19 + }, + { + "type": "equation", + "img_path": "images/0d0227271c5b0cc641c5fad852b2f8f7f8768b413692dd792567cd9807d92334.jpg", + "text": "$$\n| I | = | I ^ { \\prime } | = \\frac { 1 } { 2 } \\sum _ { s \\in S _ { \\xi } } \\big | | C _ { s } ( \\mathbf { U } ) | - | C _ { s } ( \\mathbf { U } ^ { \\prime } ) | \\big | \\leq | S _ { \\xi } | \\sqrt { \\frac { h } { 2 } \\log ( 1 2 | S _ { \\xi } | / \\delta ) }\n$$", + "text_format": "latex", + "bbox": [ + 272, + 147, + 725, + 190 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "We next randomly match the indices in $I$ and $I$ . Let $\\mathbf { U } ^ { \\prime \\prime }$ be the matrix after applying the permutation to $\\mathbf { U } ^ { \\prime }$ that corresponds to above matching of rows of $\\mathbf { U } ^ { \\prime }$ to their corresponding row in $\\mathbf { U }$ . Note that for any $i \\in [ h ] \\setminus I$ , we have that $\\| \\mathbf { u } _ { i } - \\mathbf { u } _ { i } ^ { \\prime \\prime } \\| _ { \\infty . } \\leq 2 \\xi$ and for $i \\in I$ , we have $\\left\\| \\mathbf { u } _ { i } - \\mathbf { u } _ { i } ^ { \\prime \\prime } \\right\\| _ { \\infty } \\leq 2 / \\sqrt { d }$ . We next upper bound the left hand side of the inequality in the theorem statement: ", + "bbox": [ + 174, + 204, + 826, + 265 + ], + "page_idx": 19 + }, + { + "type": "equation", + "img_path": "images/b5e03422848f42e0e3e00046387ecfaa26ab1e7327ea2e53884bb453bf36f8dc.jpg", + "text": "$$\n\\begin{array} { r l } & { f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\Big | } \\\\ & { = \\Big | ( \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } ) ^ { \\top } \\boldsymbol \\sigma \\big ( ( \\alpha \\mathbf { U } ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\big ) - \\alpha \\mathbf { v } ^ { \\top } \\boldsymbol \\sigma ( \\mathbf { U } \\mathbf { x } ) - ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } ^ { \\top } \\boldsymbol \\sigma \\big ( \\mathbf { U } ^ { \\prime \\prime } \\mathbf { x } \\big ) \\Big | } \\\\ & { = \\Big | \\alpha \\mathbf { v } ^ { \\top } \\big [ \\boldsymbol \\sigma \\big ( ( \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\big ) - \\boldsymbol \\sigma ( \\mathbf { U } \\mathbf { x } ) \\big ] + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } ^ { \\top } \\big [ \\sigma \\big ( ( \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\big ) - \\sigma \\big ( \\mathbf { U } ^ { \\prime \\prime } \\mathbf { x } \\big ) \\big ] } \\\\ & { \\leq \\Big | \\alpha \\mathbf { v } ^ { \\top } \\big [ \\boldsymbol \\sigma \\big ( ( \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\big ) - \\boldsymbol \\sigma ( \\mathbf { U } \\mathbf { x } ) \\big ] \\Big | } \\\\ & { + \\Big | ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } ^ { \\top } \\big [ \\sigma \\big ( ( \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\big ) - \\sigma \\big ( \\mathbf { U } ^ { \\prime \\prime } \\mathbf { x } \\big ) \\big ] \\Big | } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 181, + 276, + 833, + 417 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Since each element of $\\mathbf { v }$ is sampled uniformly from $[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]$ , for any $\\mathbf { r } \\in \\mathbb { R } ^ { h }$ we have that $\\mathbb { E } [ \\mathbf { v } ^ { \\top } \\mathbf { r } ] = 0$ and by Hoeffding’s inequality, ", + "bbox": [ + 173, + 431, + 823, + 462 + ], + "page_idx": 19 + }, + { + "type": "equation", + "img_path": "images/f192de4a3ee22a22f17274756327d611f98909550515dc1b09d4e2dbdad056ca.jpg", + "text": "$$\nP \\left( \\left| \\mathbf { v } ^ { \\top } \\mathbf { r } \\right| \\geq t \\right) \\leq 2 \\exp \\left( { \\frac { - h t ^ { 2 } } { 2 \\left\\| \\mathbf { r } \\right\\| _ { 2 } ^ { 2 } } } \\right)\n$$", + "text_format": "latex", + "bbox": [ + 379, + 476, + 619, + 518 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "Using the above argument, with probability $1 - \\delta / 3$ , we can bound the right hand side of inequality (7) as follows: ", + "bbox": [ + 173, + 540, + 825, + 570 + ], + "page_idx": 19 + }, + { + "type": "equation", + "img_path": "images/818af58a87c0ace72770e4d2e199ba38adcb0a8076ca2379ab20911a34ba48e0.jpg", + "text": "$$\n\\begin{array} { r l } & { \\alpha \\mathbf { x } ^ { \\mathrm { w } } | ^ { T } ( \\alpha ( \\mathbf { u } + \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ^ { \\mathrm { w } } - \\alpha ( \\mathbf { I } \\mathbf { x } ) \\mathbf { u } ^ { \\mathrm { w } } | } \\\\ & { = \\Big | ( 1 - \\alpha ) \\mathbf { w } ^ { \\mathrm { w } } \\mathbf { F } ^ { \\mathrm { w } } \\mathbf { f } [ \\alpha ( \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } ) \\mathbf { x } - \\sigma ( \\mathbf { I } \\mathbf { w } ^ { \\mathrm { w } } ) ] } \\\\ & { \\qquad \\quad - \\alpha \\mathbf { y } ^ { \\mathrm { i } } \\frac { \\partial ^ { T } \\log ( 1 / T \\delta ) } { \\partial t } \\Big | \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } \\mathbf { x } ) \\mathbf { u } \\Big | } \\\\ & { \\qquad \\quad - ( 1 - \\alpha ) \\sqrt { \\frac { 2 \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } \\mathbf { x } ) \\mathbf { u } ^ { \\mathrm { w } } \\Big \\| _ { 2 } } \\\\ & { = \\alpha \\sqrt { \\frac { \\sigma } { \\delta } \\frac { \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { x } ) \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & { \\qquad \\quad \\leq \\alpha \\sqrt { \\frac { \\sigma } { \\delta } \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { f } [ \\alpha ( \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ] } \\left\\| \\alpha ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } \\mathbf { x } - \\mathbf { I } \\mathbf { x } \\right\\| _ { 2 } } \\\\ & { \\qquad \\quad - ( 1 - \\alpha ) \\sqrt { \\frac { T \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { x } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } - \\mathbf { I } \\mathbf { y } \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & = \\alpha \\sqrt \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 212, + 580, + 784, + 852 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "where the inequality 10 is due to Lipschitz property of ReLU activations. Now, all we need to do is to bound $\\lVert ( \\mathbf { U } ^ { \\star } - \\mathbf { U } ^ { \\star } ) \\mathbf { x } \\rVert _ { 2 }$ . Note that for any $( i , j ) \\in [ h ] \\times [ d ] , u _ { i j } - u _ { i j } ^ { \\prime \\prime }$ is an independent random variable with mean zero and bounded magnitude $( 2 / { \\sqrt { d } }$ if $i \\in I$ and $2 \\xi$ otherwise). Therefore, we can again use the Hoffding’s inequality similar to inequality (8) for each row $i$ and after taking a union bound, we have the following inequality with probability $1 - \\delta / 3$ , ", + "bbox": [ + 173, + 863, + 825, + 925 + ], + "page_idx": 19 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 102, + 609, + 119 + ], + "page_idx": 20 + }, + { + "type": "equation", + "img_path": "images/9618260df0f53118c5a23469a3734c986a8fe51704b6431fa6342d21ed1c1b7a.jpg", + "text": "$$\n\\begin{array} { l } { \\displaystyle \\left\\| ( \\mathbf { U } - \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\right\\| _ { 2 } = \\sqrt { \\displaystyle \\sum _ { i \\in I } ( \\mathbf { u } _ { i } - \\mathbf { u } _ { i } ^ { \\prime \\prime } ) \\mathbf { x } + \\displaystyle \\sum _ { i \\in [ h ] \\setminus I } ( \\mathbf { u } _ { i } - \\mathbf { u } _ { i } ^ { \\prime \\prime } ) \\mathbf { x } } } \\\\ { \\displaystyle \\qquad \\leq \\| x \\| _ { 2 } \\sqrt { | I | \\frac { 4 \\log ( 1 2 h / \\delta ) } { d } + ( h - | I | ) ( 4 \\xi ^ { 2 } \\log ( 1 2 h / \\delta ) } } \\\\ { \\displaystyle \\qquad \\leq 2 \\sqrt { \\log ( 1 2 h / \\delta ) \\left( | I | + \\xi ^ { 2 } d h \\right) } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 258, + 135, + 736, + 243 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Where the last inequality is using $\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } }$ . Substituting the above inequality into the right hand side of the inequality (11), gives us the following upper bound on the left hand side of the inequality in the theorem statement: ", + "bbox": [ + 173, + 277, + 826, + 321 + ], + "page_idx": 20 + }, + { + "type": "equation", + "img_path": "images/998eacfab0f057638f3c0e67d9533dd3090529675d0e216b4628beb4f1278ec2.jpg", + "text": "$$\n\\begin{array} { r l } & { \\left| f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\mathbf { u } , \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\right| } \\\\ & { \\leq \\sqrt { \\frac { \\log \\left( 1 2 / \\delta \\right) } { 2 h } } \\| ( \\mathbf { U } - \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\| _ { 2 } } \\\\ & { \\leq \\sqrt { 2 \\log \\left( 1 2 / \\delta \\right) \\log ( 1 2 h / \\delta ) \\left( \\frac { | I | } { h } + \\xi ^ { 2 } d \\right) } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 282, + 354, + 717, + 463 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Setting $\\xi = \\epsilon / \\sqrt { 4 d \\log ( 1 2 / \\delta ) \\log ( 1 2 h / \\delta ) }$ , gives the following bound on $h$ : ", + "bbox": [ + 173, + 479, + 666, + 497 + ], + "page_idx": 20 + }, + { + "type": "equation", + "img_path": "images/6d41422f785066eb8f88a9a37e967eb2dd13fa9a125d9ed16204da874645d811.jpg", + "text": "$$\n\\begin{array} { r l } & { h \\leq \\frac { 4 \\log ( 1 2 / \\delta ) \\log ( 1 2 h / \\delta ) \\vert I \\vert } { \\epsilon ^ { 2 } } } \\\\ & { \\leq \\frac { 4 \\log ( 1 2 / \\delta ) \\log ( 1 2 h / \\delta ) \\vert S _ { \\xi } \\vert \\sqrt { \\frac { h } { 2 } \\log ( 1 2 \\vert S _ { \\xi } \\vert / \\delta ) } } { \\epsilon ^ { 2 } } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 325, + 512, + 671, + 588 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Therefore, we have: ", + "bbox": [ + 173, + 621, + 305, + 635 + ], + "page_idx": 20 + }, + { + "type": "equation", + "img_path": "images/4e185c21ae6d1eb77de44fe752f1976b6929e53c86ed2f3beb04ad08cf5b7080.jpg", + "text": "$$\n\\begin{array} { r l } & { h \\leq \\left( \\frac { 4 \\log \\left( 1 2 / \\delta \\right) \\log \\left( 1 2 h / \\delta \\right) \\vert S _ { \\xi } \\vert \\sqrt { \\log \\left( 1 2 \\vert S _ { \\xi } \\vert / \\delta \\right) } } { \\epsilon ^ { 2 } } \\right) ^ { 2 } } \\\\ & { \\quad \\leq \\left( \\frac { 4 \\log \\left( 1 2 / \\delta \\right) \\log \\left( 1 2 h / \\delta \\right) } { \\epsilon ^ { 2 } } \\right) ^ { d + 2 } \\left( \\log ( 1 2 / \\delta ) + d \\log ( 1 / \\epsilon ) \\right) } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 290, + 650, + 705, + 734 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Using the above inequality, we have $\\epsilon = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } )$ ", + "bbox": [ + 173, + 751, + 522, + 768 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "E ADDITIONAL PLOTS ", + "text_level": 1, + "bbox": [ + 174, + 799, + 375, + 815 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "E.1 BARRIER BEHAVIOR UNDER NOISY LABELS ", + "text_level": 1, + "bbox": [ + 173, + 837, + 516, + 852 + ], + "page_idx": 20 + }, + { + "type": "text", + "text": "Related works (Zhang et al., 2017) show that neural nets can memorize random labels. In this section we want to see whether the barrier changes if one starts to inject random labels into the training dataset. Our results over 5 different runs show that the barrier size behavior does not change, however including higher level of noise in labels lead to small increase in barrier size. ", + "bbox": [ + 174, + 867, + 825, + 924 + ], + "page_idx": 20 + }, + { + "type": "image", + "img_path": "images/c6051d2d73c7415a118687dbe90d752c8249eca8832a4abde60b6a8387223a9f.jpg", + "image_caption": [ + "Figure 16: Effect of label noise on barrier size. Left: Train and Test Loss under different label noise. Middle: Train and Test Error under different label noise. Right: Train barrier (accuracy) under different label noise. Our results over 5 different runs show that the barrier size behavior does not change, however including higher level of noise in labels lead to small increase in barrier size. " + ], + "image_footnote": [], + "bbox": [ + 179, + 101, + 818, + 231 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "E.2 BARRIER: VGG AND RESNET ", + "text_level": 1, + "bbox": [ + 176, + 321, + 426, + 337 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "Figure 17 shows the barrier similarity for VGG and ResNet families between real world and our model. The left two panels shows the effect of width, while the right two panels illustrate the depth. As discussed in section 2, the barrier for VGGs and ResNets, for both real world and our model, is saturated at a high value and does not change. ", + "bbox": [ + 173, + 348, + 825, + 405 + ], + "page_idx": 21 + }, + { + "type": "image", + "img_path": "images/76c80df22fb5de0c11f13e44b69e3806797b1d928aa64e9161ddc44abb5d2e27.jpg", + "image_caption": [ + "Figure 17: Effect of width and depth on barrier similarity between real world and our model before permutation: VGG and ResNet families. The left two panels shows the effect of width, while the right two panels illustrate the depth. As discussed in section 2, the barrier for VGGs and ResNets, for both real world and our model, is saturated at a high value and does not change. " + ], + "image_footnote": [], + "bbox": [ + 186, + 421, + 813, + 522 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "E.3 SMALL NETWORKS ", + "text_level": 1, + "bbox": [ + 174, + 613, + 349, + 627 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "We consider MLPs with the same architecture starting from 100 different initializations and trained on the MNIST dataset. For each pair of the networks we calculate their loss barrier and plot the histogram on the values. Next for each pair of the networks, we find the permutation that minimizes the barrier between them and plot the histogram for all the pairs. We do this investigation for different network sizes. The results are shown in Figure 18 top row. Note that since we consider all possible pairs, the observed barrier values are not i.i.d. If instead we randomly divide the 100 trained networks into two sets and choose pairs that are made by picking one network from each set, we will have an i.i.d sampling strategy. We investigate the pairs of networks trained on MNIST and measure the value of the direct and indirect barriers between them. Indirect barrier between two networks A, C is minimum over all possible intermediate points $\\mathbf { B }$ of maximum of barrier between A, B and barrier between B, C, i.e., ", + "bbox": [ + 173, + 638, + 825, + 791 + ], + "page_idx": 21 + }, + { + "type": "equation", + "img_path": "images/a51ee9b6b6584be3a06aaf292a0f076edbb834379986368a1793e9d381404d0e.jpg", + "text": "$$\n\\operatorname* { m i n } _ { B ! = A , B ! = C } \\operatorname* { m a x } ( B ( \\theta _ { A } , \\theta _ { B } ) , B ( \\theta _ { B } , \\theta _ { C } ) ) .\n$$", + "text_format": "latex", + "bbox": [ + 361, + 792, + 633, + 816 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "The reason we look into this value is that if maximum between two barriers is small, it means that both barriers are small and therefore there exist an indirect path between A and C. ", + "bbox": [ + 173, + 821, + 825, + 851 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "E.4 LOSS BARRIERS ON THE TEST SET ", + "text_level": 1, + "bbox": [ + 176, + 869, + 452, + 883 + ], + "page_idx": 21 + }, + { + "type": "text", + "text": "Width. We evaluate the impact of width on the test barrier size in Figure 19. In comparison to Figure 2 the magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy. This effect is intensified for harder tasks such as CIFAR100. The double descent phenomena is also observed here, especially for simpler tasks, e.g., MNIST and SVHN. ", + "bbox": [ + 173, + 895, + 825, + 924 + ], + "page_idx": 21 + }, + { + "type": "image", + "img_path": "images/d1611c87607551c8e953e8a6812aaac2a0d6fd2a4ed29a025f70cde81dcab638.jpg", + "image_caption": [ + "Figure 18: Histogram of barrier values between pairs of 100 networks with the same architecture trained on MNIST starting from different initializations. We find a permutation for each pair that minimizes the barrier. This is done for two layer MLPs and repeated for networks of different sizes. Bottom row: Indirect barrier between two networks A,C is minmimum over all possible intermediate points B of maximum of barrier between A, B and barrier between B, C. Left: before the permutation; Right: after the permutation. " + ], + "image_footnote": [], + "bbox": [ + 184, + 102, + 812, + 426 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 532, + 823, + 563 + ], + "page_idx": 22 + }, + { + "type": "image", + "img_path": "images/ace3de8aaed4561d00d2b0415e1224818ee713604c214b648ae76e7ee7f63f8f.jpg", + "image_caption": [ + "Figure 19: Effect of width on barrier size (Test). From left to right: one-layer MLP, two-layer Shallow-CNN, VGG-16, and ResNet-18 architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. When the task is hard (CIFAR10, CIFAR100) the test barrier shrinks. For simpler tasks and large width sizes also the barrier becomes small. " + ], + "image_footnote": [], + "bbox": [ + 186, + 575, + 813, + 678 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "Depth. We evaluate the impact of depth on the test barrier size in Figure 20. For MLPs, we fixed the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\\mathbf { X }$ -axis. Similar to Figure 3 we observe a fast and significant barrier increase as more layers are added. In comparison to Figure 3 the magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy. ", + "bbox": [ + 174, + 766, + 825, + 821 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "E.5 SIMILARITY OF $s$ AND $S ^ { \\prime }$ ON THE TEST SET ", + "text_level": 1, + "bbox": [ + 178, + 840, + 516, + 854 + ], + "page_idx": 22 + }, + { + "type": "text", + "text": "We note SA success on test barrier removal by comparing Figure 21 and Figure 22. SA performance on $s$ and $S ^ { \\prime }$ yields similar results for both before and after permutation scenarios. Such similar performance is observed along a wide range of width and depth for both MLP and Shallow-CNN over different datasets(MNIST, SVHN, CIFAR10, CIFAR100). We look into effects of changing model size in terms of width and depth as in earlier Sections, and note that similar trends hold for before and after permuting solution $\\theta _ { 1 }$ . ", + "bbox": [ + 174, + 867, + 825, + 922 + ], + "page_idx": 22 + }, + { + "type": "image", + "img_path": "images/3e9bb4d2a48aa03e947d74096c6cecf84149aec587e830fb819e4162616b309f.jpg", + "image_caption": [ + "Figure 20: Effect of depth on barrier size (Test). From left to right MLP, Shallow-CNN, VGG(11,13,16,18), and ResNet(18,34,50) architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and ShallowCNN, we fixed the layer width at $2 ^ { 1 0 }$ while adding identical layers as shown along the $\\mathbf { X }$ -axis. Similar behavior is observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values until it saturates (as seen for ResNet). " + ], + "image_footnote": [], + "bbox": [ + 186, + 101, + 813, + 202 + ], + "page_idx": 23 + }, + { + "type": "text", + "text": "", + "bbox": [ + 174, + 318, + 823, + 347 + ], + "page_idx": 23 + }, + { + "type": "image", + "img_path": "images/7621055b4b85b2b4c8b2339effbb4eb8b91e4f9649e53eac4b8a644d826f9f17.jpg", + "image_caption": [ + "Figure 21: Effect of width and depth on barrier consistency between real world and our model before permutation (Test). Search space is reduced here i.e., we take two SGD solutions $\\theta _ { 1 }$ and $\\theta _ { 2 }$ , permute $\\theta _ { 1 }$ and report the barrier between permuted $\\theta _ { 1 }$ and $\\theta _ { 2 }$ as found by SA with $n = 2$ . Similarity of loss barrier between real world and our model is preserved across model type and dataset choices as width and depth of the models are increased. " + ], + "image_footnote": [], + "bbox": [ + 191, + 361, + 808, + 460 + ], + "page_idx": 23 + }, + { + "type": "image", + "img_path": "images/62eb99a26715e0900f520743940d49a8e6a1172c19a386a637384051aa2ecfa2.jpg", + "image_caption": [ + "Figure 22: Effect of width and depth on barrier consistency between real world and our model after permutation (Test). We observe that reducing the search space makes SA more successful in finding the permutation $\\{ \\pi \\}$ to remove the barriers. Specifically, SA could indeed find permutations across different networks and datasets that when applied to $\\theta _ { 1 }$ result in almost zero test barrier e.g., MLP across MNIST dataset where depth is 1 and width is larger than $2 ^ { 6 }$ , MLP for MNIST where depth is 2 and 4, and width is $2 ^ { 1 0 }$ , Shallow-CNN for MNIST where depth is 2, Shallow-CNN for SVHN where depth is 2 and width is $2 ^ { 1 0 }$ . 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Empirical observations", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 104, + 351, + 506, + 364 + ], + "spans": [ + { + "bbox": [ + 104, + 351, + 506, + 364 + ], + "score": 1.0, + "content": "suggest that loss landscape of deep networks has many minima (Keskar et al., 2017; Draxler et al.,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 360, + 507, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 507, + 375 + ], + "score": 1.0, + "content": "2018; Zhang et al., 2017). 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Although it is a bold conjecture, we show how extensive", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 141, + 239, + 470, + 251 + ], + "spans": [ + { + "bbox": [ + 141, + 239, + 470, + 251 + ], + "score": 1.0, + "content": "empirical attempts fall short of refuting it. We further provide a preliminary theo-", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 141, + 249, + 470, + 263 + ], + "spans": [ + { + "bbox": [ + 141, + 249, + 470, + 263 + ], + "score": 1.0, + "content": "retical result to support our conjecture. Our conjecture has implications for lottery", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 142, + 261, + 469, + 273 + ], + "spans": [ + { + "bbox": [ + 142, + 261, + 469, + 273 + ], + "score": 1.0, + "content": "ticket hypothesis, distributed training and ensemble methods. The source code is", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 141, + 272, + 456, + 284 + ], + "spans": [ + { + "bbox": [ + 141, + 272, + 456, + 284 + ], + "score": 1.0, + "content": "available at https://github.com/rahimentezari/PermutationInvariance.", + "type": "text" + } + ], + "index": 11 + } + ], + "index": 8, + "bbox_fs": [ + 141, + 204, + 471, + 284 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 292, + 206, + 304 + ], + "lines": [ + { + "bbox": [ + 105, + 290, + 208, + 307 + ], + "spans": [ + { + "bbox": [ + 105, + 290, + 208, + 307 + ], + "score": 1.0, + "content": "1 INTRODUCTION", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 12 + }, + { + "type": "text", + "bbox": [ + 107, + 318, + 506, + 439 + ], + "lines": [ + { + "bbox": [ + 106, + 318, + 505, + 330 + ], + "spans": [ + { + "bbox": [ + 106, + 318, + 505, + 330 + ], + "score": 1.0, + "content": "Understanding the loss landscape of deep neural networks has been the subject of many studies due", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 329, + 505, + 341 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 505, + 341 + ], + "score": 1.0, + "content": "to its close connections to optimization and generalization (Li et al., 2017; Mei et al., 2018; Geiger", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "et al., 2019; Nguyen et al., 2018; Fort et al., 2019; Baldassi et al., 2020). Empirical observations", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 104, + 351, + 506, + 364 + ], + "spans": [ + { + "bbox": [ + 104, + 351, + 506, + 364 + ], + "score": 1.0, + "content": "suggest that loss landscape of deep networks has many minima (Keskar et al., 2017; Draxler et al.,", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 360, + 507, + 375 + ], + "spans": [ + { + "bbox": [ + 105, + 360, + 507, + 375 + ], + "score": 1.0, + "content": "2018; Zhang et al., 2017). One reason behind the abundance of minima is over-parametrization.", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 373, + 506, + 385 + ], + "spans": [ + { + "bbox": [ + 105, + 373, + 506, + 385 + ], + "score": 1.0, + "content": "Over-parametrized networks have enough capacity to present different functions that behave similarly", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 384, + 506, + 397 + ], + "spans": [ + { + "bbox": [ + 105, + 384, + 506, + 397 + ], + "score": 1.0, + "content": "on the training data but vastly different on other inputs (Neyshabur et al., 2017; Nguyen et al., 2018;", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 394, + 506, + 407 + ], + "spans": [ + { + "bbox": [ + 105, + 394, + 506, + 407 + ], + "score": 1.0, + "content": "Li et al., 2018; Liu et al., 2020). Another contributing factor is the existence of scale and permutation", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 406, + 505, + 417 + ], + "spans": [ + { + "bbox": [ + 106, + 406, + 505, + 417 + ], + "score": 1.0, + "content": "invariances which allows the same function to be represented with many different parameter values of", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 417, + 506, + 429 + ], + "spans": [ + { + "bbox": [ + 106, + 417, + 506, + 429 + ], + "score": 1.0, + "content": "the same network and imposes a counter-intuitive geometry on the loss landscape (Neyshabur et al.,", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 427, + 210, + 440 + ], + "spans": [ + { + "bbox": [ + 106, + 427, + 210, + 440 + ], + "score": 1.0, + "content": "2015; Brea et al., 2019a).", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 18, + "bbox_fs": [ + 104, + 318, + 507, + 440 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 444, + 505, + 522 + ], + "lines": [ + { + "bbox": [ + 105, + 444, + 505, + 457 + ], + "spans": [ + { + "bbox": [ + 105, + 444, + 505, + 457 + ], + "score": 1.0, + "content": "Previous work study the relationship between different minima found by SGD and establish that", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 456, + 505, + 469 + ], + "spans": [ + { + "bbox": [ + 105, + 456, + 505, + 469 + ], + "score": 1.0, + "content": "they are connected by a path of non-increasing loss; however, they are not connected by a linear", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 467, + 505, + 479 + ], + "spans": [ + { + "bbox": [ + 105, + 467, + 505, + 479 + ], + "score": 1.0, + "content": "path (Freeman & Bruna, 2016; Draxler et al., 2018; Garipov et al., 2018). This phenomenon is often", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 478, + 505, + 490 + ], + "spans": [ + { + "bbox": [ + 105, + 478, + 505, + 490 + ], + "score": 1.0, + "content": "referred to as mode connectivity (Garipov et al., 2018) and the loss increase on the path between two", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 489, + 505, + 501 + ], + "spans": [ + { + "bbox": [ + 105, + 489, + 505, + 501 + ], + "score": 1.0, + "content": "solutions is often referred to as (energy) barrier (Draxler et al., 2018). Understanding linear mode", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 499, + 505, + 512 + ], + "spans": [ + { + "bbox": [ + 105, + 499, + 505, + 512 + ], + "score": 1.0, + "content": "connectivity (LMC) is highly motivated by several direct conceptual and practical implications from", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 511, + 422, + 523 + ], + "spans": [ + { + "bbox": [ + 105, + 511, + 422, + 523 + ], + "score": 1.0, + "content": "pruning and sparse training to distributed optimization and ensemble methods.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 27, + "bbox_fs": [ + 105, + 444, + 505, + 523 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 527, + 505, + 637 + ], + "lines": [ + { + "bbox": [ + 105, + 527, + 506, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 527, + 506, + 541 + ], + "score": 1.0, + "content": "The relationship between LMC and pruning was established by Frankle et al. (2020) where they", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 538, + 506, + 551 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 506, + 551 + ], + "score": 1.0, + "content": "showed the correspondence between LMC and the well-known lottery ticket hypothesis (LTH) (Fran-", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 549, + 506, + 562 + ], + "spans": [ + { + "bbox": [ + 105, + 549, + 506, + 562 + ], + "score": 1.0, + "content": "kle & Carbin, 2019). In short, LTH conjectures that neural networks contain sparse subnetworks", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 560, + 505, + 572 + ], + "spans": [ + { + "bbox": [ + 106, + 560, + 505, + 572 + ], + "score": 1.0, + "content": "that can be trained in isolation, from initialization, or early in training to achieve comparable test", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 572, + 506, + 584 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 584 + ], + "score": 1.0, + "content": "accuracy. Frankle et al. (2020) showed that solutions that are linearly connected with no barrier", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 581, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 105, + 581, + 505, + 595 + ], + "score": 1.0, + "content": "have the same lottery ticket. They further discuss how linear-connectivity is associated with stability", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "spans": [ + { + "bbox": [ + 105, + 593, + 506, + 606 + ], + "score": 1.0, + "content": "of SGD. This view suggests that SGD solutions that are linearly connected with no barrier can be", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 604, + 506, + 617 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 506, + 617 + ], + "score": 1.0, + "content": "thought of as being in the same basin of the loss landscape and once SGD converges to a basin, it", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "score": 1.0, + "content": "shows a stable behavior inside the basin1. Because of the direct correspondence between LMC and", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 105, + 625, + 507, + 639 + ], + "spans": [ + { + "bbox": [ + 105, + 625, + 507, + 639 + ], + "score": 1.0, + "content": "LTH, any understanding of LMC, has implications for LTH, stability of SGD and pruning techniques.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 35.5, + "bbox_fs": [ + 105, + 527, + 507, + 639 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 642, + 505, + 709 + ], + "lines": [ + { + "bbox": [ + 105, + 641, + 506, + 657 + ], + "spans": [ + { + "bbox": [ + 105, + 641, + 506, + 657 + ], + "score": 1.0, + "content": "Linear mode connectivity has also direct implications for ensemble methods and distributed training.", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 653, + 505, + 667 + ], + "spans": [ + { + "bbox": [ + 105, + 653, + 505, + 667 + ], + "score": 1.0, + "content": "Ensemble methods highly depend on an understanding of the loss landscape and being able to sample", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 663, + 506, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 663, + 506, + 679 + ], + "score": 1.0, + "content": "from solutions. Better understanding of mode connectivity has been shown to be essential in devising", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 675, + 506, + 689 + ], + "spans": [ + { + "bbox": [ + 105, + 675, + 506, + 689 + ], + "score": 1.0, + "content": "better ensemble methods (Garipov et al., 2018). Linear mode connectivity between solutions or", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 686, + 506, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 686, + 506, + 700 + ], + "score": 1.0, + "content": "checkpoints also allows for weight averaging techniques for distributed optimization to be used as", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 698, + 401, + 710 + ], + "spans": [ + { + "bbox": [ + 106, + 698, + 401, + 710 + ], + "score": 1.0, + "content": "effectively in deep learning as convex optimization (Scaman et al., 2019).", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 43.5, + "bbox_fs": [ + 105, + 641, + 506, + 710 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 117, + 61, + 491, + 164 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 117, + 61, + 491, + 164 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 117, + 61, + 491, + 164 + ], + "spans": [ + { + "bbox": [ + 117, + 61, + 491, + 164 + ], + "score": 0.968, + "type": "image", + "image_path": "bd39910b9bbb3c320e78441a0a0cde113638c5b22f4b22aaff247f0d15b7a77a.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 117, + 61, + 491, + 95.33333333333334 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 117, + 95.33333333333334, + 491, + 129.66666666666669 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 117, + 129.66666666666669, + 491, + 164.00000000000003 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 164, + 505, + 284 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 163, + 506, + 176 + ], + "spans": [ + { + "bbox": [ + 105, + 163, + 506, + 176 + ], + "score": 1.0, + "content": "Figure 1: Linear mode connectivity when using permutation invariance. Left: Schematic picture of four", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 173, + 506, + 186 + ], + "spans": [ + { + "bbox": [ + 105, + 173, + 137, + 186 + ], + "score": 1.0, + "content": "minima", + "type": "text" + }, + { + "bbox": [ + 137, + 174, + 180, + 185 + ], + "score": 0.91, + "content": "A , B , C , D", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 173, + 506, + 186 + ], + "score": 1.0, + "content": "in different basins with an energy barrier between each pair. However, our conjecture", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 104, + 183, + 506, + 196 + ], + "spans": [ + { + "bbox": [ + 104, + 183, + 246, + 196 + ], + "score": 1.0, + "content": "suggests that permuting hidden units of", + "type": "text" + }, + { + "bbox": [ + 247, + 185, + 255, + 193 + ], + "score": 0.68, + "content": "B", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 183, + 258, + 196 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 258, + 185, + 266, + 193 + ], + "score": 0.7, + "content": "C", + "type": "inline_equation" + }, + { + "bbox": [ + 267, + 183, + 282, + 196 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 282, + 185, + 291, + 193 + ], + "score": 0.77, + "content": "D", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 183, + 346, + 196 + ], + "score": 1.0, + "content": "would result in", + "type": "text" + }, + { + "bbox": [ + 347, + 184, + 357, + 193 + ], + "score": 0.81, + "content": "B ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 183, + 361, + 196 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 361, + 184, + 372, + 194 + ], + "score": 0.83, + "content": "C ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 372, + 183, + 388, + 196 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 388, + 184, + 399, + 193 + ], + "score": 0.86, + "content": "\\bar { D } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 183, + 506, + 196 + ], + "score": 1.0, + "content": "which present the exact same", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 106, + 194, + 505, + 205 + ], + "spans": [ + { + "bbox": [ + 106, + 194, + 419, + 205 + ], + "score": 1.0, + "content": "function as before permutation while having no barrier on their linear interpolation with", + "type": "text" + }, + { + "bbox": [ + 420, + 195, + 427, + 203 + ], + "score": 0.63, + "content": "A", + "type": "inline_equation" + }, + { + "bbox": [ + 428, + 194, + 505, + 205 + ], + "score": 1.0, + "content": ". Middle: Our model", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 204, + 505, + 215 + ], + "spans": [ + { + "bbox": [ + 106, + 204, + 505, + 215 + ], + "score": 1.0, + "content": "for barriers in real world SGD solutions. In real world we train networks by running SGD with different random", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 104, + 212, + 506, + 227 + ], + "spans": [ + { + "bbox": [ + 104, + 212, + 506, + 227 + ], + "score": 1.0, + "content": "seeds starting from different initializations. In our model, different final networks are achieved by applying", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 224, + 506, + 236 + ], + "spans": [ + { + "bbox": [ + 105, + 224, + 506, + 236 + ], + "score": 1.0, + "content": "random permutations to the same SGD solution (or equivalently, applying random permutations to the same", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 234, + 506, + 245 + ], + "spans": [ + { + "bbox": [ + 106, + 234, + 506, + 245 + ], + "score": 1.0, + "content": "initialization and then running SGD with the same seed on them). Right: Aggregation of our extensive empirical", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 243, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 105, + 243, + 506, + 255 + ], + "score": 1.0, + "content": "evidence (more than 3000 trained networks) in one density plot comparing barriers in real world against our", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 254, + 505, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 254, + 505, + 265 + ], + "score": 1.0, + "content": "model across different choices of architecture family, dataset, width, depth, and random seed. Points in the", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 263, + 506, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 263, + 506, + 276 + ], + "score": 1.0, + "content": "lower left mostly correspond to lowest barrier found after searching in the space of valid permutations using a", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 273, + 499, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 273, + 499, + 286 + ], + "score": 1.0, + "content": "Simulated Annealing (SA). For a detailed view on architectures and datasets see Figure 10 in Appendix A.3.", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 8.5 + } + ], + "index": 4.75 + }, + { + "type": "text", + "bbox": [ + 107, + 307, + 505, + 372 + ], + "lines": [ + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "score": 1.0, + "content": "In this paper, we conjecture that by taking permutation invariance into account, the loss landscape", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 317, + 506, + 330 + ], + "spans": [ + { + "bbox": [ + 105, + 317, + 506, + 330 + ], + "score": 1.0, + "content": "can be simplified significantly resulting in linear mode connectivity between SGD solutions. We", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 329, + 506, + 342 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 506, + 342 + ], + "score": 1.0, + "content": "investigate this conjecture both theoretically and empirically through extensive experiments. We", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "show how our attempts fall short of refuting this hypothesis and end up as supporting evidence for it", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 349, + 506, + 364 + ], + "spans": [ + { + "bbox": [ + 105, + 349, + 506, + 364 + ], + "score": 1.0, + "content": "(see Figure 1). We believe our conjecture sheds light into the structure of loss landscape and could", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 362, + 343, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 343, + 373 + ], + "score": 1.0, + "content": "lead to practical implications for the aforementioned areas.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 17.5 + }, + { + "type": "text", + "bbox": [ + 107, + 378, + 356, + 390 + ], + "lines": [ + { + "bbox": [ + 106, + 377, + 357, + 392 + ], + "spans": [ + { + "bbox": [ + 106, + 377, + 357, + 392 + ], + "score": 1.0, + "content": "Contributions. 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To overcome", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 141, + 513, + 505, + 526 + ], + "spans": [ + { + "bbox": [ + 141, + 513, + 505, + 526 + ], + "score": 1.0, + "content": "the computational challenge of directly evaluating the hypothesis empirically, which requires", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 141, + 524, + 505, + 537 + ], + "spans": [ + { + "bbox": [ + 141, + 524, + 505, + 537 + ], + "score": 1.0, + "content": "searching in the space of all possible permutations, we propose an alternative approach. 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Left: Schematic picture of four", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 173, + 506, + 186 + ], + "spans": [ + { + "bbox": [ + 105, + 173, + 137, + 186 + ], + "score": 1.0, + "content": "minima", + "type": "text" + }, + { + "bbox": [ + 137, + 174, + 180, + 185 + ], + "score": 0.91, + "content": "A , B , C , D", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 173, + 506, + 186 + ], + "score": 1.0, + "content": "in different basins with an energy barrier between each pair. 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Right: Aggregation of our extensive empirical", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 105, + 243, + 506, + 255 + ], + "spans": [ + { + "bbox": [ + 105, + 243, + 506, + 255 + ], + "score": 1.0, + "content": "evidence (more than 3000 trained networks) in one density plot comparing barriers in real world against our", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 254, + 505, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 254, + 505, + 265 + ], + "score": 1.0, + "content": "model across different choices of architecture family, dataset, width, depth, and random seed. Points in the", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 263, + 506, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 263, + 506, + 276 + ], + "score": 1.0, + "content": "lower left mostly correspond to lowest barrier found after searching in the space of valid permutations using a", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 273, + 499, + 286 + ], + "spans": [ + { + "bbox": [ + 105, + 273, + 499, + 286 + ], + "score": 1.0, + "content": "Simulated Annealing (SA). 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We believe our conjecture sheds light into the structure of loss landscape and could", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 362, + 343, + 373 + ], + "spans": [ + { + "bbox": [ + 105, + 362, + 343, + 373 + ], + "score": 1.0, + "content": "lead to practical implications for the aforementioned areas.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 17.5, + "bbox_fs": [ + 105, + 307, + 506, + 373 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 378, + 356, + 390 + ], + "lines": [ + { + "bbox": [ + 106, + 377, + 357, + 392 + ], + "spans": [ + { + "bbox": [ + 106, + 377, + 357, + 392 + ], + "score": 1.0, + "content": "Contributions. This paper makes the following contributions:", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21, + "bbox_fs": [ + 106, + 377, + 357, + 392 + ] + }, + { + "type": "list", + "bbox": [ + 133, + 399, + 506, + 578 + ], + "lines": [ + { + "bbox": [ + 134, + 399, + 506, + 412 + ], + "spans": [ + { + "bbox": [ + 134, + 399, + 506, + 412 + ], + "score": 1.0, + "content": "• We study linear mode connectivity (LMC) between solutions trained from different initial-", + "type": "text" + } + ], + "index": 22, + "is_list_start_line": true + }, + { + "bbox": [ + 141, + 410, + 505, + 423 + ], + "spans": [ + { + "bbox": [ + 141, + 410, + 505, + 423 + ], + "score": 1.0, + "content": "izations and investigate how it is affected by choices such as width, depth and task difficulty", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 141, + 421, + 385, + 434 + ], + "spans": [ + { + "bbox": [ + 141, + 421, + 385, + 434 + ], + "score": 1.0, + "content": "for fully connected and convolutional networks ( Section 2).", + "type": "text" + } + ], + "index": 24, + "is_list_end_line": true + }, + { + "bbox": [ + 137, + 437, + 505, + 450 + ], + "spans": [ + { + "bbox": [ + 137, + 437, + 505, + 450 + ], + "score": 1.0, + "content": "• We introduce our main conjecture in Section 3: If invariances are taken into account, there", + "type": "text" + } + ], + "index": 25, + "is_list_start_line": true + }, + { + "bbox": [ + 141, + 448, + 506, + 461 + ], + "spans": [ + { + "bbox": [ + 141, + 448, + 506, + 461 + ], + "score": 1.0, + "content": "will likely be no barrier on the linear interpolation of SGD solutions (see the left panel of", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 142, + 460, + 184, + 471 + ], + "spans": [ + { + "bbox": [ + 142, + 460, + 184, + 471 + ], + "score": 1.0, + "content": "Figure 1).", + "type": "text" + } + ], + "index": 27, + "is_list_end_line": true + }, + { + "bbox": [ + 133, + 475, + 505, + 488 + ], + "spans": [ + { + "bbox": [ + 133, + 475, + 505, + 488 + ], + "score": 1.0, + "content": "• By investigating the conjecture theoretically, we prove that it holds for a wide enough", + "type": "text" + } + ], + "index": 28, + "is_list_start_line": true + }, + { + "bbox": [ + 140, + 486, + 479, + 499 + ], + "spans": [ + { + "bbox": [ + 140, + 486, + 479, + 499 + ], + "score": 1.0, + "content": "fully-connected network with one hidden layer at random initialization ( Section 3).", + "type": "text" + } + ], + "index": 29, + "is_list_end_line": true + }, + { + "bbox": [ + 134, + 501, + 505, + 515 + ], + "spans": [ + { + "bbox": [ + 134, + 501, + 505, + 515 + ], + "score": 1.0, + "content": "• In Section 4, we provide strong empirical evidence in support of our conjecture. To overcome", + "type": "text" + } + ], + "index": 30, + "is_list_start_line": true + }, + { + "bbox": [ + 141, + 513, + 505, + 526 + ], + "spans": [ + { + "bbox": [ + 141, + 513, + 505, + 526 + ], + "score": 1.0, + "content": "the computational challenge of directly evaluating the hypothesis empirically, which requires", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 141, + 524, + 505, + 537 + ], + "spans": [ + { + "bbox": [ + 141, + 524, + 505, + 537 + ], + "score": 1.0, + "content": "searching in the space of all possible permutations, we propose an alternative approach. 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Permutation symmetry of neurons in every layer results in multiple equivalent", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 600, + 505, + 613 + ], + "spans": [ + { + "bbox": [ + 105, + 600, + 505, + 613 + ], + "score": 1.0, + "content": "minima connected via saddle points. Few studies investigate the role of these symmetries in the", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 611, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 611, + 387, + 624 + ], + "score": 1.0, + "content": "context of connectivity of different basins. 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(2020) in that they used", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 107, + 336, + 506, + 349 + ], + "spans": [ + { + "bbox": [ + 107, + 336, + 194, + 348 + ], + "score": 0.91, + "content": "0 . 5 \\mathcal { L } ( \\theta _ { 1 } ) + 0 . 5 \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 336, + 239, + 349 + ], + "score": 1.0, + "content": "instead of", + "type": "text" + }, + { + "bbox": [ + 240, + 336, + 340, + 348 + ], + "score": 0.9, + "content": "\\alpha \\mathcal { L } ( \\theta _ { 1 } ) + ( \\bar { 1 } - \\bar { \\alpha } ) \\mathcal { L } ( \\theta _ { 2 } ) ", + "type": "inline_equation" + }, + { + "bbox": [ + 340, + 336, + 506, + 349 + ], + "score": 1.0, + "content": "in our definition. These definitions are", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 346, + 506, + 361 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 155, + 361 + ], + "score": 1.0, + "content": "the same if", + "type": "text" + }, + { + "bbox": [ + 156, + 347, + 220, + 360 + ], + "score": 0.93, + "content": "\\mathcal { L } ( \\theta _ { 1 } ) \\stackrel { \\cdot } { = } \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 220, + 346, + 254, + 361 + ], + "score": 1.0, + "content": ". But if", + "type": "text" + }, + { + "bbox": [ + 254, + 348, + 307, + 360 + ], + "score": 0.92, + "content": "\\mathcal { L } ( \\theta _ { 1 } ) , \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 346, + 506, + 361 + ], + "score": 1.0, + "content": "are different, we find our definition to be more", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 104, + 358, + 503, + 372 + ], + "spans": [ + { + "bbox": [ + 104, + 358, + 464, + 372 + ], + "score": 1.0, + "content": "appropriate because it assigns no barrier value to a loss that is changing linearly between", + "type": "text" + }, + { + "bbox": [ + 464, + 359, + 474, + 369 + ], + "score": 0.88, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 475, + 358, + 492, + 372 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 492, + 358, + 503, + 369 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + } + ], + "index": 17 + }, + { + "bbox": [ + 104, + 368, + 506, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 368, + 212, + 383 + ], + "score": 1.0, + "content": "We say that two networks", + "type": "text" + }, + { + "bbox": [ + 212, + 370, + 222, + 380 + ], + "score": 0.89, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 368, + 240, + 383 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 241, + 370, + 251, + 380 + ], + "score": 0.88, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 368, + 506, + 383 + ], + "score": 1.0, + "content": "are linear mode connected if the barrier between them along a", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 380, + 506, + 392 + ], + "spans": [ + { + "bbox": [ + 105, + 380, + 159, + 392 + ], + "score": 1.0, + "content": "linear path is", + "type": "text" + }, + { + "bbox": [ + 159, + 381, + 176, + 390 + ], + "score": 0.84, + "content": "\\approx 0", + "type": "inline_equation" + }, + { + "bbox": [ + 176, + 380, + 506, + 392 + ], + "score": 1.0, + "content": "(Frankle et al., 2020). It has been observed in the literature that any two minimizers", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 391, + 506, + 404 + ], + "spans": [ + { + "bbox": [ + 106, + 391, + 506, + 404 + ], + "score": 1.0, + "content": "of a deep network can be connected via a non-linear low-loss path (Garipov et al., 2018; Draxler", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "score": 1.0, + "content": "et al., 2018; Fort & Jastrzebski, 2019). This work examines linear mode connectivity (LMC) between", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 414, + 505, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 414, + 505, + 425 + ], + "score": 1.0, + "content": "minima. Next, we empirically investigate the effect of task difficulty and choices such as architecture", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 424, + 313, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 313, + 435 + ], + "score": 1.0, + "content": "family, width and depth on LMC of SGD solutions.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 18.5 + }, + { + "type": "title", + "bbox": [ + 108, + 449, + 301, + 461 + ], + "lines": [ + { + "bbox": [ + 106, + 449, + 302, + 462 + ], + "spans": [ + { + "bbox": [ + 106, + 449, + 302, + 462 + ], + "score": 1.0, + "content": "2.2 EMPIRICAL INVESTIGATION: BARRIERS", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 24 + }, + { + "type": "text", + "bbox": [ + 106, + 470, + 506, + 580 + ], + "lines": [ + { + "bbox": [ + 105, + 469, + 506, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 506, + 483 + ], + "score": 1.0, + "content": "In this section, we look into barriers between different SGD solutions on all combinations of four", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 481, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 506, + 494 + ], + "score": 1.0, + "content": "architecture families (MLP (Rosenblatt, 1961), Shallow CNN (Neyshabur, 2020), ResNet (He et al.,", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 491, + 506, + 505 + ], + "spans": [ + { + "bbox": [ + 105, + 491, + 506, + 505 + ], + "score": 1.0, + "content": "2015) and VGG (Simonyan & Zisserman, 2015)) and four datasets (MNIST (LeCun & Cortes, 2010),", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "score": 1.0, + "content": "SVHN (Netzer et al., 2011), CIFAR-10 (Krizhevsky et al., 2009) and CIFAR-100 (Krizhevsky et al.,", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 513, + 506, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 513, + 506, + 527 + ], + "score": 1.0, + "content": "2009)). The main motivation to use Shallow CNN is to move from fully connected layers (MLP)", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 525, + 506, + 538 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 506, + 538 + ], + "score": 1.0, + "content": "to convolutions. The main difference between Shallow CNN and VGG16 is depth and the main", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 535, + 506, + 549 + ], + "spans": [ + { + "bbox": [ + 105, + 535, + 506, + 549 + ], + "score": 1.0, + "content": "difference between ResNet18 and VGG16 is existence of residual connections. We empirically", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 547, + 506, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 547, + 506, + 560 + ], + "score": 1.0, + "content": "investigate how different factors such as architecture family, width, depth and task difficulty impact", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 557, + 506, + 570 + ], + "spans": [ + { + "bbox": [ + 105, + 557, + 506, + 570 + ], + "score": 1.0, + "content": "the barrier size2. We refer to training loss barrier as barrier. For loss barriers on a test set see E.4. For", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 569, + 223, + 581 + ], + "spans": [ + { + "bbox": [ + 106, + 569, + 223, + 581 + ], + "score": 1.0, + "content": "train and test errors see A.2 .", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 29.5 + }, + { + "type": "text", + "bbox": [ + 106, + 593, + 505, + 671 + ], + "lines": [ + { + "bbox": [ + 105, + 591, + 506, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 506, + 607 + ], + "score": 1.0, + "content": "Width: We evaluate the impact of width on the barrier size in Figure 2. We note that for large", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 605, + 505, + 616 + ], + "spans": [ + { + "bbox": [ + 106, + 605, + 505, + 616 + ], + "score": 1.0, + "content": "values of width the barrier becomes small. This effect starts at lower width for simpler datasets", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "score": 1.0, + "content": "such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals that the barrier", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 627, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 505, + 638 + ], + "score": 1.0, + "content": "increases with width up to a point and beyond that increasing width leads to lower barrier size. This", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 637, + 506, + 649 + ], + "spans": [ + { + "bbox": [ + 106, + 637, + 506, + 649 + ], + "score": 1.0, + "content": "effect is reminiscent of the double descent phenomena (Belkin et al., 2019; Nakkiran et al., 2019).", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "score": 1.0, + "content": "Checking the test error (Figure 8) indicates that in our experiments the barrier peak happens at the", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 659, + 505, + 671 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 505, + 671 + ], + "score": 1.0, + "content": "same size that needed to fit the training data. This phenomena is observed for both fully-connected", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 38 + } + ], + "page_idx": 2, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 106, + 679, + 505, + 733 + ], + "lines": [ + { + "bbox": [ + 118, + 678, + 506, + 692 + ], + "spans": [ + { + "bbox": [ + 118, + 678, + 506, + 692 + ], + "score": 1.0, + "content": "2In all plots the barrier is evaluated using training loss across 5 different random pairs (10 random SGD", + "type": "text" + } + ] + }, + { + "bbox": [ + 106, + 690, + 506, + 702 + ], + "spans": [ + { + "bbox": [ + 106, + 690, + 506, + 702 + ], + "score": 1.0, + "content": "solutions). For easier comparison between all figures, we report the train accuracy barrier in all barrier plots.", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 334, + 712 + ], + "score": 1.0, + "content": "In our experiments, we observed that evaluating the barrier at", + "type": "text" + }, + { + "bbox": [ + 334, + 700, + 359, + 712 + ], + "score": 0.92, + "content": "\\alpha = { \\textstyle { \\frac { 1 } { 2 } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 360, + 699, + 506, + 712 + ], + "score": 1.0, + "content": "is a reasonable surrogate for taking the", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 711, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 105, + 711, + 164, + 723 + ], + "score": 1.0, + "content": "supremum over", + "type": "text" + }, + { + "bbox": [ + 164, + 713, + 171, + 721 + ], + "score": 0.78, + "content": "\\alpha", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 711, + 267, + 723 + ], + "score": 1.0, + "content": "(the difference is less than", + "type": "text" + }, + { + "bbox": [ + 267, + 711, + 287, + 721 + ], + "score": 0.87, + "content": "1 0 ^ { - 4 }", + "type": "inline_equation" + }, + { + "bbox": [ + 287, + 711, + 506, + 723 + ], + "score": 1.0, + "content": "). Therefore, to save computation, we report the barrier value", + "type": "text" + } + ] + }, + { + "bbox": [ + 105, + 721, + 144, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 722, + 115, + 732 + ], + "score": 1.0, + "content": "at", + "type": "text" + }, + { + "bbox": [ + 115, + 721, + 140, + 733 + ], + "score": 0.93, + "content": "\\begin{array} { r } { \\dot { \\alpha } = \\frac { 1 } { 2 } } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 724, + 144, + 734 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 26, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "spans": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "score": 1.0, + "content": "3", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 106, + 82, + 504, + 105 + ], + "lines": [], + "index": 0.5, + "bbox_fs": [ + 105, + 82, + 505, + 105 + ], + "lines_deleted": true + }, + { + "type": "title", + "bbox": [ + 108, + 121, + 209, + 134 + ], + "lines": [ + { + "bbox": [ + 105, + 120, + 211, + 136 + ], + "spans": [ + { + "bbox": [ + 105, + 120, + 211, + 136 + ], + "score": 1.0, + "content": "2 LOSS BARRIERS", + "type": "text" + } + ], + "index": 2 + } + ], + "index": 2 + }, + { + "type": "text", + "bbox": [ + 107, + 146, + 505, + 180 + ], + "lines": [ + { + "bbox": [ + 105, + 147, + 506, + 159 + ], + "spans": [ + { + "bbox": [ + 105, + 147, + 506, + 159 + ], + "score": 1.0, + "content": "In this section, we first give a formal definition for linear mode connectivity and study how it", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 157, + 506, + 170 + ], + "spans": [ + { + "bbox": [ + 105, + 157, + 506, + 170 + ], + "score": 1.0, + "content": "is affected by different factors such as network width, depth, and task difficulty for a variety of", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 169, + 163, + 181 + ], + "spans": [ + { + "bbox": [ + 106, + 169, + 163, + 181 + ], + "score": 1.0, + "content": "architectures.", + "type": "text" + } + ], + "index": 5 + } + ], + "index": 4, + "bbox_fs": [ + 105, + 147, + 506, + 181 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 194, + 188, + 205 + ], + "lines": [ + { + "bbox": [ + 105, + 193, + 189, + 207 + ], + "spans": [ + { + "bbox": [ + 105, + 193, + 189, + 207 + ], + "score": 1.0, + "content": "2.1 DEFINITIONS", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 6 + }, + { + "type": "text", + "bbox": [ + 106, + 214, + 505, + 281 + ], + "lines": [ + { + "bbox": [ + 105, + 214, + 505, + 227 + ], + "spans": [ + { + "bbox": [ + 105, + 214, + 123, + 227 + ], + "score": 1.0, + "content": "Let", + "type": "text" + }, + { + "bbox": [ + 124, + 215, + 144, + 227 + ], + "score": 0.91, + "content": "f _ { \\theta } ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 145, + 214, + 428, + 227 + ], + "score": 1.0, + "content": "be a function presented by a neural network with parameter vector", + "type": "text" + }, + { + "bbox": [ + 428, + 216, + 435, + 225 + ], + "score": 0.79, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 435, + 214, + 505, + 227 + ], + "score": 1.0, + "content": "that includes all", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 104, + 225, + 505, + 239 + ], + "spans": [ + { + "bbox": [ + 104, + 225, + 173, + 239 + ], + "score": 1.0, + "content": "parameters and", + "type": "text" + }, + { + "bbox": [ + 173, + 226, + 193, + 237 + ], + "score": 0.9, + "content": "\\mathcal { L } ( \\boldsymbol { \\theta } )", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 225, + 403, + 239 + ], + "score": 1.0, + "content": "be the any given loss (e.g., train or test error) of", + "type": "text" + }, + { + "bbox": [ + 403, + 226, + 424, + 238 + ], + "score": 0.91, + "content": "f _ { \\theta } ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 424, + 225, + 449, + 239 + ], + "score": 1.0, + "content": ". Let", + "type": "text" + }, + { + "bbox": [ + 449, + 226, + 505, + 238 + ], + "score": 0.93, + "content": "\\mathcal { E } _ { \\alpha } ( \\theta _ { 1 } , \\theta _ { 2 } ) =", + "type": "inline_equation" + } + ], + "index": 8 + }, + { + "bbox": [ + 107, + 235, + 506, + 251 + ], + "spans": [ + { + "bbox": [ + 107, + 237, + 193, + 249 + ], + "score": 0.92, + "content": "\\mathbf { \\bar { \\mathcal { L } } } ( \\alpha \\theta _ { 1 } + ( 1 - \\alpha ) \\dot { \\theta } _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 193, + 235, + 213, + 251 + ], + "score": 1.0, + "content": ", for", + "type": "text" + }, + { + "bbox": [ + 213, + 237, + 256, + 249 + ], + "score": 0.92, + "content": "\\alpha \\in [ 0 , 1 ]", + "type": "inline_equation" + }, + { + "bbox": [ + 256, + 235, + 506, + 251 + ], + "score": 1.0, + "content": "be the loss of the network created by linearly interpolating", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 248, + 506, + 261 + ], + "spans": [ + { + "bbox": [ + 106, + 248, + 258, + 261 + ], + "score": 1.0, + "content": "between parameters of two networks", + "type": "text" + }, + { + "bbox": [ + 259, + 248, + 283, + 260 + ], + "score": 0.92, + "content": "f _ { \\theta _ { 1 } } ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 284, + 248, + 302, + 261 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 302, + 248, + 327, + 260 + ], + "score": 0.91, + "content": "f _ { \\theta _ { 2 } } ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 248, + 398, + 261 + ], + "score": 1.0, + "content": ". The loss barrier", + "type": "text" + }, + { + "bbox": [ + 398, + 248, + 438, + 260 + ], + "score": 0.93, + "content": "B ( \\theta _ { 1 } , \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 438, + 248, + 506, + 261 + ], + "score": 1.0, + "content": "along the linear", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 104, + 258, + 506, + 272 + ], + "spans": [ + { + "bbox": [ + 104, + 258, + 162, + 272 + ], + "score": 1.0, + "content": "path between", + "type": "text" + }, + { + "bbox": [ + 162, + 259, + 172, + 270 + ], + "score": 0.88, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 258, + 190, + 272 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 191, + 259, + 201, + 270 + ], + "score": 0.88, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 201, + 258, + 506, + 272 + ], + "score": 1.0, + "content": "is defined as the highest difference between the loss occurred when linearly", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 270, + 456, + 283 + ], + "spans": [ + { + "bbox": [ + 106, + 270, + 197, + 283 + ], + "score": 1.0, + "content": "connecting two points", + "type": "text" + }, + { + "bbox": [ + 197, + 271, + 221, + 281 + ], + "score": 0.92, + "content": "\\theta _ { 1 } , \\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 221, + 270, + 456, + 283 + ], + "score": 1.0, + "content": "and linear interpolation of the loss values at each of them:", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 9.5, + "bbox_fs": [ + 104, + 214, + 506, + 283 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 164, + 293, + 446, + 314 + ], + "lines": [ + { + "bbox": [ + 164, + 293, + 446, + 314 + ], + "spans": [ + { + "bbox": [ + 164, + 293, + 446, + 314 + ], + "score": 0.89, + "content": "B ( \\theta _ { 1 } , \\theta _ { 2 } ) = \\operatorname* { s u p } _ { \\alpha } [ [ { \\mathcal { L } } ( \\alpha \\theta _ { 1 } + ( 1 - \\alpha ) \\theta _ { 2 } ) ] - [ \\alpha { \\mathcal { L } } ( \\theta _ { 1 } ) + ( 1 - \\alpha ) { \\mathcal { L } } ( \\theta _ { 2 } ) ] ] .", + "type": "interline_equation", + "image_path": "c1022ee44d69b435a81053c941360eb15d9d786372dc984280ba442bb16a8d23.jpg" + } + ] + } + ], + "index": 13, + "virtual_lines": [ + { + "bbox": [ + 164, + 293, + 446, + 314 + ], + "spans": [], + "index": 13 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 325, + 505, + 435 + ], + "lines": [ + { + "bbox": [ + 105, + 325, + 506, + 338 + ], + "spans": [ + { + "bbox": [ + 105, + 325, + 506, + 338 + ], + "score": 1.0, + "content": "The above definition differs from what was proposed by Frankle et al. (2020) in that they used", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 107, + 336, + 506, + 349 + ], + "spans": [ + { + "bbox": [ + 107, + 336, + 194, + 348 + ], + "score": 0.91, + "content": "0 . 5 \\mathcal { L } ( \\theta _ { 1 } ) + 0 . 5 \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 336, + 239, + 349 + ], + "score": 1.0, + "content": "instead of", + "type": "text" + }, + { + "bbox": [ + 240, + 336, + 340, + 348 + ], + "score": 0.9, + "content": "\\alpha \\mathcal { L } ( \\theta _ { 1 } ) + ( \\bar { 1 } - \\bar { \\alpha } ) \\mathcal { L } ( \\theta _ { 2 } ) ", + "type": "inline_equation" + }, + { + "bbox": [ + 340, + 336, + 506, + 349 + ], + "score": 1.0, + "content": "in our definition. These definitions are", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 346, + 506, + 361 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 155, + 361 + ], + "score": 1.0, + "content": "the same if", + "type": "text" + }, + { + "bbox": [ + 156, + 347, + 220, + 360 + ], + "score": 0.93, + "content": "\\mathcal { L } ( \\theta _ { 1 } ) \\stackrel { \\cdot } { = } \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 220, + 346, + 254, + 361 + ], + "score": 1.0, + "content": ". But if", + "type": "text" + }, + { + "bbox": [ + 254, + 348, + 307, + 360 + ], + "score": 0.92, + "content": "\\mathcal { L } ( \\theta _ { 1 } ) , \\mathcal { L } ( \\theta _ { 2 } )", + "type": "inline_equation" + }, + { + "bbox": [ + 307, + 346, + 506, + 361 + ], + "score": 1.0, + "content": "are different, we find our definition to be more", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 104, + 358, + 503, + 372 + ], + "spans": [ + { + "bbox": [ + 104, + 358, + 464, + 372 + ], + "score": 1.0, + "content": "appropriate because it assigns no barrier value to a loss that is changing linearly between", + "type": "text" + }, + { + "bbox": [ + 464, + 359, + 474, + 369 + ], + "score": 0.88, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 475, + 358, + 492, + 372 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 492, + 358, + 503, + 369 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + } + ], + "index": 17 + }, + { + "bbox": [ + 104, + 368, + 506, + 383 + ], + "spans": [ + { + "bbox": [ + 104, + 368, + 212, + 383 + ], + "score": 1.0, + "content": "We say that two networks", + "type": "text" + }, + { + "bbox": [ + 212, + 370, + 222, + 380 + ], + "score": 0.89, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 223, + 368, + 240, + 383 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 241, + 370, + 251, + 380 + ], + "score": 0.88, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 252, + 368, + 506, + 383 + ], + "score": 1.0, + "content": "are linear mode connected if the barrier between them along a", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 380, + 506, + 392 + ], + "spans": [ + { + "bbox": [ + 105, + 380, + 159, + 392 + ], + "score": 1.0, + "content": "linear path is", + "type": "text" + }, + { + "bbox": [ + 159, + 381, + 176, + 390 + ], + "score": 0.84, + "content": "\\approx 0", + "type": "inline_equation" + }, + { + "bbox": [ + 176, + 380, + 506, + 392 + ], + "score": 1.0, + "content": "(Frankle et al., 2020). It has been observed in the literature that any two minimizers", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 391, + 506, + 404 + ], + "spans": [ + { + "bbox": [ + 106, + 391, + 506, + 404 + ], + "score": 1.0, + "content": "of a deep network can be connected via a non-linear low-loss path (Garipov et al., 2018; Draxler", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "score": 1.0, + "content": "et al., 2018; Fort & Jastrzebski, 2019). This work examines linear mode connectivity (LMC) between", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 414, + 505, + 425 + ], + "spans": [ + { + "bbox": [ + 106, + 414, + 505, + 425 + ], + "score": 1.0, + "content": "minima. Next, we empirically investigate the effect of task difficulty and choices such as architecture", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 424, + 313, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 313, + 435 + ], + "score": 1.0, + "content": "family, width and depth on LMC of SGD solutions.", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 18.5, + "bbox_fs": [ + 104, + 325, + 506, + 435 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 449, + 301, + 461 + ], + "lines": [ + { + "bbox": [ + 106, + 449, + 302, + 462 + ], + "spans": [ + { + "bbox": [ + 106, + 449, + 302, + 462 + ], + "score": 1.0, + "content": "2.2 EMPIRICAL INVESTIGATION: BARRIERS", + "type": "text" + } + ], + "index": 24 + } + ], + "index": 24 + }, + { + "type": "text", + "bbox": [ + 106, + 470, + 506, + 580 + ], + "lines": [ + { + "bbox": [ + 105, + 469, + 506, + 483 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 506, + 483 + ], + "score": 1.0, + "content": "In this section, we look into barriers between different SGD solutions on all combinations of four", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 481, + 506, + 494 + ], + "spans": [ + { + "bbox": [ + 105, + 481, + 506, + 494 + ], + "score": 1.0, + "content": "architecture families (MLP (Rosenblatt, 1961), Shallow CNN (Neyshabur, 2020), ResNet (He et al.,", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 491, + 506, + 505 + ], + "spans": [ + { + "bbox": [ + 105, + 491, + 506, + 505 + ], + "score": 1.0, + "content": "2015) and VGG (Simonyan & Zisserman, 2015)) and four datasets (MNIST (LeCun & Cortes, 2010),", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "spans": [ + { + "bbox": [ + 106, + 503, + 506, + 516 + ], + "score": 1.0, + "content": "SVHN (Netzer et al., 2011), CIFAR-10 (Krizhevsky et al., 2009) and CIFAR-100 (Krizhevsky et al.,", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 513, + 506, + 527 + ], + "spans": [ + { + "bbox": [ + 105, + 513, + 506, + 527 + ], + "score": 1.0, + "content": "2009)). The main motivation to use Shallow CNN is to move from fully connected layers (MLP)", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 525, + 506, + 538 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 506, + 538 + ], + "score": 1.0, + "content": "to convolutions. The main difference between Shallow CNN and VGG16 is depth and the main", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 535, + 506, + 549 + ], + "spans": [ + { + "bbox": [ + 105, + 535, + 506, + 549 + ], + "score": 1.0, + "content": "difference between ResNet18 and VGG16 is existence of residual connections. We empirically", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 547, + 506, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 547, + 506, + 560 + ], + "score": 1.0, + "content": "investigate how different factors such as architecture family, width, depth and task difficulty impact", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 557, + 506, + 570 + ], + "spans": [ + { + "bbox": [ + 105, + 557, + 506, + 570 + ], + "score": 1.0, + "content": "the barrier size2. We refer to training loss barrier as barrier. For loss barriers on a test set see E.4. For", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 569, + 223, + 581 + ], + "spans": [ + { + "bbox": [ + 106, + 569, + 223, + 581 + ], + "score": 1.0, + "content": "train and test errors see A.2 .", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 29.5, + "bbox_fs": [ + 105, + 469, + 506, + 581 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 593, + 505, + 671 + ], + "lines": [ + { + "bbox": [ + 105, + 591, + 506, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 506, + 607 + ], + "score": 1.0, + "content": "Width: We evaluate the impact of width on the barrier size in Figure 2. We note that for large", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 605, + 505, + 616 + ], + "spans": [ + { + "bbox": [ + 106, + 605, + 505, + 616 + ], + "score": 1.0, + "content": "values of width the barrier becomes small. This effect starts at lower width for simpler datasets", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "spans": [ + { + "bbox": [ + 105, + 615, + 506, + 628 + ], + "score": 1.0, + "content": "such as MNIST and SVHN compared to CIFAR datasets. A closer look reveals that the barrier", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 627, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 505, + 638 + ], + "score": 1.0, + "content": "increases with width up to a point and beyond that increasing width leads to lower barrier size. This", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 637, + 506, + 649 + ], + "spans": [ + { + "bbox": [ + 106, + 637, + 506, + 649 + ], + "score": 1.0, + "content": "effect is reminiscent of the double descent phenomena (Belkin et al., 2019; Nakkiran et al., 2019).", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "spans": [ + { + "bbox": [ + 106, + 648, + 505, + 660 + ], + "score": 1.0, + "content": "Checking the test error (Figure 8) indicates that in our experiments the barrier peak happens at the", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 659, + 505, + 671 + ], + "spans": [ + { + "bbox": [ + 105, + 659, + 505, + 671 + ], + "score": 1.0, + "content": "same size that needed to fit the training data. This phenomena is observed for both fully-connected", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 365, + 505, + 377 + ], + "spans": [ + { + "bbox": [ + 106, + 365, + 505, + 377 + ], + "score": 1.0, + "content": "and convolutional architectures. MLP architectures hit their peak at a lower width compared to CNNs", + "type": "text", + "cross_page": true + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 376, + 505, + 388 + ], + "spans": [ + { + "bbox": [ + 106, + 376, + 505, + 388 + ], + "score": 1.0, + "content": "and a decreasing trend starts earlier. For ResNets the barrier size is saturated at a high value and does", + "type": "text", + "cross_page": true + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "score": 1.0, + "content": "not change. The barrier value for VGG architecture on different datasets is also saturated at a high", + "type": "text", + "cross_page": true + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 398, + 505, + 410 + ], + "spans": [ + { + "bbox": [ + 106, + 398, + 505, + 410 + ], + "score": 1.0, + "content": "value and does not change by increasing the width. Such similar behavior observed for both ResNets", + "type": "text", + "cross_page": true + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 408, + 452, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 408, + 452, + 421 + ], + "score": 1.0, + "content": "and VGG architectures is due to the effect of depth as discussed in the next paragraph.", + "type": "text", + "cross_page": true + } + ], + "index": 22 + } + ], + "index": 38, + "bbox_fs": [ + 105, + 591, + 506, + 671 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 114, + 60, + 498, + 139 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 114, + 60, + 498, + 139 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 114, + 60, + 498, + 139 + ], + "spans": [ + { + "bbox": [ + 114, + 60, + 498, + 139 + ], + "score": 0.96, + "type": "image", + "image_path": "5816762c83bb4acdce92cab590a21ba7f2c561574375a64893a36539493c9ab0.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 114, + 60, + 498, + 86.33333333333333 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 114, + 86.33333333333333, + 498, + 112.66666666666666 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 114, + 112.66666666666666, + 498, + 139.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 140, + 505, + 201 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 140, + 506, + 151 + ], + "spans": [ + { + "bbox": [ + 106, + 140, + 506, + 151 + ], + "score": 1.0, + "content": "Figure 2: Effect of width on barrier size. From left to right: one-layer MLP, two-layer Shallow CNN,", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 149, + 506, + 162 + ], + "spans": [ + { + "bbox": [ + 105, + 149, + 506, + 162 + ], + "score": 1.0, + "content": "VGG-16 and ResNet-18 architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For large width sizes", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 160, + 505, + 171 + ], + "spans": [ + { + "bbox": [ + 106, + 160, + 505, + 171 + ], + "score": 1.0, + "content": "the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 170, + 506, + 181 + ], + "spans": [ + { + "bbox": [ + 105, + 170, + 506, + 181 + ], + "score": 1.0, + "content": "compared to CIFAR datasets. A closer look reveals a similar trend to that of double-descent phenomena. MLP", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 181, + 506, + 191 + ], + "spans": [ + { + "bbox": [ + 106, + 181, + 506, + 191 + ], + "score": 1.0, + "content": "architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNet,", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 190, + 505, + 201 + ], + "spans": [ + { + "bbox": [ + 106, + 190, + 505, + 201 + ], + "score": 1.0, + "content": "the barrier size is saturated at a high value and does not change due to the effect of depth as discussed in Figure 3.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "image", + "bbox": [ + 113, + 203, + 497, + 282 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 113, + 203, + 497, + 282 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 113, + 203, + 497, + 282 + ], + "spans": [ + { + "bbox": [ + 113, + 203, + 497, + 282 + ], + "score": 0.964, + "type": "image", + "image_path": "f1bdf451ba6cbe72c7cb3dbde2d761c257653f1ecaf694ac0f107cff3d18e534.jpg" + } + ] + } + ], + "index": 10, + "virtual_lines": [ + { + "bbox": [ + 113, + 203, + 497, + 229.33333333333334 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 113, + 229.33333333333334, + 497, + 255.66666666666669 + ], + "spans": [], + "index": 10 + }, + { + "bbox": [ + 113, + 255.66666666666669, + 497, + 282.0 + ], + "spans": [], + "index": 11 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 283, + 505, + 342 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 106, + 282, + 504, + 293 + ], + "spans": [ + { + "bbox": [ + 106, + 282, + 504, + 293 + ], + "score": 1.0, + "content": "Figure 3: Effect of depth on barrier size. From left to right MLP, Shallow CNN, VGG(11,13,16,19), and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 292, + 505, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 292, + 505, + 303 + ], + "score": 1.0, + "content": "ResNet(18,34,50) architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and Shallow", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 104, + 299, + 507, + 315 + ], + "spans": [ + { + "bbox": [ + 104, + 299, + 218, + 315 + ], + "score": 1.0, + "content": "CNN, we fix the layer width at", + "type": "text" + }, + { + "bbox": [ + 218, + 302, + 232, + 312 + ], + "score": 0.87, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 232, + 299, + 408, + 315 + ], + "score": 1.0, + "content": "while adding identical layers as shown along the", + "type": "text" + }, + { + "bbox": [ + 408, + 304, + 414, + 312 + ], + "score": 0.41, + "content": "\\mathbf { X }", + "type": "inline_equation" + }, + { + "bbox": [ + 414, + 299, + 507, + 315 + ], + "score": 1.0, + "content": "-axis. Similar behavior is", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 312, + 505, + 324 + ], + "spans": [ + { + "bbox": [ + 105, + 312, + 505, + 324 + ], + "score": 1.0, + "content": "observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 323, + 505, + 334 + ], + "spans": [ + { + "bbox": [ + 105, + 323, + 505, + 334 + ], + "score": 1.0, + "content": "a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 333, + 280, + 343 + ], + "spans": [ + { + "bbox": [ + 106, + 333, + 280, + 343 + ], + "score": 1.0, + "content": "until it saturates (as seen for VGG and ResNet).", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 14.5 + } + ], + "index": 12.25 + }, + { + "type": "text", + "bbox": [ + 107, + 365, + 505, + 420 + ], + "lines": [ + { + "bbox": [ + 106, + 365, + 505, + 377 + ], + "spans": [ + { + "bbox": [ + 106, + 365, + 505, + 377 + ], + "score": 1.0, + "content": "and convolutional architectures. MLP architectures hit their peak at a lower width compared to CNNs", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 106, + 376, + 505, + 388 + ], + "spans": [ + { + "bbox": [ + 106, + 376, + 505, + 388 + ], + "score": 1.0, + "content": "and a decreasing trend starts earlier. For ResNets the barrier size is saturated at a high value and does", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "spans": [ + { + "bbox": [ + 105, + 387, + 505, + 399 + ], + "score": 1.0, + "content": "not change. The barrier value for VGG architecture on different datasets is also saturated at a high", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 398, + 505, + 410 + ], + "spans": [ + { + "bbox": [ + 106, + 398, + 505, + 410 + ], + "score": 1.0, + "content": "value and does not change by increasing the width. Such similar behavior observed for both ResNets", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 408, + 452, + 421 + ], + "spans": [ + { + "bbox": [ + 105, + 408, + 452, + 421 + ], + "score": 1.0, + "content": "and VGG architectures is due to the effect of depth as discussed in the next paragraph.", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 20 + }, + { + "type": "text", + "bbox": [ + 106, + 433, + 505, + 576 + ], + "lines": [ + { + "bbox": [ + 106, + 433, + 505, + 446 + ], + "spans": [ + { + "bbox": [ + 106, + 433, + 505, + 446 + ], + "score": 1.0, + "content": "Depth: We vary network depth in Figure 3 to evaluate its impact on the barrier between optimal", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 104, + 442, + 506, + 458 + ], + "spans": [ + { + "bbox": [ + 104, + 442, + 436, + 458 + ], + "score": 1.0, + "content": "solutions obtained from different initializations. For MLPs, we fix the layer width at", + "type": "text" + }, + { + "bbox": [ + 436, + 444, + 451, + 454 + ], + "score": 0.79, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 451, + 442, + 506, + 458 + ], + "score": 1.0, + "content": "while adding", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 455, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 246, + 468 + ], + "score": 1.0, + "content": "identical layers as shown along the", + "type": "text" + }, + { + "bbox": [ + 246, + 457, + 253, + 465 + ], + "score": 0.36, + "content": "\\mathbf { X }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 455, + 506, + 468 + ], + "score": 1.0, + "content": "-axis. We observe a fast and significant barrier increase as more", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 466, + 506, + 479 + ], + "spans": [ + { + "bbox": [ + 105, + 466, + 506, + 479 + ], + "score": 1.0, + "content": "layers are added. For VGG architecture family we observe significant barriers. This might be due", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 477, + 505, + 488 + ], + "spans": [ + { + "bbox": [ + 106, + 477, + 505, + 488 + ], + "score": 1.0, + "content": "to the effect of convolution or depth. In order to shed light on this observation, we use Shallow", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 488, + 505, + 501 + ], + "spans": [ + { + "bbox": [ + 106, + 488, + 505, + 501 + ], + "score": 1.0, + "content": "CNN (Neyshabur, 2020) with only two convolutional layers. As can be seen in Figure 3 when", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 498, + 506, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 471, + 511 + ], + "score": 1.0, + "content": "Shallow CNN has two layers the barrier size is low, while keeping the layer width fixed at", + "type": "text" + }, + { + "bbox": [ + 472, + 498, + 487, + 509 + ], + "score": 0.82, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 487, + 498, + 506, + 511 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 510, + 506, + 522 + ], + "spans": [ + { + "bbox": [ + 106, + 510, + 506, + 522 + ], + "score": 1.0, + "content": "adding more layers increases the barrier size. For residual networks we also consider three ResNet", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 521, + 506, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 521, + 506, + 534 + ], + "score": 1.0, + "content": "architectures with 18, 34 and 50 layers and observe the same barrier sizes as VGG for all these depth", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 532, + 506, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 532, + 506, + 545 + ], + "score": 1.0, + "content": "values. The main overall observation from depth experiments is that for both fully-connected and", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 543, + 506, + 556 + ], + "spans": [ + { + "bbox": [ + 105, + 543, + 506, + 556 + ], + "score": 1.0, + "content": "convolutional architectures, increasing depth increases the barrier size significantly so the effect of", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 553, + 505, + 566 + ], + "spans": [ + { + "bbox": [ + 106, + 553, + 505, + 566 + ], + "score": 1.0, + "content": "depth is not similar to width. This can also be attributed to the observations that deeper networks", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 565, + 324, + 577 + ], + "spans": [ + { + "bbox": [ + 106, + 565, + 324, + 577 + ], + "score": 1.0, + "content": "usually have a less smooth landscape (Li et al., 2017).", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 29 + }, + { + "type": "text", + "bbox": [ + 107, + 589, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 588, + 505, + 602 + ], + "spans": [ + { + "bbox": [ + 106, + 588, + 505, + 602 + ], + "score": 1.0, + "content": "Task difficulty and architecture choice: In Figure 4 we look into the impact of the task difficulty", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 598, + 506, + 614 + ], + "spans": [ + { + "bbox": [ + 105, + 598, + 506, + 614 + ], + "score": 1.0, + "content": "provided by the dataset choice (MNIST, SVHN, CIFAR-10, CIFAR-100, and ImageNet (Deng", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 610, + 506, + 623 + ], + "spans": [ + { + "bbox": [ + 105, + 611, + 353, + 623 + ], + "score": 1.0, + "content": "et al., 2009)) and the architecture type (one-layer MLP with", + "type": "text" + }, + { + "bbox": [ + 353, + 610, + 368, + 621 + ], + "score": 0.8, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 611, + 506, + 623 + ], + "score": 1.0, + "content": "neurons, Shallow CNN with two", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 619, + 507, + 635 + ], + "spans": [ + { + "bbox": [ + 104, + 619, + 239, + 635 + ], + "score": 1.0, + "content": "convolutional layer and width of", + "type": "text" + }, + { + "bbox": [ + 239, + 622, + 253, + 632 + ], + "score": 0.69, + "content": "2 ^ { 1 \\mathrm { { 0 } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 619, + 507, + 635 + ], + "score": 1.0, + "content": ", VGG-16 with batch-normalization, ResNet18 and ResNet50).", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "Each row in Figure 4a and Figure 4b shows the effect of task difficulty, e.g., fixing the task to SVHN", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 106, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "and moving from MLP to Shallow CNN gives lower test error hence lower barrier size. Each column", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 655, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 106, + 655, + 505, + 668 + ], + "score": 1.0, + "content": "also represents the effect of architecture on a specific dataset, e.g., fixing the architecture to Shallow", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "CNN and moving from CIFAR10 to CIFAR100 presents an increase in test error, hence increase in", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "score": 1.0, + "content": "the barrier size. Although deep architectures like VGG16 and ResNet18 present low test error, the", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "discussed effect of depth saturates their barrier at a high level. Figure 4c aggregates the correlation", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 699, + 504, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 699, + 504, + 711 + ], + "score": 1.0, + "content": "between test error and size of the barrier. For MLP and Shallow CNN we observe a high positive", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 506, + 723 + ], + "score": 1.0, + "content": "correlation between test error and barrier size across different datasets. Deeper networks (VGGs,", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 721, + 425, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 425, + 732 + ], + "score": 1.0, + "content": "ResNets) form a cluster in the top-left, with low test error and high barrier size.", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 42 + } + ], + "page_idx": 3, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 752, + 308, + 759 + ], + "lines": [] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 114, + 60, + 498, + 139 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 114, + 60, + 498, + 139 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 114, + 60, + 498, + 139 + ], + "spans": [ + { + "bbox": [ + 114, + 60, + 498, + 139 + ], + "score": 0.96, + "type": "image", + "image_path": "5816762c83bb4acdce92cab590a21ba7f2c561574375a64893a36539493c9ab0.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 114, + 60, + 498, + 86.33333333333333 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 114, + 86.33333333333333, + 498, + 112.66666666666666 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 114, + 112.66666666666666, + 498, + 139.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 140, + 505, + 201 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 140, + 506, + 151 + ], + "spans": [ + { + "bbox": [ + 106, + 140, + 506, + 151 + ], + "score": 1.0, + "content": "Figure 2: Effect of width on barrier size. From left to right: one-layer MLP, two-layer Shallow CNN,", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 149, + 506, + 162 + ], + "spans": [ + { + "bbox": [ + 105, + 149, + 506, + 162 + ], + "score": 1.0, + "content": "VGG-16 and ResNet-18 architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For large width sizes", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 160, + 505, + 171 + ], + "spans": [ + { + "bbox": [ + 106, + 160, + 505, + 171 + ], + "score": 1.0, + "content": "the barrier becomes small. This effect starts at lower width for simpler datasets such as MNIST and SVHN", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 170, + 506, + 181 + ], + "spans": [ + { + "bbox": [ + 105, + 170, + 506, + 181 + ], + "score": 1.0, + "content": "compared to CIFAR datasets. A closer look reveals a similar trend to that of double-descent phenomena. MLP", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 181, + 506, + 191 + ], + "spans": [ + { + "bbox": [ + 106, + 181, + 506, + 191 + ], + "score": 1.0, + "content": "architectures hit their peak at a lower width compared to CNNs and a decreasing trend starts earlier. For ResNet,", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 190, + 505, + 201 + ], + "spans": [ + { + "bbox": [ + 106, + 190, + 505, + 201 + ], + "score": 1.0, + "content": "the barrier size is saturated at a high value and does not change due to the effect of depth as discussed in Figure 3.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "image", + "bbox": [ + 113, + 203, + 497, + 282 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 113, + 203, + 497, + 282 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 113, + 203, + 497, + 282 + ], + "spans": [ + { + "bbox": [ + 113, + 203, + 497, + 282 + ], + "score": 0.964, + "type": "image", + "image_path": "f1bdf451ba6cbe72c7cb3dbde2d761c257653f1ecaf694ac0f107cff3d18e534.jpg" + } + ] + } + ], + "index": 10, + "virtual_lines": [ + { + "bbox": [ + 113, + 203, + 497, + 229.33333333333334 + ], + "spans": [], + "index": 9 + }, + { + "bbox": [ + 113, + 229.33333333333334, + 497, + 255.66666666666669 + ], + "spans": [], + "index": 10 + }, + { + "bbox": [ + 113, + 255.66666666666669, + 497, + 282.0 + ], + "spans": [], + "index": 11 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 283, + 505, + 342 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 106, + 282, + 504, + 293 + ], + "spans": [ + { + "bbox": [ + 106, + 282, + 504, + 293 + ], + "score": 1.0, + "content": "Figure 3: Effect of depth on barrier size. From left to right MLP, Shallow CNN, VGG(11,13,16,19), and", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 292, + 505, + 303 + ], + "spans": [ + { + "bbox": [ + 106, + 292, + 505, + 303 + ], + "score": 1.0, + "content": "ResNet(18,34,50) architectures on MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. For MLP and Shallow", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 104, + 299, + 507, + 315 + ], + "spans": [ + { + "bbox": [ + 104, + 299, + 218, + 315 + ], + "score": 1.0, + "content": "CNN, we fix the layer width at", + "type": "text" + }, + { + "bbox": [ + 218, + 302, + 232, + 312 + ], + "score": 0.87, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 232, + 299, + 408, + 315 + ], + "score": 1.0, + "content": "while adding identical layers as shown along the", + "type": "text" + }, + { + "bbox": [ + 408, + 304, + 414, + 312 + ], + "score": 0.41, + "content": "\\mathbf { X }", + "type": "inline_equation" + }, + { + "bbox": [ + 414, + 299, + 507, + 315 + ], + "score": 1.0, + "content": "-axis. Similar behavior is", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 312, + 505, + 324 + ], + "spans": [ + { + "bbox": [ + 105, + 312, + 505, + 324 + ], + "score": 1.0, + "content": "observed for fully-connected and CNN family, i.e., low barrier when number of layers are low while we observe", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 323, + 505, + 334 + ], + "spans": [ + { + "bbox": [ + 105, + 323, + 505, + 334 + ], + "score": 1.0, + "content": "a fast and significant barrier increase as more layers are added. Increasing depth leads to higher barrier values", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 333, + 280, + 343 + ], + "spans": [ + { + "bbox": [ + 106, + 333, + 280, + 343 + ], + "score": 1.0, + "content": "until it saturates (as seen for VGG and ResNet).", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 14.5 + } + ], + "index": 12.25 + }, + { + "type": "text", + "bbox": [ + 107, + 365, + 505, + 420 + ], + "lines": [], + "index": 20, + "bbox_fs": [ + 105, + 365, + 505, + 421 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 106, + 433, + 505, + 576 + ], + "lines": [ + { + "bbox": [ + 106, + 433, + 505, + 446 + ], + "spans": [ + { + "bbox": [ + 106, + 433, + 505, + 446 + ], + "score": 1.0, + "content": "Depth: We vary network depth in Figure 3 to evaluate its impact on the barrier between optimal", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 104, + 442, + 506, + 458 + ], + "spans": [ + { + "bbox": [ + 104, + 442, + 436, + 458 + ], + "score": 1.0, + "content": "solutions obtained from different initializations. For MLPs, we fix the layer width at", + "type": "text" + }, + { + "bbox": [ + 436, + 444, + 451, + 454 + ], + "score": 0.79, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 451, + 442, + 506, + 458 + ], + "score": 1.0, + "content": "while adding", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 455, + 506, + 468 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 246, + 468 + ], + "score": 1.0, + "content": "identical layers as shown along the", + "type": "text" + }, + { + "bbox": [ + 246, + 457, + 253, + 465 + ], + "score": 0.36, + "content": "\\mathbf { X }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 455, + 506, + 468 + ], + "score": 1.0, + "content": "-axis. We observe a fast and significant barrier increase as more", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 466, + 506, + 479 + ], + "spans": [ + { + "bbox": [ + 105, + 466, + 506, + 479 + ], + "score": 1.0, + "content": "layers are added. For VGG architecture family we observe significant barriers. This might be due", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 477, + 505, + 488 + ], + "spans": [ + { + "bbox": [ + 106, + 477, + 505, + 488 + ], + "score": 1.0, + "content": "to the effect of convolution or depth. In order to shed light on this observation, we use Shallow", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 488, + 505, + 501 + ], + "spans": [ + { + "bbox": [ + 106, + 488, + 505, + 501 + ], + "score": 1.0, + "content": "CNN (Neyshabur, 2020) with only two convolutional layers. As can be seen in Figure 3 when", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 498, + 506, + 511 + ], + "spans": [ + { + "bbox": [ + 105, + 498, + 471, + 511 + ], + "score": 1.0, + "content": "Shallow CNN has two layers the barrier size is low, while keeping the layer width fixed at", + "type": "text" + }, + { + "bbox": [ + 472, + 498, + 487, + 509 + ], + "score": 0.82, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 487, + 498, + 506, + 511 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 510, + 506, + 522 + ], + "spans": [ + { + "bbox": [ + 106, + 510, + 506, + 522 + ], + "score": 1.0, + "content": "adding more layers increases the barrier size. For residual networks we also consider three ResNet", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 105, + 521, + 506, + 534 + ], + "spans": [ + { + "bbox": [ + 105, + 521, + 506, + 534 + ], + "score": 1.0, + "content": "architectures with 18, 34 and 50 layers and observe the same barrier sizes as VGG for all these depth", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 532, + 506, + 545 + ], + "spans": [ + { + "bbox": [ + 105, + 532, + 506, + 545 + ], + "score": 1.0, + "content": "values. The main overall observation from depth experiments is that for both fully-connected and", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 543, + 506, + 556 + ], + "spans": [ + { + "bbox": [ + 105, + 543, + 506, + 556 + ], + "score": 1.0, + "content": "convolutional architectures, increasing depth increases the barrier size significantly so the effect of", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 553, + 505, + 566 + ], + "spans": [ + { + "bbox": [ + 106, + 553, + 505, + 566 + ], + "score": 1.0, + "content": "depth is not similar to width. This can also be attributed to the observations that deeper networks", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 106, + 565, + 324, + 577 + ], + "spans": [ + { + "bbox": [ + 106, + 565, + 324, + 577 + ], + "score": 1.0, + "content": "usually have a less smooth landscape (Li et al., 2017).", + "type": "text" + } + ], + "index": 35 + } + ], + "index": 29, + "bbox_fs": [ + 104, + 433, + 506, + 577 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 589, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 588, + 505, + 602 + ], + "spans": [ + { + "bbox": [ + 106, + 588, + 505, + 602 + ], + "score": 1.0, + "content": "Task difficulty and architecture choice: In Figure 4 we look into the impact of the task difficulty", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 598, + 506, + 614 + ], + "spans": [ + { + "bbox": [ + 105, + 598, + 506, + 614 + ], + "score": 1.0, + "content": "provided by the dataset choice (MNIST, SVHN, CIFAR-10, CIFAR-100, and ImageNet (Deng", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 610, + 506, + 623 + ], + "spans": [ + { + "bbox": [ + 105, + 611, + 353, + 623 + ], + "score": 1.0, + "content": "et al., 2009)) and the architecture type (one-layer MLP with", + "type": "text" + }, + { + "bbox": [ + 353, + 610, + 368, + 621 + ], + "score": 0.8, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 368, + 611, + 506, + 623 + ], + "score": 1.0, + "content": "neurons, Shallow CNN with two", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 104, + 619, + 507, + 635 + ], + "spans": [ + { + "bbox": [ + 104, + 619, + 239, + 635 + ], + "score": 1.0, + "content": "convolutional layer and width of", + "type": "text" + }, + { + "bbox": [ + 239, + 622, + 253, + 632 + ], + "score": 0.69, + "content": "2 ^ { 1 \\mathrm { { 0 } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 253, + 619, + 507, + 635 + ], + "score": 1.0, + "content": ", VGG-16 with batch-normalization, ResNet18 and ResNet50).", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "spans": [ + { + "bbox": [ + 106, + 633, + 505, + 645 + ], + "score": 1.0, + "content": "Each row in Figure 4a and Figure 4b shows the effect of task difficulty, e.g., fixing the task to SVHN", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 644, + 505, + 656 + ], + "spans": [ + { + "bbox": [ + 106, + 644, + 505, + 656 + ], + "score": 1.0, + "content": "and moving from MLP to Shallow CNN gives lower test error hence lower barrier size. Each column", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 655, + 505, + 668 + ], + "spans": [ + { + "bbox": [ + 106, + 655, + 505, + 668 + ], + "score": 1.0, + "content": "also represents the effect of architecture on a specific dataset, e.g., fixing the architecture to Shallow", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "CNN and moving from CIFAR10 to CIFAR100 presents an increase in test error, hence increase in", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 689 + ], + "score": 1.0, + "content": "the barrier size. Although deep architectures like VGG16 and ResNet18 present low test error, the", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "discussed effect of depth saturates their barrier at a high level. Figure 4c aggregates the correlation", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 699, + 504, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 699, + 504, + 711 + ], + "score": 1.0, + "content": "between test error and size of the barrier. For MLP and Shallow CNN we observe a high positive", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 710, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 710, + 506, + 723 + ], + "score": 1.0, + "content": "correlation between test error and barrier size across different datasets. Deeper networks (VGGs,", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 721, + 425, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 425, + 732 + ], + "score": 1.0, + "content": "ResNets) form a cluster in the top-left, with low test error and high barrier size.", + "type": "text" + } + ], + "index": 48 + } + ], + "index": 42, + "bbox_fs": [ + 104, + 588, + 507, + 732 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 111, + 51, + 501, + 181 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 111, + 51, + 501, + 181 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 111, + 51, + 500, + 181 + ], + "spans": [ + { + "bbox": [ + 111, + 51, + 500, + 181 + ], + "score": 0.949, + "type": "image", + "image_path": "f2639658cf8347671406c5bf7e4215f49926dbcbc8ff00b7e09fde221ba273bf.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 111, + 51, + 501, + 94.33333333333334 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 111, + 94.33333333333334, + 501, + 137.66666666666669 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 111, + 137.66666666666669, + 501, + 181.00000000000003 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 182, + 506, + 242 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 181, + 506, + 193 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 506, + 193 + ], + "score": 1.0, + "content": "Figure 4: Effect of architecture choice and task difficulty on barrier size. Each row in Figure 4a and", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 192, + 505, + 203 + ], + "spans": [ + { + "bbox": [ + 106, + 192, + 505, + 203 + ], + "score": 1.0, + "content": "Figure 4b shows the effect of task difficulty while each column represents the effect of architecture on a specific", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 202, + 506, + 213 + ], + "spans": [ + { + "bbox": [ + 106, + 202, + 506, + 213 + ], + "score": 1.0, + "content": "dataset. Figure 4c notes that a pair of (architecture, task) has lower barrier if the test error is lower. Therefore,", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 212, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 212, + 506, + 222 + ], + "score": 1.0, + "content": "any changes in the architecture or the task that improves the test error, also improves the loss barrier. Effect of", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 222, + 506, + 233 + ], + "spans": [ + { + "bbox": [ + 106, + 222, + 506, + 233 + ], + "score": 1.0, + "content": "depth is stronger than (architecture, task) which leads to high barrier values for ResNets on MNIST, SVHN,", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 231, + 244, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 244, + 243 + ], + "score": 1.0, + "content": "CIFAR10, CIFAR100, and ImageNet.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "title", + "bbox": [ + 108, + 262, + 339, + 275 + ], + "lines": [ + { + "bbox": [ + 105, + 262, + 341, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 262, + 341, + 276 + ], + "score": 1.0, + "content": "3 ROLE OF INVARIANCE IN LOSS BARRIERS", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 9 + }, + { + "type": "text", + "bbox": [ + 107, + 287, + 505, + 375 + ], + "lines": [ + { + "bbox": [ + 106, + 288, + 505, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 288, + 505, + 299 + ], + "score": 1.0, + "content": "Understanding the loss landscape of deep networks has proven to be very challenging. One of the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 299, + 505, + 309 + ], + "spans": [ + { + "bbox": [ + 106, + 299, + 505, + 309 + ], + "score": 1.0, + "content": "main challenges in studying the loss landscape without taking the optimization algorithm into account", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 309, + 505, + 321 + ], + "spans": [ + { + "bbox": [ + 105, + 309, + 505, + 321 + ], + "score": 1.0, + "content": "is that there exist many minima with different generalization properties. Most of such minima are not", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 320, + 504, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 320, + 504, + 333 + ], + "score": 1.0, + "content": "reachable by SGD and we only know about their existence through artificially-made optimization", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 331, + 505, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 331, + 505, + 344 + ], + "score": 1.0, + "content": "algorithms and training regimes (Neyshabur et al., 2017). To circumvent this issue, we focus on parts", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 342, + 506, + 354 + ], + "spans": [ + { + "bbox": [ + 105, + 342, + 506, + 354 + ], + "score": 1.0, + "content": "of the landscape that are reachable by SGD. Given a dataset and an architecture, one could define a", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 353, + 506, + 365 + ], + "spans": [ + { + "bbox": [ + 105, + 353, + 506, + 365 + ], + "score": 1.0, + "content": "probability distribution over all solutions reachable by SGD and focus on the subset where SGD is", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 363, + 216, + 377 + ], + "spans": [ + { + "bbox": [ + 105, + 363, + 216, + 377 + ], + "score": 1.0, + "content": "more likely to converge to.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 13.5 + }, + { + "type": "title", + "bbox": [ + 110, + 389, + 361, + 400 + ], + "lines": [ + { + "bbox": [ + 107, + 388, + 363, + 401 + ], + "spans": [ + { + "bbox": [ + 107, + 388, + 363, + 401 + ], + "score": 1.0, + "content": "3.1 INVARIANCES IN NEURAL NETWORK FUNCTION CLASS", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 409, + 505, + 574 + ], + "lines": [ + { + "bbox": [ + 106, + 409, + 506, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 409, + 506, + 421 + ], + "score": 1.0, + "content": "We say that a network is invariant with respect to a transformation if and only if the network", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 420, + 505, + 432 + ], + "spans": [ + { + "bbox": [ + 106, + 420, + 505, + 432 + ], + "score": 1.0, + "content": "resulting from the transformation represents the same function as the original network. There", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 432, + 505, + 444 + ], + "spans": [ + { + "bbox": [ + 106, + 432, + 505, + 444 + ], + "score": 1.0, + "content": "are two well-known invariances: one is the unit-rescaling due to positive homogeneity of ReLU", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 441, + 506, + 456 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 506, + 456 + ], + "score": 1.0, + "content": "activations (Neyshabur et al., 2015) and the other is permutation of hidden units. Unit-rescaling", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 453, + 505, + 465 + ], + "spans": [ + { + "bbox": [ + 106, + 453, + 505, + 465 + ], + "score": 1.0, + "content": "has been well-studied and empirical evidence suggests that implicit bias of SGD would make the", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 464, + 506, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 506, + 476 + ], + "score": 1.0, + "content": "solution converge to a stage where the weights are more balanced (Neyshabur et al., 2015; Wu et al.,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 475, + 505, + 487 + ], + "spans": [ + { + "bbox": [ + 106, + 475, + 505, + 487 + ], + "score": 1.0, + "content": "2019). Since we are interested in the loss landscape through the lens of SGD and SGD is much", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 487, + 505, + 498 + ], + "spans": [ + { + "bbox": [ + 106, + 487, + 505, + 498 + ], + "score": 1.0, + "content": "more likely to converge to a particular rescaling, consideration of this type of invariance does not", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 106, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "seem useful. However, in the case of permutations, all permutations are equally likely for SGD and", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 507, + 505, + 520 + ], + "spans": [ + { + "bbox": [ + 105, + 507, + 505, + 520 + ], + "score": 1.0, + "content": "therefore, it is important to understand their role in the geometric properties of the landscape and its", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 519, + 505, + 531 + ], + "spans": [ + { + "bbox": [ + 106, + 519, + 505, + 531 + ], + "score": 1.0, + "content": "basins of attraction. Here we consider invariances that are in form of permutations of hidden units in", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 530, + 505, + 542 + ], + "spans": [ + { + "bbox": [ + 106, + 530, + 276, + 542 + ], + "score": 1.0, + "content": "each layer of the network, i.e., each layer", + "type": "text" + }, + { + "bbox": [ + 277, + 531, + 281, + 540 + ], + "score": 0.7, + "content": "i", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 530, + 350, + 542 + ], + "score": 1.0, + "content": "with parameters", + "type": "text" + }, + { + "bbox": [ + 351, + 530, + 364, + 541 + ], + "score": 0.89, + "content": "W _ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 365, + 530, + 433, + 542 + ], + "score": 1.0, + "content": "is replaced with", + "type": "text" + }, + { + "bbox": [ + 433, + 530, + 477, + 541 + ], + "score": 0.93, + "content": "P _ { i } W _ { i } P _ { i - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 477, + 530, + 505, + 542 + ], + "score": 1.0, + "content": "where", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 107, + 541, + 506, + 553 + ], + "spans": [ + { + "bbox": [ + 107, + 541, + 117, + 552 + ], + "score": 0.86, + "content": "P _ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 118, + 541, + 234, + 553 + ], + "score": 1.0, + "content": "is a permutation matrix and", + "type": "text" + }, + { + "bbox": [ + 235, + 541, + 270, + 552 + ], + "score": 0.93, + "content": "P _ { l } = P _ { 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 541, + 506, + 553 + ], + "score": 1.0, + "content": "is the identity matrix. Note that our results only hold for", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 552, + 505, + 564 + ], + "spans": [ + { + "bbox": [ + 105, + 552, + 437, + 564 + ], + "score": 1.0, + "content": "permutation matrices since only permutation commutes with nonlinearity. We use", + "type": "text" + }, + { + "bbox": [ + 438, + 552, + 447, + 562 + ], + "score": 0.83, + "content": "\\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 552, + 505, + 564 + ], + "score": 1.0, + "content": "to refer to the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 563, + 456, + 575 + ], + "spans": [ + { + "bbox": [ + 106, + 563, + 323, + 575 + ], + "score": 1.0, + "content": "set of valid permutations for a neural network and use", + "type": "text" + }, + { + "bbox": [ + 324, + 565, + 331, + 573 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 563, + 456, + 575 + ], + "score": 1.0, + "content": "to refer to a valid permutation.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 26 + }, + { + "type": "title", + "bbox": [ + 108, + 587, + 211, + 599 + ], + "lines": [ + { + "bbox": [ + 105, + 586, + 213, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 213, + 600 + ], + "score": 1.0, + "content": "3.2 OUR CONJECTURE", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 107, + 608, + 505, + 663 + ], + "lines": [ + { + "bbox": [ + 105, + 607, + 505, + 621 + ], + "spans": [ + { + "bbox": [ + 105, + 607, + 505, + 621 + ], + "score": 1.0, + "content": "As mentioned above, SGD’s implicit regularization balances weight norms and, therefore, scale", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "spans": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "score": 1.0, + "content": "invariance does not seem to play an important role in understanding symmetries of solutions found", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 631, + 505, + 642 + ], + "spans": [ + { + "bbox": [ + 106, + 631, + 505, + 642 + ], + "score": 1.0, + "content": "by SGD. Consequently, here we focus on permutation invariance and conjecture that taking it into", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "score": 1.0, + "content": "account allows us to have a much simpler view of SGD solutions. We first state our conjecture", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 651, + 154, + 665 + ], + "spans": [ + { + "bbox": [ + 106, + 651, + 154, + 665 + ], + "score": 1.0, + "content": "informally:", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 37 + }, + { + "type": "text", + "bbox": [ + 123, + 678, + 486, + 700 + ], + "lines": [ + { + "bbox": [ + 124, + 677, + 487, + 690 + ], + "spans": [ + { + "bbox": [ + 124, + 677, + 269, + 690 + ], + "score": 1.0, + "content": "Most SGD solutions belong to a set", + "type": "text" + }, + { + "bbox": [ + 269, + 680, + 276, + 688 + ], + "score": 0.79, + "content": "\\boldsymbol { S }", + "type": "inline_equation" + }, + { + "bbox": [ + 277, + 677, + 487, + 690 + ], + "score": 1.0, + "content": "whose elements can be permuted in such a way that", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 130, + 689, + 482, + 701 + ], + "spans": [ + { + "bbox": [ + 130, + 689, + 470, + 701 + ], + "score": 1.0, + "content": "there is no barrier on the linear interpolation between any two permuted elements in", + "type": "text" + }, + { + "bbox": [ + 471, + 689, + 478, + 699 + ], + "score": 0.31, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 479, + 689, + 482, + 701 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 40.5 + }, + { + "type": "text", + "bbox": [ + 108, + 709, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "The above conjecture suggests that most SGD solutions end up in the same basin in the loss landscape", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 720, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 720, + 505, + 732 + ], + "score": 1.0, + "content": "after proper permutation (see Figure 1 left panel). We acknowledge that the above conjecture is bold.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 42.5 + } + ], + "page_idx": 4, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "spans": [ + { + "bbox": [ + 301, + 750, + 310, + 762 + ], + "score": 1.0, + "content": "5", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 111, + 51, + 501, + 181 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 111, + 51, + 501, + 181 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 111, + 51, + 500, + 181 + ], + "spans": [ + { + "bbox": [ + 111, + 51, + 500, + 181 + ], + "score": 0.949, + "type": "image", + "image_path": "f2639658cf8347671406c5bf7e4215f49926dbcbc8ff00b7e09fde221ba273bf.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 111, + 51, + 501, + 94.33333333333334 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 111, + 94.33333333333334, + 501, + 137.66666666666669 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 111, + 137.66666666666669, + 501, + 181.00000000000003 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 182, + 506, + 242 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 105, + 181, + 506, + 193 + ], + "spans": [ + { + "bbox": [ + 105, + 181, + 506, + 193 + ], + "score": 1.0, + "content": "Figure 4: Effect of architecture choice and task difficulty on barrier size. Each row in Figure 4a and", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 192, + 505, + 203 + ], + "spans": [ + { + "bbox": [ + 106, + 192, + 505, + 203 + ], + "score": 1.0, + "content": "Figure 4b shows the effect of task difficulty while each column represents the effect of architecture on a specific", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 202, + 506, + 213 + ], + "spans": [ + { + "bbox": [ + 106, + 202, + 506, + 213 + ], + "score": 1.0, + "content": "dataset. Figure 4c notes that a pair of (architecture, task) has lower barrier if the test error is lower. Therefore,", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 212, + 506, + 222 + ], + "spans": [ + { + "bbox": [ + 105, + 212, + 506, + 222 + ], + "score": 1.0, + "content": "any changes in the architecture or the task that improves the test error, also improves the loss barrier. Effect of", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 106, + 222, + 506, + 233 + ], + "spans": [ + { + "bbox": [ + 106, + 222, + 506, + 233 + ], + "score": 1.0, + "content": "depth is stronger than (architecture, task) which leads to high barrier values for ResNets on MNIST, SVHN,", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 231, + 244, + 243 + ], + "spans": [ + { + "bbox": [ + 106, + 231, + 244, + 243 + ], + "score": 1.0, + "content": "CIFAR10, CIFAR100, and ImageNet.", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 5.5 + } + ], + "index": 3.25 + }, + { + "type": "title", + "bbox": [ + 108, + 262, + 339, + 275 + ], + "lines": [ + { + "bbox": [ + 105, + 262, + 341, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 262, + 341, + 276 + ], + "score": 1.0, + "content": "3 ROLE OF INVARIANCE IN LOSS BARRIERS", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 9 + }, + { + "type": "text", + "bbox": [ + 107, + 287, + 505, + 375 + ], + "lines": [ + { + "bbox": [ + 106, + 288, + 505, + 299 + ], + "spans": [ + { + "bbox": [ + 106, + 288, + 505, + 299 + ], + "score": 1.0, + "content": "Understanding the loss landscape of deep networks has proven to be very challenging. One of the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 299, + 505, + 309 + ], + "spans": [ + { + "bbox": [ + 106, + 299, + 505, + 309 + ], + "score": 1.0, + "content": "main challenges in studying the loss landscape without taking the optimization algorithm into account", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 309, + 505, + 321 + ], + "spans": [ + { + "bbox": [ + 105, + 309, + 505, + 321 + ], + "score": 1.0, + "content": "is that there exist many minima with different generalization properties. Most of such minima are not", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 105, + 320, + 504, + 333 + ], + "spans": [ + { + "bbox": [ + 105, + 320, + 504, + 333 + ], + "score": 1.0, + "content": "reachable by SGD and we only know about their existence through artificially-made optimization", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 331, + 505, + 344 + ], + "spans": [ + { + "bbox": [ + 105, + 331, + 505, + 344 + ], + "score": 1.0, + "content": "algorithms and training regimes (Neyshabur et al., 2017). To circumvent this issue, we focus on parts", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 342, + 506, + 354 + ], + "spans": [ + { + "bbox": [ + 105, + 342, + 506, + 354 + ], + "score": 1.0, + "content": "of the landscape that are reachable by SGD. Given a dataset and an architecture, one could define a", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 353, + 506, + 365 + ], + "spans": [ + { + "bbox": [ + 105, + 353, + 506, + 365 + ], + "score": 1.0, + "content": "probability distribution over all solutions reachable by SGD and focus on the subset where SGD is", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 363, + 216, + 377 + ], + "spans": [ + { + "bbox": [ + 105, + 363, + 216, + 377 + ], + "score": 1.0, + "content": "more likely to converge to.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 13.5, + "bbox_fs": [ + 105, + 288, + 506, + 377 + ] + }, + { + "type": "title", + "bbox": [ + 110, + 389, + 361, + 400 + ], + "lines": [ + { + "bbox": [ + 107, + 388, + 363, + 401 + ], + "spans": [ + { + "bbox": [ + 107, + 388, + 363, + 401 + ], + "score": 1.0, + "content": "3.1 INVARIANCES IN NEURAL NETWORK FUNCTION CLASS", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 409, + 505, + 574 + ], + "lines": [ + { + "bbox": [ + 106, + 409, + 506, + 421 + ], + "spans": [ + { + "bbox": [ + 106, + 409, + 506, + 421 + ], + "score": 1.0, + "content": "We say that a network is invariant with respect to a transformation if and only if the network", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 420, + 505, + 432 + ], + "spans": [ + { + "bbox": [ + 106, + 420, + 505, + 432 + ], + "score": 1.0, + "content": "resulting from the transformation represents the same function as the original network. There", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 432, + 505, + 444 + ], + "spans": [ + { + "bbox": [ + 106, + 432, + 505, + 444 + ], + "score": 1.0, + "content": "are two well-known invariances: one is the unit-rescaling due to positive homogeneity of ReLU", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 441, + 506, + 456 + ], + "spans": [ + { + "bbox": [ + 105, + 441, + 506, + 456 + ], + "score": 1.0, + "content": "activations (Neyshabur et al., 2015) and the other is permutation of hidden units. Unit-rescaling", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 453, + 505, + 465 + ], + "spans": [ + { + "bbox": [ + 106, + 453, + 505, + 465 + ], + "score": 1.0, + "content": "has been well-studied and empirical evidence suggests that implicit bias of SGD would make the", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 464, + 506, + 476 + ], + "spans": [ + { + "bbox": [ + 105, + 464, + 506, + 476 + ], + "score": 1.0, + "content": "solution converge to a stage where the weights are more balanced (Neyshabur et al., 2015; Wu et al.,", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 106, + 475, + 505, + 487 + ], + "spans": [ + { + "bbox": [ + 106, + 475, + 505, + 487 + ], + "score": 1.0, + "content": "2019). Since we are interested in the loss landscape through the lens of SGD and SGD is much", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 487, + 505, + 498 + ], + "spans": [ + { + "bbox": [ + 106, + 487, + 505, + 498 + ], + "score": 1.0, + "content": "more likely to converge to a particular rescaling, consideration of this type of invariance does not", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 497, + 505, + 510 + ], + "spans": [ + { + "bbox": [ + 106, + 497, + 505, + 510 + ], + "score": 1.0, + "content": "seem useful. However, in the case of permutations, all permutations are equally likely for SGD and", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 507, + 505, + 520 + ], + "spans": [ + { + "bbox": [ + 105, + 507, + 505, + 520 + ], + "score": 1.0, + "content": "therefore, it is important to understand their role in the geometric properties of the landscape and its", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 106, + 519, + 505, + 531 + ], + "spans": [ + { + "bbox": [ + 106, + 519, + 505, + 531 + ], + "score": 1.0, + "content": "basins of attraction. Here we consider invariances that are in form of permutations of hidden units in", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 106, + 530, + 505, + 542 + ], + "spans": [ + { + "bbox": [ + 106, + 530, + 276, + 542 + ], + "score": 1.0, + "content": "each layer of the network, i.e., each layer", + "type": "text" + }, + { + "bbox": [ + 277, + 531, + 281, + 540 + ], + "score": 0.7, + "content": "i", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 530, + 350, + 542 + ], + "score": 1.0, + "content": "with parameters", + "type": "text" + }, + { + "bbox": [ + 351, + 530, + 364, + 541 + ], + "score": 0.89, + "content": "W _ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 365, + 530, + 433, + 542 + ], + "score": 1.0, + "content": "is replaced with", + "type": "text" + }, + { + "bbox": [ + 433, + 530, + 477, + 541 + ], + "score": 0.93, + "content": "P _ { i } W _ { i } P _ { i - 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 477, + 530, + 505, + 542 + ], + "score": 1.0, + "content": "where", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 107, + 541, + 506, + 553 + ], + "spans": [ + { + "bbox": [ + 107, + 541, + 117, + 552 + ], + "score": 0.86, + "content": "P _ { i }", + "type": "inline_equation" + }, + { + "bbox": [ + 118, + 541, + 234, + 553 + ], + "score": 1.0, + "content": "is a permutation matrix and", + "type": "text" + }, + { + "bbox": [ + 235, + 541, + 270, + 552 + ], + "score": 0.93, + "content": "P _ { l } = P _ { 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 541, + 506, + 553 + ], + "score": 1.0, + "content": "is the identity matrix. Note that our results only hold for", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 552, + 505, + 564 + ], + "spans": [ + { + "bbox": [ + 105, + 552, + 437, + 564 + ], + "score": 1.0, + "content": "permutation matrices since only permutation commutes with nonlinearity. We use", + "type": "text" + }, + { + "bbox": [ + 438, + 552, + 447, + 562 + ], + "score": 0.83, + "content": "\\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 552, + 505, + 564 + ], + "score": 1.0, + "content": "to refer to the", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 563, + 456, + 575 + ], + "spans": [ + { + "bbox": [ + 106, + 563, + 323, + 575 + ], + "score": 1.0, + "content": "set of valid permutations for a neural network and use", + "type": "text" + }, + { + "bbox": [ + 324, + 565, + 331, + 573 + ], + "score": 0.77, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 563, + 456, + 575 + ], + "score": 1.0, + "content": "to refer to a valid permutation.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 26, + "bbox_fs": [ + 105, + 409, + 506, + 575 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 587, + 211, + 599 + ], + "lines": [ + { + "bbox": [ + 105, + 586, + 213, + 600 + ], + "spans": [ + { + "bbox": [ + 105, + 586, + 213, + 600 + ], + "score": 1.0, + "content": "3.2 OUR CONJECTURE", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 107, + 608, + 505, + 663 + ], + "lines": [ + { + "bbox": [ + 105, + 607, + 505, + 621 + ], + "spans": [ + { + "bbox": [ + 105, + 607, + 505, + 621 + ], + "score": 1.0, + "content": "As mentioned above, SGD’s implicit regularization balances weight norms and, therefore, scale", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "spans": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "score": 1.0, + "content": "invariance does not seem to play an important role in understanding symmetries of solutions found", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 631, + 505, + 642 + ], + "spans": [ + { + "bbox": [ + 106, + 631, + 505, + 642 + ], + "score": 1.0, + "content": "by SGD. Consequently, here we focus on permutation invariance and conjecture that taking it into", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "score": 1.0, + "content": "account allows us to have a much simpler view of SGD solutions. We first state our conjecture", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 106, + 651, + 154, + 665 + ], + "spans": [ + { + "bbox": [ + 106, + 651, + 154, + 665 + ], + "score": 1.0, + "content": "informally:", + "type": "text" + } + ], + "index": 39 + } + ], + "index": 37, + "bbox_fs": [ + 105, + 607, + 505, + 665 + ] + }, + { + "type": "text", + "bbox": [ + 123, + 678, + 486, + 700 + ], + "lines": [ + { + "bbox": [ + 124, + 677, + 487, + 690 + ], + "spans": [ + { + "bbox": [ + 124, + 677, + 269, + 690 + ], + "score": 1.0, + "content": "Most SGD solutions belong to a set", + "type": "text" + }, + { + "bbox": [ + 269, + 680, + 276, + 688 + ], + "score": 0.79, + "content": "\\boldsymbol { S }", + "type": "inline_equation" + }, + { + "bbox": [ + 277, + 677, + 487, + 690 + ], + "score": 1.0, + "content": "whose elements can be permuted in such a way that", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 130, + 689, + 482, + 701 + ], + "spans": [ + { + "bbox": [ + 130, + 689, + 470, + 701 + ], + "score": 1.0, + "content": "there is no barrier on the linear interpolation between any two permuted elements in", + "type": "text" + }, + { + "bbox": [ + 471, + 689, + 478, + 699 + ], + "score": 0.31, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 479, + 689, + 482, + 701 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 40.5, + "bbox_fs": [ + 124, + 677, + 487, + 701 + ] + }, + { + "type": "text", + "bbox": [ + 108, + 709, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 505, + 722 + ], + "score": 1.0, + "content": "The above conjecture suggests that most SGD solutions end up in the same basin in the loss landscape", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 106, + 720, + 505, + 732 + ], + "spans": [ + { + "bbox": [ + 106, + 720, + 505, + 732 + ], + "score": 1.0, + "content": "after proper permutation (see Figure 1 left panel). We acknowledge that the above conjecture is bold.", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 42.5, + "bbox_fs": [ + 106, + 709, + 505, + 732 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 505, + 126 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "Nonetheless, we argue that coming up with strong conjectures and attempting to disprove them is an", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "score": 1.0, + "content": "effective method for scientific progress. Note, our conjecture also has great practical implications for", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 105, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 105, + 105, + 506, + 118 + ], + "score": 1.0, + "content": "model ensembling and parallelism since one can average models that are in the same basin in the loss", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 333, + 127 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 333, + 127 + ], + "score": 1.0, + "content": "landscape. The conjecture can be formalized as follows:", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5 + }, + { + "type": "text", + "bbox": [ + 107, + 130, + 505, + 208 + ], + "lines": [ + { + "bbox": [ + 105, + 129, + 506, + 143 + ], + "spans": [ + { + "bbox": [ + 105, + 129, + 183, + 143 + ], + "score": 1.0, + "content": "Conjecture 1. Let", + "type": "text" + }, + { + "bbox": [ + 184, + 130, + 203, + 142 + ], + "score": 0.9, + "content": "f ( \\theta )", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 129, + 472, + 143 + ], + "score": 1.0, + "content": "be the function representing a feedforward network with parameters", + "type": "text" + }, + { + "bbox": [ + 473, + 129, + 502, + 141 + ], + "score": 0.91, + "content": "\\boldsymbol \\theta \\in \\mathbb { R } ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 129, + 506, + 143 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 107, + 140, + 506, + 155 + ], + "spans": [ + { + "bbox": [ + 107, + 142, + 115, + 152 + ], + "score": 0.76, + "content": "\\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 115, + 140, + 319, + 155 + ], + "score": 1.0, + "content": "be the set of all valid permutations for the network,", + "type": "text" + }, + { + "bbox": [ + 319, + 141, + 395, + 152 + ], + "score": 0.91, + "content": "\\dot { P } : \\dot { \\mathbb R } ^ { k } \\times \\mathcal P \\mathbb R ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 396, + 140, + 506, + 155 + ], + "score": 1.0, + "content": "be the function that applies", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 104, + 152, + 506, + 165 + ], + "spans": [ + { + "bbox": [ + 104, + 152, + 398, + 165 + ], + "score": 1.0, + "content": "a given permutation to parameters and returns the permuted version, and", + "type": "text" + }, + { + "bbox": [ + 398, + 153, + 425, + 164 + ], + "score": 0.92, + "content": "B ( \\cdot , \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 152, + 506, + 165 + ], + "score": 1.0, + "content": "be the function that", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 164, + 506, + 175 + ], + "spans": [ + { + "bbox": [ + 105, + 164, + 385, + 175 + ], + "score": 1.0, + "content": "returns barrier value between two solutions as defined in Equation", + "type": "text" + }, + { + "bbox": [ + 385, + 164, + 391, + 173 + ], + "score": 0.37, + "content": "^ { l }", + "type": "inline_equation" + }, + { + "bbox": [ + 391, + 164, + 506, + 175 + ], + "score": 1.0, + "content": ". Then, there exists a width", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 107, + 174, + 505, + 186 + ], + "spans": [ + { + "bbox": [ + 107, + 174, + 133, + 185 + ], + "score": 0.87, + "content": "h > 0", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 174, + 241, + 186 + ], + "score": 1.0, + "content": "such that for any network", + "type": "text" + }, + { + "bbox": [ + 242, + 174, + 261, + 186 + ], + "score": 0.89, + "content": "f ( \\theta )", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 174, + 331, + 186 + ], + "score": 1.0, + "content": "of width at least", + "type": "text" + }, + { + "bbox": [ + 332, + 175, + 339, + 184 + ], + "score": 0.29, + "content": "h", + "type": "inline_equation" + }, + { + "bbox": [ + 339, + 174, + 505, + 186 + ], + "score": 1.0, + "content": "the following holds: There exist a set of", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 185, + 506, + 198 + ], + "spans": [ + { + "bbox": [ + 105, + 185, + 144, + 198 + ], + "score": 1.0, + "content": "solutions", + "type": "text" + }, + { + "bbox": [ + 145, + 185, + 177, + 196 + ], + "score": 0.91, + "content": "S \\subseteq \\mathbb { R } ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 178, + 185, + 238, + 198 + ], + "score": 1.0, + "content": "and a function", + "type": "text" + }, + { + "bbox": [ + 238, + 186, + 285, + 197 + ], + "score": 0.9, + "content": "Q : S \\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 185, + 337, + 198 + ], + "score": 1.0, + "content": "such for any", + "type": "text" + }, + { + "bbox": [ + 338, + 186, + 380, + 197 + ], + "score": 0.85, + "content": "\\theta _ { 1 } , \\theta _ { 2 } \\in { \\mathcal { S } }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 185, + 384, + 198 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 384, + 185, + 487, + 198 + ], + "score": 0.9, + "content": "B ( P ( \\theta _ { 1 } , Q ( \\theta _ { 1 } ) ) , \\theta _ { 2 } ) \\approx 0", + "type": "inline_equation" + }, + { + "bbox": [ + 487, + 185, + 506, + 198 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 196, + 356, + 208 + ], + "spans": [ + { + "bbox": [ + 105, + 196, + 282, + 208 + ], + "score": 1.0, + "content": "with high probability over an SGD solution", + "type": "text" + }, + { + "bbox": [ + 282, + 197, + 288, + 206 + ], + "score": 0.72, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 196, + 326, + 208 + ], + "score": 1.0, + "content": ", we have", + "type": "text" + }, + { + "bbox": [ + 327, + 197, + 351, + 207 + ], + "score": 0.9, + "content": "\\theta \\in S", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 196, + 356, + 208 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 107, + 217, + 503, + 240 + ], + "lines": [ + { + "bbox": [ + 105, + 216, + 505, + 231 + ], + "spans": [ + { + "bbox": [ + 105, + 216, + 505, + 231 + ], + "score": 1.0, + "content": "Next, we approach Conjecture 1 from both theoretical and empirical aspects and provide some", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 227, + 197, + 240 + ], + "spans": [ + { + "bbox": [ + 105, + 227, + 197, + 240 + ], + "score": 1.0, + "content": "evidence to support it.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 11.5 + }, + { + "type": "title", + "bbox": [ + 107, + 253, + 237, + 264 + ], + "lines": [ + { + "bbox": [ + 106, + 253, + 238, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 238, + 265 + ], + "score": 1.0, + "content": "3.3 A THEORETICAL RESULT", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 107, + 274, + 505, + 330 + ], + "lines": [ + { + "bbox": [ + 106, + 274, + 505, + 286 + ], + "spans": [ + { + "bbox": [ + 106, + 274, + 505, + 286 + ], + "score": 1.0, + "content": "In this section we provide elementary theoretical results in support of our conjecture. Although", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "spans": [ + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "score": 1.0, + "content": "the theoretical result is provided for a very limited setting, we believe it helps us understand the", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 297, + 505, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 297, + 505, + 308 + ], + "score": 1.0, + "content": "mechanism that could give rise to our conjecture. Bellow, we theoretically show that Conjecture 1", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "score": 1.0, + "content": "holds for a fully-connected network with a single hidden layer at initialization. Proof is given in", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 318, + 162, + 331 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 162, + 331 + ], + "score": 1.0, + "content": "Appendix D.", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 16 + }, + { + "type": "text", + "bbox": [ + 106, + 332, + 506, + 394 + ], + "lines": [ + { + "bbox": [ + 105, + 331, + 506, + 346 + ], + "spans": [ + { + "bbox": [ + 105, + 331, + 184, + 346 + ], + "score": 1.0, + "content": "Theorem 3.1. Let", + "type": "text" + }, + { + "bbox": [ + 184, + 333, + 274, + 345 + ], + "score": 0.92, + "content": "f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) = \\mathbf { v } ^ { \\top } \\boldsymbol { \\sigma } ( \\mathbf { U } \\mathbf { x } )", + "type": "inline_equation" + }, + { + "bbox": [ + 274, + 331, + 506, + 346 + ], + "score": 1.0, + "content": "be a fully-connected network with h hidden units where", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 107, + 343, + 507, + 359 + ], + "spans": [ + { + "bbox": [ + 107, + 345, + 124, + 358 + ], + "score": 0.89, + "content": "\\sigma ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 124, + 343, + 208, + 359 + ], + "score": 1.0, + "content": "is ReLU activation,", + "type": "text" + }, + { + "bbox": [ + 208, + 345, + 242, + 356 + ], + "score": 0.89, + "content": "\\mathbf { v } \\in \\mathbb { R } ^ { h }", + "type": "inline_equation" + }, + { + "bbox": [ + 242, + 343, + 262, + 359 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 262, + 345, + 309, + 356 + ], + "score": 0.92, + "content": "\\mathbf { U } \\in \\mathbb { R } ^ { h \\times d }", + "type": "inline_equation" + }, + { + "bbox": [ + 309, + 343, + 408, + 359 + ], + "score": 1.0, + "content": "are the parameters and √ √", + "type": "text" + }, + { + "bbox": [ + 409, + 345, + 442, + 356 + ], + "score": 0.91, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 442, + 343, + 507, + 359 + ], + "score": 1.0, + "content": "is the input. If", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 357, + 173, + 371 + ], + "score": 1.0, + "content": "each element of", + "type": "text" + }, + { + "bbox": [ + 173, + 358, + 183, + 369 + ], + "score": 0.39, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 184, + 357, + 202, + 371 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 203, + 358, + 216, + 369 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 357, + 327, + 371 + ], + "score": 1.0, + "content": "is sampled uniformly from", + "type": "text" + }, + { + "bbox": [ + 327, + 357, + 392, + 370 + ], + "score": 0.92, + "content": "[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 357, + 506, + 371 + ], + "score": 1.0, + "content": "and each element of v and", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 370, + 506, + 384 + ], + "spans": [ + { + "bbox": [ + 106, + 371, + 117, + 381 + ], + "score": 0.83, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 117, + 370, + 230, + 384 + ], + "score": 1.0, + "content": "is sampled uniformly from", + "type": "text" + }, + { + "bbox": [ + 230, + 370, + 297, + 383 + ], + "score": 0.93, + "content": "[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 297, + 370, + 354, + 384 + ], + "score": 1.0, + "content": ", then for any", + "type": "text" + }, + { + "bbox": [ + 354, + 371, + 389, + 382 + ], + "score": 0.89, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 389, + 370, + 430, + 384 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 430, + 370, + 480, + 384 + ], + "score": 0.93, + "content": "\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } }", + "type": "inline_equation" + }, + { + "bbox": [ + 481, + 370, + 506, + 384 + ], + "score": 1.0, + "content": ", with", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 104, + 382, + 393, + 394 + ], + "spans": [ + { + "bbox": [ + 104, + 382, + 153, + 394 + ], + "score": 1.0, + "content": "probability", + "type": "text" + }, + { + "bbox": [ + 153, + 383, + 176, + 393 + ], + "score": 0.86, + "content": "1 - \\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 382, + 198, + 394 + ], + "score": 1.0, + "content": "over", + "type": "text" + }, + { + "bbox": [ + 198, + 383, + 247, + 393 + ], + "score": 0.89, + "content": "{ \\bf U } , { \\bf U } ^ { \\prime } , { \\bf v } , { \\bf v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 382, + 393, + 394 + ], + "score": 1.0, + "content": ", there exist a permutation such that", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 21 + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 398, + 466, + 420 + ], + "lines": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "spans": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}", + "type": "interline_equation", + "image_path": "da5aff8533e50a9adca3c09fd949dd1ca425b9b024d14d5f12f50e76da20bb9f.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 425, + 326, + 437 + ], + "lines": [ + { + "bbox": [ + 106, + 424, + 327, + 439 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 133, + 439 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 426, + 145, + 436 + ], + "score": 0.84, + "content": "\\mathbf { v } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 424, + 164, + 439 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 164, + 426, + 179, + 436 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 424, + 282, + 439 + ], + "score": 1.0, + "content": "are permuted versions of", + "type": "text" + }, + { + "bbox": [ + 282, + 426, + 292, + 436 + ], + "score": 0.81, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 424, + 311, + 439 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 311, + 426, + 323, + 436 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 324, + 424, + 327, + 439 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 25 + }, + { + "type": "text", + "bbox": [ + 107, + 447, + 504, + 491 + ], + "lines": [ + { + "bbox": [ + 105, + 447, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 505, + 459 + ], + "score": 1.0, + "content": "Theorem 3.1 states that for wide enough fully-connected networks with a single hidden layer, one can", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 457, + 505, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 470 + ], + "score": 1.0, + "content": "find a permutation that leads to having no barrier at random initialization. Although, our prove only", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 469, + 506, + 481 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 506, + 481 + ], + "score": 1.0, + "content": "covers random initialization, we believe with a more involved proof, it might be possible to extend it", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 480, + 370, + 492 + ], + "spans": [ + { + "bbox": [ + 105, + 480, + 370, + 492 + ], + "score": 1.0, + "content": "to NTK regime (Jacot et al., 2018). We leave this for future work.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 27.5 + }, + { + "type": "title", + "bbox": [ + 107, + 505, + 352, + 516 + ], + "lines": [ + { + "bbox": [ + 105, + 505, + 354, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 354, + 518 + ], + "score": 1.0, + "content": "3.4 DIRECT EMPIRICAL EVALUATION OF CONJECTURE 1", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 525, + 505, + 614 + ], + "lines": [ + { + "bbox": [ + 105, + 525, + 504, + 539 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 495, + 539 + ], + "score": 1.0, + "content": "Another possible approach is to use brute-force (BF) search mechanism and find the function", + "type": "text" + }, + { + "bbox": [ + 495, + 526, + 504, + 538 + ], + "score": 0.83, + "content": "Q", + "type": "inline_equation" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 536, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 536, + 173, + 550 + ], + "score": 1.0, + "content": "for elements of", + "type": "text" + }, + { + "bbox": [ + 173, + 538, + 181, + 547 + ], + "score": 0.77, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 181, + 536, + 506, + 550 + ], + "score": 1.0, + "content": ". The factorial growth of the number of permutations with the size of hidden", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 548, + 506, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 400, + 560 + ], + "score": 1.0, + "content": "units in each layer hinders exhaustive search for a winning permutation", + "type": "text" + }, + { + "bbox": [ + 401, + 550, + 408, + 558 + ], + "score": 0.71, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 408, + 548, + 506, + 560 + ], + "score": 1.0, + "content": "to linear mode connect", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 107, + 559, + 506, + 572 + ], + "spans": [ + { + "bbox": [ + 107, + 559, + 142, + 571 + ], + "score": 0.92, + "content": "P ( \\theta _ { 1 } , \\pi )", + "type": "inline_equation" + }, + { + "bbox": [ + 143, + 559, + 161, + 572 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 162, + 559, + 172, + 570 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 559, + 506, + 572 + ], + "score": 1.0, + "content": ". Even for MLPs with just one hidden layer brute-force works in reasonable time", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 569, + 506, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 569, + 129, + 582 + ], + "score": 1.0, + "content": "up to", + "type": "text" + }, + { + "bbox": [ + 130, + 570, + 141, + 580 + ], + "score": 0.82, + "content": "2 ^ { 4 }", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 569, + 322, + 582 + ], + "score": 1.0, + "content": "neurons only, forcing the search to examine", + "type": "text" + }, + { + "bbox": [ + 322, + 569, + 380, + 581 + ], + "score": 0.91, + "content": "2 ^ { 4 } ! \\overset { \\cdot } { \\approx } 2 \\cdot 1 0 ^ { 1 3 }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 569, + 506, + 582 + ], + "score": 1.0, + "content": "permuted networks. BF is not", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 580, + 505, + 593 + ], + "spans": [ + { + "bbox": [ + 105, + 580, + 505, + 593 + ], + "score": 1.0, + "content": "feasible even for modest size deep networks. For small networks, one can use BF to find permutations", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 592, + 506, + 604 + ], + "spans": [ + { + "bbox": [ + 105, + 592, + 506, + 604 + ], + "score": 1.0, + "content": "between different models (see E.3). However, small size networks are not the focus of this paper and", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 603, + 267, + 615 + ], + "spans": [ + { + "bbox": [ + 106, + 603, + 267, + 615 + ], + "score": 1.0, + "content": "Conjecture 1 specifically mentions that.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 34.5 + }, + { + "type": "text", + "bbox": [ + 107, + 619, + 505, + 664 + ], + "lines": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "spans": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "score": 1.0, + "content": "Given the size of search space, using a more advanced search algorithm can be useful. The issue with", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 631, + 505, + 643 + ], + "spans": [ + { + "bbox": [ + 106, + 631, + 505, + 643 + ], + "score": 1.0, + "content": "this approach is that since it relies on the strength of a search algorithm, if the search algorithm fails", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "score": 1.0, + "content": "in finding the permutation, one cannot be sure about the source of failure being the search algorithm", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 334, + 664 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 334, + 664 + ], + "score": 1.0, + "content": "or nonexistence of a permutation that leads to no barrier.", + "type": "text" + } + ], + "index": 42 + } + ], + "index": 40.5 + }, + { + "type": "title", + "bbox": [ + 107, + 678, + 388, + 689 + ], + "lines": [ + { + "bbox": [ + 106, + 678, + 389, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 678, + 389, + 690 + ], + "score": 1.0, + "content": "3.5 OUR MODEL VS REAL WORLD: AN ALTERNATIVE APPROACH", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 43 + }, + { + "type": "text", + "bbox": [ + 107, + 699, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 698, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 505, + 712 + ], + "score": 1.0, + "content": "We propose the following approach to circumvent the above obstacles. We create a competing", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 708, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 708, + 120, + 722 + ], + "score": 1.0, + "content": "set", + "type": "text" + }, + { + "bbox": [ + 121, + 710, + 132, + 720 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 132, + 708, + 261, + 722 + ], + "score": 1.0, + "content": "(our model) as a proxy for set", + "type": "text" + }, + { + "bbox": [ + 261, + 710, + 269, + 720 + ], + "score": 0.8, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 708, + 426, + 722 + ], + "score": 1.0, + "content": "(real world). Given an SGD solution", + "type": "text" + }, + { + "bbox": [ + 426, + 710, + 458, + 720 + ], + "score": 0.91, + "content": "\\theta _ { 1 } \\in { \\mathcal { S } }", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 708, + 505, + 722 + ], + "score": 1.0, + "content": ", we define", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 719, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 106, + 720, + 212, + 733 + ], + "score": 0.92, + "content": "S ^ { \\prime } = \\{ P ( \\theta _ { 1 } , \\pi ) | \\forall \\pi \\in \\bar { \\mathcal { P } } \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 719, + 291, + 734 + ], + "score": 1.0, + "content": ". We know that set", + "type": "text" + }, + { + "bbox": [ + 292, + 721, + 302, + 730 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 303, + 719, + 434, + 734 + ], + "score": 1.0, + "content": "satisfies the conjecture. For set", + "type": "text" + }, + { + "bbox": [ + 434, + 721, + 445, + 731 + ], + "score": 0.85, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 445, + 719, + 505, + 734 + ], + "score": 1.0, + "content": ", all points are", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 45 + } + ], + "page_idx": 5, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 108, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 293, + 38 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 293, + 38 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 752, + 309, + 760 + ], + "lines": [ + { + "bbox": [ + 302, + 751, + 310, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 751, + 310, + 762 + ], + "score": 1.0, + "content": "6", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "text", + "bbox": [ + 107, + 82, + 505, + 126 + ], + "lines": [ + { + "bbox": [ + 105, + 82, + 505, + 95 + ], + "spans": [ + { + "bbox": [ + 105, + 82, + 505, + 95 + ], + "score": 1.0, + "content": "Nonetheless, we argue that coming up with strong conjectures and attempting to disprove them is an", + "type": "text" + } + ], + "index": 0 + }, + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "spans": [ + { + "bbox": [ + 105, + 93, + 505, + 106 + ], + "score": 1.0, + "content": "effective method for scientific progress. Note, our conjecture also has great practical implications for", + "type": "text" + } + ], + "index": 1 + }, + { + "bbox": [ + 105, + 105, + 506, + 118 + ], + "spans": [ + { + "bbox": [ + 105, + 105, + 506, + 118 + ], + "score": 1.0, + "content": "model ensembling and parallelism since one can average models that are in the same basin in the loss", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 105, + 115, + 333, + 127 + ], + "spans": [ + { + "bbox": [ + 105, + 115, + 333, + 127 + ], + "score": 1.0, + "content": "landscape. The conjecture can be formalized as follows:", + "type": "text" + } + ], + "index": 3 + } + ], + "index": 1.5, + "bbox_fs": [ + 105, + 82, + 506, + 127 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 130, + 505, + 208 + ], + "lines": [ + { + "bbox": [ + 105, + 129, + 506, + 143 + ], + "spans": [ + { + "bbox": [ + 105, + 129, + 183, + 143 + ], + "score": 1.0, + "content": "Conjecture 1. Let", + "type": "text" + }, + { + "bbox": [ + 184, + 130, + 203, + 142 + ], + "score": 0.9, + "content": "f ( \\theta )", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 129, + 472, + 143 + ], + "score": 1.0, + "content": "be the function representing a feedforward network with parameters", + "type": "text" + }, + { + "bbox": [ + 473, + 129, + 502, + 141 + ], + "score": 0.91, + "content": "\\boldsymbol \\theta \\in \\mathbb { R } ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 129, + 506, + 143 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 107, + 140, + 506, + 155 + ], + "spans": [ + { + "bbox": [ + 107, + 142, + 115, + 152 + ], + "score": 0.76, + "content": "\\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 115, + 140, + 319, + 155 + ], + "score": 1.0, + "content": "be the set of all valid permutations for the network,", + "type": "text" + }, + { + "bbox": [ + 319, + 141, + 395, + 152 + ], + "score": 0.91, + "content": "\\dot { P } : \\dot { \\mathbb R } ^ { k } \\times \\mathcal P \\mathbb R ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 396, + 140, + 506, + 155 + ], + "score": 1.0, + "content": "be the function that applies", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 104, + 152, + 506, + 165 + ], + "spans": [ + { + "bbox": [ + 104, + 152, + 398, + 165 + ], + "score": 1.0, + "content": "a given permutation to parameters and returns the permuted version, and", + "type": "text" + }, + { + "bbox": [ + 398, + 153, + 425, + 164 + ], + "score": 0.92, + "content": "B ( \\cdot , \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 425, + 152, + 506, + 165 + ], + "score": 1.0, + "content": "be the function that", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 164, + 506, + 175 + ], + "spans": [ + { + "bbox": [ + 105, + 164, + 385, + 175 + ], + "score": 1.0, + "content": "returns barrier value between two solutions as defined in Equation", + "type": "text" + }, + { + "bbox": [ + 385, + 164, + 391, + 173 + ], + "score": 0.37, + "content": "^ { l }", + "type": "inline_equation" + }, + { + "bbox": [ + 391, + 164, + 506, + 175 + ], + "score": 1.0, + "content": ". Then, there exists a width", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 107, + 174, + 505, + 186 + ], + "spans": [ + { + "bbox": [ + 107, + 174, + 133, + 185 + ], + "score": 0.87, + "content": "h > 0", + "type": "inline_equation" + }, + { + "bbox": [ + 133, + 174, + 241, + 186 + ], + "score": 1.0, + "content": "such that for any network", + "type": "text" + }, + { + "bbox": [ + 242, + 174, + 261, + 186 + ], + "score": 0.89, + "content": "f ( \\theta )", + "type": "inline_equation" + }, + { + "bbox": [ + 262, + 174, + 331, + 186 + ], + "score": 1.0, + "content": "of width at least", + "type": "text" + }, + { + "bbox": [ + 332, + 175, + 339, + 184 + ], + "score": 0.29, + "content": "h", + "type": "inline_equation" + }, + { + "bbox": [ + 339, + 174, + 505, + 186 + ], + "score": 1.0, + "content": "the following holds: There exist a set of", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 185, + 506, + 198 + ], + "spans": [ + { + "bbox": [ + 105, + 185, + 144, + 198 + ], + "score": 1.0, + "content": "solutions", + "type": "text" + }, + { + "bbox": [ + 145, + 185, + 177, + 196 + ], + "score": 0.91, + "content": "S \\subseteq \\mathbb { R } ^ { k }", + "type": "inline_equation" + }, + { + "bbox": [ + 178, + 185, + 238, + 198 + ], + "score": 1.0, + "content": "and a function", + "type": "text" + }, + { + "bbox": [ + 238, + 186, + 285, + 197 + ], + "score": 0.9, + "content": "Q : S \\mathcal { P }", + "type": "inline_equation" + }, + { + "bbox": [ + 285, + 185, + 337, + 198 + ], + "score": 1.0, + "content": "such for any", + "type": "text" + }, + { + "bbox": [ + 338, + 186, + 380, + 197 + ], + "score": 0.85, + "content": "\\theta _ { 1 } , \\theta _ { 2 } \\in { \\mathcal { S } }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 185, + 384, + 198 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 384, + 185, + 487, + 198 + ], + "score": 0.9, + "content": "B ( P ( \\theta _ { 1 } , Q ( \\theta _ { 1 } ) ) , \\theta _ { 2 } ) \\approx 0", + "type": "inline_equation" + }, + { + "bbox": [ + 487, + 185, + 506, + 198 + ], + "score": 1.0, + "content": "and", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 196, + 356, + 208 + ], + "spans": [ + { + "bbox": [ + 105, + 196, + 282, + 208 + ], + "score": 1.0, + "content": "with high probability over an SGD solution", + "type": "text" + }, + { + "bbox": [ + 282, + 197, + 288, + 206 + ], + "score": 0.72, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 288, + 196, + 326, + 208 + ], + "score": 1.0, + "content": ", we have", + "type": "text" + }, + { + "bbox": [ + 327, + 197, + 351, + 207 + ], + "score": 0.9, + "content": "\\theta \\in S", + "type": "inline_equation" + }, + { + "bbox": [ + 352, + 196, + 356, + 208 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7, + "bbox_fs": [ + 104, + 129, + 506, + 208 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 217, + 503, + 240 + ], + "lines": [ + { + "bbox": [ + 105, + 216, + 505, + 231 + ], + "spans": [ + { + "bbox": [ + 105, + 216, + 505, + 231 + ], + "score": 1.0, + "content": "Next, we approach Conjecture 1 from both theoretical and empirical aspects and provide some", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 227, + 197, + 240 + ], + "spans": [ + { + "bbox": [ + 105, + 227, + 197, + 240 + ], + "score": 1.0, + "content": "evidence to support it.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 11.5, + "bbox_fs": [ + 105, + 216, + 505, + 240 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 253, + 237, + 264 + ], + "lines": [ + { + "bbox": [ + 106, + 253, + 238, + 265 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 238, + 265 + ], + "score": 1.0, + "content": "3.3 A THEORETICAL RESULT", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 107, + 274, + 505, + 330 + ], + "lines": [ + { + "bbox": [ + 106, + 274, + 505, + 286 + ], + "spans": [ + { + "bbox": [ + 106, + 274, + 505, + 286 + ], + "score": 1.0, + "content": "In this section we provide elementary theoretical results in support of our conjecture. Although", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "spans": [ + { + "bbox": [ + 105, + 285, + 505, + 298 + ], + "score": 1.0, + "content": "the theoretical result is provided for a very limited setting, we believe it helps us understand the", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 297, + 505, + 308 + ], + "spans": [ + { + "bbox": [ + 105, + 297, + 505, + 308 + ], + "score": 1.0, + "content": "mechanism that could give rise to our conjecture. Bellow, we theoretically show that Conjecture 1", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 505, + 320 + ], + "score": 1.0, + "content": "holds for a fully-connected network with a single hidden layer at initialization. Proof is given in", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 318, + 162, + 331 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 162, + 331 + ], + "score": 1.0, + "content": "Appendix D.", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 16, + "bbox_fs": [ + 105, + 274, + 505, + 331 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 332, + 506, + 394 + ], + "lines": [ + { + "bbox": [ + 105, + 331, + 506, + 346 + ], + "spans": [ + { + "bbox": [ + 105, + 331, + 184, + 346 + ], + "score": 1.0, + "content": "Theorem 3.1. Let", + "type": "text" + }, + { + "bbox": [ + 184, + 333, + 274, + 345 + ], + "score": 0.92, + "content": "f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) = \\mathbf { v } ^ { \\top } \\boldsymbol { \\sigma } ( \\mathbf { U } \\mathbf { x } )", + "type": "inline_equation" + }, + { + "bbox": [ + 274, + 331, + 506, + 346 + ], + "score": 1.0, + "content": "be a fully-connected network with h hidden units where", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 107, + 343, + 507, + 359 + ], + "spans": [ + { + "bbox": [ + 107, + 345, + 124, + 358 + ], + "score": 0.89, + "content": "\\sigma ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 124, + 343, + 208, + 359 + ], + "score": 1.0, + "content": "is ReLU activation,", + "type": "text" + }, + { + "bbox": [ + 208, + 345, + 242, + 356 + ], + "score": 0.89, + "content": "\\mathbf { v } \\in \\mathbb { R } ^ { h }", + "type": "inline_equation" + }, + { + "bbox": [ + 242, + 343, + 262, + 359 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 262, + 345, + 309, + 356 + ], + "score": 0.92, + "content": "\\mathbf { U } \\in \\mathbb { R } ^ { h \\times d }", + "type": "inline_equation" + }, + { + "bbox": [ + 309, + 343, + 408, + 359 + ], + "score": 1.0, + "content": "are the parameters and √ √", + "type": "text" + }, + { + "bbox": [ + 409, + 345, + 442, + 356 + ], + "score": 0.91, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 442, + 343, + 507, + 359 + ], + "score": 1.0, + "content": "is the input. If", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 357, + 506, + 371 + ], + "spans": [ + { + "bbox": [ + 105, + 357, + 173, + 371 + ], + "score": 1.0, + "content": "each element of", + "type": "text" + }, + { + "bbox": [ + 173, + 358, + 183, + 369 + ], + "score": 0.39, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 184, + 357, + 202, + 371 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 203, + 358, + 216, + 369 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 216, + 357, + 327, + 371 + ], + "score": 1.0, + "content": "is sampled uniformly from", + "type": "text" + }, + { + "bbox": [ + 327, + 357, + 392, + 370 + ], + "score": 0.92, + "content": "[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 357, + 506, + 371 + ], + "score": 1.0, + "content": "and each element of v and", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 106, + 370, + 506, + 384 + ], + "spans": [ + { + "bbox": [ + 106, + 371, + 117, + 381 + ], + "score": 0.83, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 117, + 370, + 230, + 384 + ], + "score": 1.0, + "content": "is sampled uniformly from", + "type": "text" + }, + { + "bbox": [ + 230, + 370, + 297, + 383 + ], + "score": 0.93, + "content": "[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 297, + 370, + 354, + 384 + ], + "score": 1.0, + "content": ", then for any", + "type": "text" + }, + { + "bbox": [ + 354, + 371, + 389, + 382 + ], + "score": 0.89, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 389, + 370, + 430, + 384 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 430, + 370, + 480, + 384 + ], + "score": 0.93, + "content": "\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } }", + "type": "inline_equation" + }, + { + "bbox": [ + 481, + 370, + 506, + 384 + ], + "score": 1.0, + "content": ", with", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 104, + 382, + 393, + 394 + ], + "spans": [ + { + "bbox": [ + 104, + 382, + 153, + 394 + ], + "score": 1.0, + "content": "probability", + "type": "text" + }, + { + "bbox": [ + 153, + 383, + 176, + 393 + ], + "score": 0.86, + "content": "1 - \\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 382, + 198, + 394 + ], + "score": 1.0, + "content": "over", + "type": "text" + }, + { + "bbox": [ + 198, + 383, + 247, + 393 + ], + "score": 0.89, + "content": "{ \\bf U } , { \\bf U } ^ { \\prime } , { \\bf v } , { \\bf v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 382, + 393, + 394 + ], + "score": 1.0, + "content": ", there exist a permutation such that", + "type": "text" + } + ], + "index": 23 + } + ], + "index": 21, + "bbox_fs": [ + 104, + 331, + 507, + 394 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 398, + 466, + 420 + ], + "lines": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "spans": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}", + "type": "interline_equation", + "image_path": "da5aff8533e50a9adca3c09fd949dd1ca425b9b024d14d5f12f50e76da20bb9f.jpg" + } + ] + } + ], + "index": 24, + "virtual_lines": [ + { + "bbox": [ + 143, + 398, + 466, + 420 + ], + "spans": [], + "index": 24 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 425, + 326, + 437 + ], + "lines": [ + { + "bbox": [ + 106, + 424, + 327, + 439 + ], + "spans": [ + { + "bbox": [ + 106, + 424, + 133, + 439 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 426, + 145, + 436 + ], + "score": 0.84, + "content": "\\mathbf { v } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 424, + 164, + 439 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 164, + 426, + 179, + 436 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 424, + 282, + 439 + ], + "score": 1.0, + "content": "are permuted versions of", + "type": "text" + }, + { + "bbox": [ + 282, + 426, + 292, + 436 + ], + "score": 0.81, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 424, + 311, + 439 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 311, + 426, + 323, + 436 + ], + "score": 0.86, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 324, + 424, + 327, + 439 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 25, + "bbox_fs": [ + 106, + 424, + 327, + 439 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 447, + 504, + 491 + ], + "lines": [ + { + "bbox": [ + 105, + 447, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 505, + 459 + ], + "score": 1.0, + "content": "Theorem 3.1 states that for wide enough fully-connected networks with a single hidden layer, one can", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 457, + 505, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 470 + ], + "score": 1.0, + "content": "find a permutation that leads to having no barrier at random initialization. Although, our prove only", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 469, + 506, + 481 + ], + "spans": [ + { + "bbox": [ + 105, + 469, + 506, + 481 + ], + "score": 1.0, + "content": "covers random initialization, we believe with a more involved proof, it might be possible to extend it", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 480, + 370, + 492 + ], + "spans": [ + { + "bbox": [ + 105, + 480, + 370, + 492 + ], + "score": 1.0, + "content": "to NTK regime (Jacot et al., 2018). We leave this for future work.", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 27.5, + "bbox_fs": [ + 105, + 447, + 506, + 492 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 505, + 352, + 516 + ], + "lines": [ + { + "bbox": [ + 105, + 505, + 354, + 518 + ], + "spans": [ + { + "bbox": [ + 105, + 505, + 354, + 518 + ], + "score": 1.0, + "content": "3.4 DIRECT EMPIRICAL EVALUATION OF CONJECTURE 1", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 30 + }, + { + "type": "text", + "bbox": [ + 107, + 525, + 505, + 614 + ], + "lines": [ + { + "bbox": [ + 105, + 525, + 504, + 539 + ], + "spans": [ + { + "bbox": [ + 105, + 525, + 495, + 539 + ], + "score": 1.0, + "content": "Another possible approach is to use brute-force (BF) search mechanism and find the function", + "type": "text" + }, + { + "bbox": [ + 495, + 526, + 504, + 538 + ], + "score": 0.83, + "content": "Q", + "type": "inline_equation" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 536, + 506, + 550 + ], + "spans": [ + { + "bbox": [ + 105, + 536, + 173, + 550 + ], + "score": 1.0, + "content": "for elements of", + "type": "text" + }, + { + "bbox": [ + 173, + 538, + 181, + 547 + ], + "score": 0.77, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 181, + 536, + 506, + 550 + ], + "score": 1.0, + "content": ". The factorial growth of the number of permutations with the size of hidden", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 548, + 506, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 548, + 400, + 560 + ], + "score": 1.0, + "content": "units in each layer hinders exhaustive search for a winning permutation", + "type": "text" + }, + { + "bbox": [ + 401, + 550, + 408, + 558 + ], + "score": 0.71, + "content": "\\pi", + "type": "inline_equation" + }, + { + "bbox": [ + 408, + 548, + 506, + 560 + ], + "score": 1.0, + "content": "to linear mode connect", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 107, + 559, + 506, + 572 + ], + "spans": [ + { + "bbox": [ + 107, + 559, + 142, + 571 + ], + "score": 0.92, + "content": "P ( \\theta _ { 1 } , \\pi )", + "type": "inline_equation" + }, + { + "bbox": [ + 143, + 559, + 161, + 572 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 162, + 559, + 172, + 570 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 559, + 506, + 572 + ], + "score": 1.0, + "content": ". Even for MLPs with just one hidden layer brute-force works in reasonable time", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 569, + 506, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 569, + 129, + 582 + ], + "score": 1.0, + "content": "up to", + "type": "text" + }, + { + "bbox": [ + 130, + 570, + 141, + 580 + ], + "score": 0.82, + "content": "2 ^ { 4 }", + "type": "inline_equation" + }, + { + "bbox": [ + 141, + 569, + 322, + 582 + ], + "score": 1.0, + "content": "neurons only, forcing the search to examine", + "type": "text" + }, + { + "bbox": [ + 322, + 569, + 380, + 581 + ], + "score": 0.91, + "content": "2 ^ { 4 } ! \\overset { \\cdot } { \\approx } 2 \\cdot 1 0 ^ { 1 3 }", + "type": "inline_equation" + }, + { + "bbox": [ + 380, + 569, + 506, + 582 + ], + "score": 1.0, + "content": "permuted networks. BF is not", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 580, + 505, + 593 + ], + "spans": [ + { + "bbox": [ + 105, + 580, + 505, + 593 + ], + "score": 1.0, + "content": "feasible even for modest size deep networks. For small networks, one can use BF to find permutations", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 592, + 506, + 604 + ], + "spans": [ + { + "bbox": [ + 105, + 592, + 506, + 604 + ], + "score": 1.0, + "content": "between different models (see E.3). However, small size networks are not the focus of this paper and", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 603, + 267, + 615 + ], + "spans": [ + { + "bbox": [ + 106, + 603, + 267, + 615 + ], + "score": 1.0, + "content": "Conjecture 1 specifically mentions that.", + "type": "text" + } + ], + "index": 38 + } + ], + "index": 34.5, + "bbox_fs": [ + 105, + 525, + 506, + 615 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 619, + 505, + 664 + ], + "lines": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "spans": [ + { + "bbox": [ + 105, + 619, + 505, + 632 + ], + "score": 1.0, + "content": "Given the size of search space, using a more advanced search algorithm can be useful. The issue with", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 631, + 505, + 643 + ], + "spans": [ + { + "bbox": [ + 106, + 631, + 505, + 643 + ], + "score": 1.0, + "content": "this approach is that since it relies on the strength of a search algorithm, if the search algorithm fails", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "spans": [ + { + "bbox": [ + 105, + 641, + 505, + 654 + ], + "score": 1.0, + "content": "in finding the permutation, one cannot be sure about the source of failure being the search algorithm", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 654, + 334, + 664 + ], + "spans": [ + { + "bbox": [ + 105, + 654, + 334, + 664 + ], + "score": 1.0, + "content": "or nonexistence of a permutation that leads to no barrier.", + "type": "text" + } + ], + "index": 42 + } + ], + "index": 40.5, + "bbox_fs": [ + 105, + 619, + 505, + 664 + ] + }, + { + "type": "title", + "bbox": [ + 107, + 678, + 388, + 689 + ], + "lines": [ + { + "bbox": [ + 106, + 678, + 389, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 678, + 389, + 690 + ], + "score": 1.0, + "content": "3.5 OUR MODEL VS REAL WORLD: AN ALTERNATIVE APPROACH", + "type": "text" + } + ], + "index": 43 + } + ], + "index": 43 + }, + { + "type": "text", + "bbox": [ + 107, + 699, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 698, + 505, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 505, + 712 + ], + "score": 1.0, + "content": "We propose the following approach to circumvent the above obstacles. We create a competing", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 708, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 708, + 120, + 722 + ], + "score": 1.0, + "content": "set", + "type": "text" + }, + { + "bbox": [ + 121, + 710, + 132, + 720 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 132, + 708, + 261, + 722 + ], + "score": 1.0, + "content": "(our model) as a proxy for set", + "type": "text" + }, + { + "bbox": [ + 261, + 710, + 269, + 720 + ], + "score": 0.8, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 708, + 426, + 722 + ], + "score": 1.0, + "content": "(real world). Given an SGD solution", + "type": "text" + }, + { + "bbox": [ + 426, + 710, + 458, + 720 + ], + "score": 0.91, + "content": "\\theta _ { 1 } \\in { \\mathcal { S } }", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 708, + 505, + 722 + ], + "score": 1.0, + "content": ", we define", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 719, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 106, + 720, + 212, + 733 + ], + "score": 0.92, + "content": "S ^ { \\prime } = \\{ P ( \\theta _ { 1 } , \\pi ) | \\forall \\pi \\in \\bar { \\mathcal { P } } \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 719, + 291, + 734 + ], + "score": 1.0, + "content": ". We know that set", + "type": "text" + }, + { + "bbox": [ + 292, + 721, + 302, + 730 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 303, + 719, + 434, + 734 + ], + "score": 1.0, + "content": "satisfies the conjecture. For set", + "type": "text" + }, + { + "bbox": [ + 434, + 721, + 445, + 731 + ], + "score": 0.85, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 445, + 719, + 505, + 734 + ], + "score": 1.0, + "content": ", all points are", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 106, + 213, + 506, + 225 + ], + "spans": [ + { + "bbox": [ + 106, + 213, + 199, + 225 + ], + "score": 1.0, + "content": "known permutations of", + "type": "text", + "cross_page": true + }, + { + "bbox": [ + 200, + 214, + 210, + 225 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation", + "cross_page": true + }, + { + "bbox": [ + 210, + 213, + 477, + 225 + ], + "score": 1.0, + "content": ". 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From", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 104, + 151, + 506, + 164 + ], + "spans": [ + { + "bbox": [ + 104, + 151, + 489, + 164 + ], + "score": 1.0, + "content": "left to right: one-layer MLP, two-layer Shallow CNN, MLP and Shallow CNN with layer width of", + "type": "text" + }, + { + "bbox": [ + 489, + 151, + 503, + 162 + ], + "score": 0.85, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 151, + 506, + 164 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 162, + 505, + 174 + ], + "spans": [ + { + "bbox": [ + 105, + 162, + 505, + 174 + ], + "score": 1.0, + "content": "Increasing width first increases and then decreases the barrier, while adding more layers significantly increases", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 104, + 170, + 506, + 185 + ], + "spans": [ + { + "bbox": [ + 104, + 170, + 221, + 185 + ], + "score": 1.0, + "content": "the barrier size. 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The consequence of the equivalence of our", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 286, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 286, + 505, + 297 + ], + "score": 1.0, + "content": "model to real world is that Conjecture 1 holds. The conjecture effectively means that different basins", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 295, + 505, + 309 + ], + "spans": [ + { + "bbox": [ + 105, + 295, + 505, + 309 + ], + "score": 1.0, + "content": "exist because of the permutation invariance and if permutation invariance is taken into account (by", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 307, + 506, + 320 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 506, + 320 + ], + "score": 1.0, + "content": "permuting solutions to remove the barriers between them), there is only one basin, i.e., all solutions", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 318, + 506, + 330 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 390, + 330 + ], + "score": 1.0, + "content": "reside in the same basin in the loss landscape. We actually want to show", + "type": "text" + }, + { + "bbox": [ + 391, + 318, + 399, + 328 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 318, + 448, + 330 + ], + "score": 1.0, + "content": "is similar to", + "type": "text" + }, + { + "bbox": [ + 448, + 318, + 459, + 328 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 318, + 506, + 330 + ], + "score": 1.0, + "content": "in terms of", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 329, + 506, + 341 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 386, + 341 + ], + "score": 1.0, + "content": "optimizing over all permutations but that is not possible so we show", + "type": "text" + }, + { + "bbox": [ + 386, + 330, + 394, + 339 + ], + "score": 0.82, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 329, + 446, + 341 + ], + "score": 1.0, + "content": "is similar to", + "type": "text" + }, + { + "bbox": [ + 446, + 329, + 457, + 339 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 457, + 329, + 506, + 341 + ], + "score": 1.0, + "content": "in terms of", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "barrier without search or when we search over a smaller set of permutations using a search algorithm.", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 350, + 386, + 364 + ], + "spans": [ + { + "bbox": [ + 105, + 350, + 386, + 364 + ], + "score": 1.0, + "content": "In the next section, we investigate our conjecture using this approach.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 15.5 + }, + { + "type": "title", + "bbox": [ + 108, + 378, + 268, + 390 + ], + "lines": [ + { + "bbox": [ + 105, + 377, + 270, + 393 + ], + "spans": [ + { + "bbox": [ + 105, + 377, + 270, + 393 + ], + "score": 1.0, + "content": "4 EMPIRICAL INVESTIGATION", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 402, + 505, + 513 + ], + "lines": [ + { + "bbox": [ + 105, + 403, + 506, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 403, + 220, + 415 + ], + "score": 1.0, + "content": "In this section we show that", + "type": "text" + }, + { + "bbox": [ + 220, + 403, + 228, + 413 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 403, + 246, + 415 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 246, + 403, + 257, + 413 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 257, + 403, + 506, + 415 + ], + "score": 1.0, + "content": "have similar loss barrier along different factors such as width,", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 414, + 505, + 427 + ], + "spans": [ + { + "bbox": [ + 105, + 414, + 505, + 427 + ], + "score": 1.0, + "content": "depth, architecture, dataset and other model parameters (with and without searching for a permutation", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "spans": [ + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "score": 1.0, + "content": "that reduces the barrier), hence supporting our conjecture. As discussed in Section 2, the barrier for", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 435, + 506, + 449 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 506, + 449 + ], + "score": 1.0, + "content": "both VGG and ResNet architectures is saturated at a high value hinting that the loss landscape might", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 447, + 506, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 446, + 459 + ], + "score": 1.0, + "content": "be more complex for these architecture families. In our experiments we observed that", + "type": "text" + }, + { + "bbox": [ + 446, + 447, + 454, + 457 + ], + "score": 0.8, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 455, + 447, + 472, + 459 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 472, + 447, + 483, + 457 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 483, + 447, + 506, + 459 + ], + "score": 1.0, + "content": "have", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 459, + 505, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 459, + 505, + 470 + ], + "score": 1.0, + "content": "similar high barriers for both of these architectures (see Appendix E.2). Moreover, we observed that", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 468, + 506, + 481 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 140, + 481 + ], + "score": 1.0, + "content": "for both", + "type": "text" + }, + { + "bbox": [ + 141, + 469, + 149, + 479 + ], + "score": 0.8, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 149, + 468, + 166, + 481 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 167, + 469, + 177, + 479 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 177, + 468, + 506, + 481 + ], + "score": 1.0, + "content": "the employed algorithms (Section 4.2) were unable to find a permutation to reduce", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "spans": [ + { + "bbox": [ + 105, + 479, + 505, + 492 + ], + "score": 1.0, + "content": "the barrier and hence our model shows a similar behavior to real world 3. Given that the width and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 490, + 506, + 504 + ], + "spans": [ + { + "bbox": [ + 105, + 490, + 506, + 504 + ], + "score": 1.0, + "content": "depth do not influence the barrier behavior in VGG and ResNet architectures, here we only focus on", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 502, + 410, + 513 + ], + "spans": [ + { + "bbox": [ + 106, + 502, + 410, + 513 + ], + "score": 1.0, + "content": "the effect of width and depth on barrier sizes for MLPs and Shallow CNNs.", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 26.5 + }, + { + "type": "title", + "bbox": [ + 108, + 526, + 240, + 537 + ], + "lines": [ + { + "bbox": [ + 105, + 524, + 240, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 524, + 198, + 540 + ], + "score": 1.0, + "content": "4.1 SIMILARITY OF", + "type": "text" + }, + { + "bbox": [ + 199, + 527, + 207, + 536 + ], + "score": 0.55, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 524, + 229, + 540 + ], + "score": 1.0, + "content": "AND", + "type": "text" + }, + { + "bbox": [ + 229, + 527, + 240, + 536 + ], + "score": 0.71, + "content": "S ^ { \\prime }", + "type": "inline_equation" + } + ], + "index": 32 + } + ], + "index": 32 + }, + { + "type": "text", + "bbox": [ + 107, + 546, + 505, + 635 + ], + "lines": [ + { + "bbox": [ + 105, + 546, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 546, + 347, + 560 + ], + "score": 1.0, + "content": "Figure 5 compares our model to the real world and shows that", + "type": "text" + }, + { + "bbox": [ + 347, + 547, + 357, + 557 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 546, + 375, + 560 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 375, + 547, + 383, + 557 + ], + "score": 0.79, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 546, + 505, + 560 + ], + "score": 1.0, + "content": "have strikingly similar barriers", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 559, + 505, + 569 + ], + "spans": [ + { + "bbox": [ + 105, + 559, + 505, + 569 + ], + "score": 1.0, + "content": "as we change different architecture parameters such as width and depth across various architecture", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "score": 1.0, + "content": "families and datasets. This surprising level of similarity between our model and real world on variety", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 581, + 505, + 592 + ], + "spans": [ + { + "bbox": [ + 106, + 581, + 505, + 592 + ], + "score": 1.0, + "content": "of settings provide strong evidence for the conjecture. Even if the conjecture is not precisely correct", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 591, + 505, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 505, + 603 + ], + "score": 1.0, + "content": "as stated, the empirical results suggest that the structural similarities between our model and real", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 602, + 505, + 613 + ], + "spans": [ + { + "bbox": [ + 106, + 602, + 505, + 613 + ], + "score": 1.0, + "content": "world makes our model a useful simplification of the real world for studying the loss landscape. For", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 613, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 613, + 506, + 624 + ], + "score": 1.0, + "content": "example, the effect of width and depth on the barrier is almost identical in our model and the real", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 624, + 477, + 636 + ], + "spans": [ + { + "bbox": [ + 106, + 624, + 477, + 636 + ], + "score": 1.0, + "content": "world which suggests that permutations are perhaps playing the main role in such behaviors.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 36.5 + }, + { + "type": "title", + "bbox": [ + 108, + 649, + 398, + 659 + ], + "lines": [ + { + "bbox": [ + 105, + 648, + 400, + 661 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 400, + 661 + ], + "score": 1.0, + "content": "4.2 SEARCH ALGORITHMS FOR FINDING A WINNING PERMUTATION", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 41 + }, + { + "type": "text", + "bbox": [ + 107, + 669, + 505, + 714 + ], + "lines": [ + { + "bbox": [ + 105, + 668, + 506, + 682 + ], + "spans": [ + { + "bbox": [ + 105, + 668, + 289, + 682 + ], + "score": 1.0, + "content": "The problem of finding a winning permutation", + "type": "text" + }, + { + "bbox": [ + 290, + 669, + 317, + 679 + ], + "score": 0.91, + "content": "\\pi \\in { \\mathcal { P } }", + "type": "inline_equation" + }, + { + "bbox": [ + 317, + 668, + 506, + 682 + ], + "score": 1.0, + "content": "is a variant of the Travelling Salesman Problem", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 680, + 505, + 692 + ], + "spans": [ + { + "bbox": [ + 105, + 680, + 505, + 692 + ], + "score": 1.0, + "content": "where neurons are mapped to cities visited by a salesman. The problem belongs to the class of", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 106, + 691, + 505, + 703 + ], + "spans": [ + { + "bbox": [ + 106, + 691, + 505, + 703 + ], + "score": 1.0, + "content": "NP-hard optimization problems and simulated annealing (SA) is often used to find a solution for", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 702, + 506, + 715 + ], + "spans": [ + { + "bbox": [ + 105, + 702, + 506, + 715 + ], + "score": 1.0, + "content": "such a combinatorial search problem. SA’s performance however highly depends on the parameter", + "type": "text" + } + ], + "index": 45 + } + ], + "index": 43.5 + } + ], + "page_idx": 6, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 118, + 721, + 406, + 732 + ], + "lines": [ + { + "bbox": [ + 118, + 719, + 408, + 734 + ], + "spans": [ + { + "bbox": [ + 118, + 719, + 408, + 734 + ], + "score": 1.0, + "content": "3All the experiments are included in the aggregated results reported in Figure 1.", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "spans": [ + { + "bbox": [ + 302, + 750, + 309, + 763 + ], + "score": 1.0, + "content": "7", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 109, + 60, + 502, + 141 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 109, + 60, + 502, + 141 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 109, + 60, + 502, + 141 + ], + "spans": [ + { + "bbox": [ + 109, + 60, + 502, + 141 + ], + "score": 0.967, + "type": "image", + "image_path": "c981dcb5bf04d6b277cc49b46b4df793404b7771d2d07ad42af7a3cf021e5331.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 109, + 60, + 502, + 87.0 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 109, + 87.0, + 502, + 114.0 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 109, + 114.0, + 502, + 141.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 107, + 142, + 505, + 192 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 141, + 505, + 154 + ], + "spans": [ + { + "bbox": [ + 106, + 141, + 505, + 154 + ], + "score": 1.0, + "content": "Figure 5: Similar loss barrier between real world and our model BEFORE applying permutation. From", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 104, + 151, + 506, + 164 + ], + "spans": [ + { + "bbox": [ + 104, + 151, + 489, + 164 + ], + "score": 1.0, + "content": "left to right: one-layer MLP, two-layer Shallow CNN, MLP and Shallow CNN with layer width of", + "type": "text" + }, + { + "bbox": [ + 489, + 151, + 503, + 162 + ], + "score": 0.85, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 151, + 506, + 164 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 162, + 505, + 174 + ], + "spans": [ + { + "bbox": [ + 105, + 162, + 505, + 174 + ], + "score": 1.0, + "content": "Increasing width first increases and then decreases the barrier, while adding more layers significantly increases", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 104, + 170, + 506, + 185 + ], + "spans": [ + { + "bbox": [ + 104, + 170, + 221, + 185 + ], + "score": 1.0, + "content": "the barrier size. We observe that", + "type": "text" + }, + { + "bbox": [ + 221, + 172, + 231, + 181 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 231, + 170, + 247, + 185 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 247, + 172, + 254, + 181 + ], + "score": 0.79, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 255, + 170, + 506, + 185 + ], + "score": 1.0, + "content": "behave similarly in terms of barrier as we change different architecture", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 182, + 310, + 194 + ], + "spans": [ + { + "bbox": [ + 105, + 182, + 310, + 194 + ], + "score": 1.0, + "content": "parameters such as width, depth across various datasets.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 5 + } + ], + "index": 3.0 + }, + { + "type": "text", + "bbox": [ + 107, + 213, + 505, + 246 + ], + "lines": [], + "index": 9, + "bbox_fs": [ + 105, + 213, + 506, + 247 + ], + "lines_deleted": true + }, + { + "type": "text", + "bbox": [ + 107, + 252, + 505, + 362 + ], + "lines": [ + { + "bbox": [ + 106, + 253, + 505, + 264 + ], + "spans": [ + { + "bbox": [ + 106, + 253, + 168, + 264 + ], + "score": 1.0, + "content": "Equivalence of", + "type": "text" + }, + { + "bbox": [ + 168, + 253, + 179, + 262 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 179, + 253, + 197, + 264 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 197, + 253, + 205, + 262 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 205, + 253, + 430, + 264 + ], + "score": 1.0, + "content": "in terms of barriers, means that if we choose an element", + "type": "text" + }, + { + "bbox": [ + 430, + 253, + 437, + 262 + ], + "score": 0.8, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 437, + 253, + 447, + 264 + ], + "score": 1.0, + "content": "in", + "type": "text" + }, + { + "bbox": [ + 448, + 253, + 456, + 262 + ], + "score": 0.79, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 456, + 253, + 505, + 264 + ], + "score": 1.0, + "content": ", one should", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 263, + 505, + 276 + ], + "spans": [ + { + "bbox": [ + 105, + 263, + 352, + 276 + ], + "score": 1.0, + "content": "be able to find permutations for each of other elements of the", + "type": "text" + }, + { + "bbox": [ + 353, + 264, + 361, + 273 + ], + "score": 0.78, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 361, + 263, + 505, + 276 + ], + "score": 1.0, + "content": "so that the permuted elements have", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 273, + 505, + 286 + ], + "spans": [ + { + "bbox": [ + 106, + 273, + 169, + 286 + ], + "score": 1.0, + "content": "no barrier with", + "type": "text" + }, + { + "bbox": [ + 169, + 275, + 176, + 284 + ], + "score": 0.79, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 176, + 273, + 318, + 286 + ], + "score": 1.0, + "content": "and hence are in the same basin as", + "type": "text" + }, + { + "bbox": [ + 318, + 275, + 325, + 284 + ], + "score": 0.76, + "content": "\\theta", + "type": "inline_equation" + }, + { + "bbox": [ + 325, + 273, + 505, + 286 + ], + "score": 1.0, + "content": ". The consequence of the equivalence of our", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 286, + 505, + 297 + ], + "spans": [ + { + "bbox": [ + 106, + 286, + 505, + 297 + ], + "score": 1.0, + "content": "model to real world is that Conjecture 1 holds. The conjecture effectively means that different basins", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 295, + 505, + 309 + ], + "spans": [ + { + "bbox": [ + 105, + 295, + 505, + 309 + ], + "score": 1.0, + "content": "exist because of the permutation invariance and if permutation invariance is taken into account (by", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 307, + 506, + 320 + ], + "spans": [ + { + "bbox": [ + 105, + 307, + 506, + 320 + ], + "score": 1.0, + "content": "permuting solutions to remove the barriers between them), there is only one basin, i.e., all solutions", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 318, + 506, + 330 + ], + "spans": [ + { + "bbox": [ + 105, + 318, + 390, + 330 + ], + "score": 1.0, + "content": "reside in the same basin in the loss landscape. We actually want to show", + "type": "text" + }, + { + "bbox": [ + 391, + 318, + 399, + 328 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 399, + 318, + 448, + 330 + ], + "score": 1.0, + "content": "is similar to", + "type": "text" + }, + { + "bbox": [ + 448, + 318, + 459, + 328 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 459, + 318, + 506, + 330 + ], + "score": 1.0, + "content": "in terms of", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 329, + 506, + 341 + ], + "spans": [ + { + "bbox": [ + 105, + 329, + 386, + 341 + ], + "score": 1.0, + "content": "optimizing over all permutations but that is not possible so we show", + "type": "text" + }, + { + "bbox": [ + 386, + 330, + 394, + 339 + ], + "score": 0.82, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 394, + 329, + 446, + 341 + ], + "score": 1.0, + "content": "is similar to", + "type": "text" + }, + { + "bbox": [ + 446, + 329, + 457, + 339 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 457, + 329, + 506, + 341 + ], + "score": 1.0, + "content": "in terms of", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "spans": [ + { + "bbox": [ + 105, + 340, + 506, + 352 + ], + "score": 1.0, + "content": "barrier without search or when we search over a smaller set of permutations using a search algorithm.", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 350, + 386, + 364 + ], + "spans": [ + { + "bbox": [ + 105, + 350, + 386, + 364 + ], + "score": 1.0, + "content": "In the next section, we investigate our conjecture using this approach.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 15.5, + "bbox_fs": [ + 105, + 253, + 506, + 364 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 378, + 268, + 390 + ], + "lines": [ + { + "bbox": [ + 105, + 377, + 270, + 393 + ], + "spans": [ + { + "bbox": [ + 105, + 377, + 270, + 393 + ], + "score": 1.0, + "content": "4 EMPIRICAL INVESTIGATION", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 402, + 505, + 513 + ], + "lines": [ + { + "bbox": [ + 105, + 403, + 506, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 403, + 220, + 415 + ], + "score": 1.0, + "content": "In this section we show that", + "type": "text" + }, + { + "bbox": [ + 220, + 403, + 228, + 413 + ], + "score": 0.81, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 228, + 403, + 246, + 415 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 246, + 403, + 257, + 413 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 257, + 403, + 506, + 415 + ], + "score": 1.0, + "content": "have similar loss barrier along different factors such as width,", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 414, + 505, + 427 + ], + "spans": [ + { + "bbox": [ + 105, + 414, + 505, + 427 + ], + "score": 1.0, + "content": "depth, architecture, dataset and other model parameters (with and without searching for a permutation", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "spans": [ + { + "bbox": [ + 105, + 424, + 506, + 438 + ], + "score": 1.0, + "content": "that reduces the barrier), hence supporting our conjecture. As discussed in Section 2, the barrier for", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 435, + 506, + 449 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 506, + 449 + ], + "score": 1.0, + "content": "both VGG and ResNet architectures is saturated at a high value hinting that the loss landscape might", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 447, + 506, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 447, + 446, + 459 + ], + "score": 1.0, + "content": "be more complex for these architecture families. In our experiments we observed that", + "type": "text" + }, + { + "bbox": [ + 446, + 447, + 454, + 457 + ], + "score": 0.8, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 455, + 447, + 472, + 459 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 472, + 447, + 483, + 457 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 483, + 447, + 506, + 459 + ], + "score": 1.0, + "content": "have", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 459, + 505, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 459, + 505, + 470 + ], + "score": 1.0, + "content": "similar high barriers for both of these architectures (see Appendix E.2). 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Given that the width and", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 490, + 506, + 504 + ], + "spans": [ + { + "bbox": [ + 105, + 490, + 506, + 504 + ], + "score": 1.0, + "content": "depth do not influence the barrier behavior in VGG and ResNet architectures, here we only focus on", + "type": "text" + } + ], + "index": 30 + }, + { + "bbox": [ + 106, + 502, + 410, + 513 + ], + "spans": [ + { + "bbox": [ + 106, + 502, + 410, + 513 + ], + "score": 1.0, + "content": "the effect of width and depth on barrier sizes for MLPs and Shallow CNNs.", + "type": "text" + } + ], + "index": 31 + } + ], + "index": 26.5, + "bbox_fs": [ + 105, + 403, + 506, + 513 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 526, + 240, + 537 + ], + "lines": [ + { + "bbox": [ + 105, + 524, + 240, + 540 + ], + "spans": [ + { + "bbox": [ + 105, + 524, + 198, + 540 + ], + "score": 1.0, + "content": "4.1 SIMILARITY OF", + "type": "text" + }, + { + "bbox": [ + 199, + 527, + 207, + 536 + ], + "score": 0.55, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 524, + 229, + 540 + ], + "score": 1.0, + "content": "AND", + "type": "text" + }, + { + "bbox": [ + 229, + 527, + 240, + 536 + ], + "score": 0.71, + "content": "S ^ { \\prime }", + "type": "inline_equation" + } + ], + "index": 32 + } + ], + "index": 32 + }, + { + "type": "text", + "bbox": [ + 107, + 546, + 505, + 635 + ], + "lines": [ + { + "bbox": [ + 105, + 546, + 505, + 560 + ], + "spans": [ + { + "bbox": [ + 105, + 546, + 347, + 560 + ], + "score": 1.0, + "content": "Figure 5 compares our model to the real world and shows that", + "type": "text" + }, + { + "bbox": [ + 347, + 547, + 357, + 557 + ], + "score": 0.87, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 546, + 375, + 560 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 375, + 547, + 383, + 557 + ], + "score": 0.79, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 546, + 505, + 560 + ], + "score": 1.0, + "content": "have strikingly similar barriers", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 559, + 505, + 569 + ], + "spans": [ + { + "bbox": [ + 105, + 559, + 505, + 569 + ], + "score": 1.0, + "content": "as we change different architecture parameters such as width and depth across various architecture", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 568, + 505, + 582 + ], + "score": 1.0, + "content": "families and datasets. This surprising level of similarity between our model and real world on variety", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 581, + 505, + 592 + ], + "spans": [ + { + "bbox": [ + 106, + 581, + 505, + 592 + ], + "score": 1.0, + "content": "of settings provide strong evidence for the conjecture. Even if the conjecture is not precisely correct", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 591, + 505, + 603 + ], + "spans": [ + { + "bbox": [ + 105, + 591, + 505, + 603 + ], + "score": 1.0, + "content": "as stated, the empirical results suggest that the structural similarities between our model and real", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 602, + 505, + 613 + ], + "spans": [ + { + "bbox": [ + 106, + 602, + 505, + 613 + ], + "score": 1.0, + "content": "world makes our model a useful simplification of the real world for studying the loss landscape. For", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 613, + 506, + 624 + ], + "spans": [ + { + "bbox": [ + 105, + 613, + 506, + 624 + ], + "score": 1.0, + "content": "example, the effect of width and depth on the barrier is almost identical in our model and the real", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 624, + 477, + 636 + ], + "spans": [ + { + "bbox": [ + 106, + 624, + 477, + 636 + ], + "score": 1.0, + "content": "world which suggests that permutations are perhaps playing the main role in such behaviors.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 36.5, + "bbox_fs": [ + 105, + 546, + 506, + 636 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 649, + 398, + 659 + ], + "lines": [ + { + "bbox": [ + 105, + 648, + 400, + 661 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 400, + 661 + ], + "score": 1.0, + "content": "4.2 SEARCH ALGORITHMS FOR FINDING A WINNING PERMUTATION", + "type": "text" + } + ], + "index": 41 + } + ], + "index": 41 + }, + { + "type": "text", + "bbox": [ + 107, + 669, + 505, + 714 + ], + "lines": [ + { + "bbox": [ + 105, + 668, + 506, + 682 + ], + "spans": [ + { + "bbox": [ + 105, + 668, + 289, + 682 + ], + "score": 1.0, + "content": "The problem of finding a winning permutation", + "type": "text" + }, + { + "bbox": [ + 290, + 669, + 317, + 679 + ], + "score": 0.91, + "content": "\\pi \\in { \\mathcal { P } }", + "type": "inline_equation" + }, + { + "bbox": [ + 317, + 668, + 506, + 682 + ], + "score": 1.0, + "content": "is a variant of the Travelling Salesman Problem", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 680, + 505, + 692 + ], + "spans": [ + { + "bbox": [ + 105, + 680, + 505, + 692 + ], + "score": 1.0, + "content": "where neurons are mapped to cities visited by a salesman. 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However,", + "type": "text" + }, + { + "bbox": [ + 485, + 561, + 504, + 573 + ], + "score": 0.82, + "content": "\\mathbf { S A } _ { 2 }", + "type": "inline_equation" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "score": 1.0, + "content": "is significantly less computationally expensive, which makes it more suitable for exploring larger", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 106, + 583, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 583, + 396, + 595 + ], + "score": 1.0, + "content": "models. In the following sections we present the results obtained with", + "type": "text" + }, + { + "bbox": [ + 397, + 583, + 415, + 594 + ], + "score": 0.88, + "content": "\\mathbf { S A } _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 416, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "only and refer to this", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 104, + 593, + 506, + 608 + ], + "spans": [ + { + "bbox": [ + 104, + 593, + 506, + 608 + ], + "score": 1.0, + "content": "version as SA. For more details on SA implementation see Appendix A.4. 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The effectiveness of SA is also reduced here as", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "score": 1.0, + "content": "we can only evaluate the cost of full route (divide and conquer is not possible). One way to increase", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 649, + 405, + 661 + ], + "spans": [ + { + "bbox": [ + 106, + 649, + 405, + 661 + ], + "score": 1.0, + "content": "this effectiveness is to reduce the search space which we will discuss next.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 107, + 666, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "Search space reduction. 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In the following sections we present the results obtained with", + "type": "text" + }, + { + "bbox": [ + 397, + 583, + 415, + 594 + ], + "score": 0.88, + "content": "\\mathbf { S A } _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 416, + 583, + 505, + 595 + ], + "score": 1.0, + "content": "only and refer to this", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 104, + 593, + 506, + 608 + ], + "spans": [ + { + "bbox": [ + 104, + 593, + 506, + 608 + ], + "score": 1.0, + "content": "version as SA. For more details on SA implementation see Appendix A.4. The left two plots in", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 604, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 604, + 183, + 618 + ], + "score": 1.0, + "content": "Figure 6 show that", + "type": "text" + }, + { + "bbox": [ + 184, + 605, + 202, + 616 + ], + "score": 0.89, + "content": "\\mathbf { S A } _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 203, + 604, + 506, + 618 + ], + "score": 1.0, + "content": "is not able to find permutations that improve pair-wise barrier significantly.", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 615, + 506, + 629 + ], + "spans": [ + { + "bbox": [ + 105, + 615, + 506, + 629 + ], + "score": 1.0, + "content": "We know that SA does not guarantee finding a solution and is known to lose its effectiveness on TSP", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 106, + 627, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 627, + 188, + 638 + ], + "score": 1.0, + "content": "benchmarks beyond", + "type": "text" + }, + { + "bbox": [ + 189, + 627, + 213, + 637 + ], + "score": 0.65, + "content": "1 ^ { \\circ } 0 0 0", + "type": "inline_equation" + }, + { + "bbox": [ + 213, + 627, + 505, + 638 + ], + "score": 1.0, + "content": "cities (Zhan et al., 2016). The effectiveness of SA is also reduced here as", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "score": 1.0, + "content": "we can only evaluate the cost of full route (divide and conquer is not possible). One way to increase", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 649, + 405, + 661 + ], + "spans": [ + { + "bbox": [ + 106, + 649, + 405, + 661 + ], + "score": 1.0, + "content": "this effectiveness is to reduce the search space which we will discuss next.", + "type": "text" + } + ], + "index": 40 + } + ], + "index": 34, + "bbox_fs": [ + 104, + 517, + 506, + 661 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 666, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "spans": [ + { + "bbox": [ + 105, + 665, + 505, + 678 + ], + "score": 1.0, + "content": "Search space reduction. In order to reduce the search space, here we only take two SGD solutions", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 117, + 688 + ], + "score": 0.86, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 117, + 677, + 136, + 690 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 137, + 677, + 147, + 688 + ], + "score": 0.86, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 147, + 677, + 189, + 690 + ], + "score": 1.0, + "content": ", permute", + "type": "text" + }, + { + "bbox": [ + 189, + 677, + 199, + 688 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 200, + 677, + 372, + 690 + ], + "score": 1.0, + "content": "and report the barrier between permuted", + "type": "text" + }, + { + "bbox": [ + 372, + 677, + 383, + 688 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 383, + 677, + 403, + 690 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 403, + 677, + 414, + 688 + ], + "score": 0.88, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 414, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "as found by SA with", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 107, + 688, + 506, + 700 + ], + "spans": [ + { + "bbox": [ + 107, + 688, + 132, + 698 + ], + "score": 0.89, + "content": "n = 2", + "type": "inline_equation" + }, + { + "bbox": [ + 132, + 688, + 506, + 700 + ], + "score": 1.0, + "content": ". The right two plots in Figure 6 shows this intervention helps SA to find better permutations.", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 712 + ], + "score": 1.0, + "content": "In particular, the barrier improves significantly for MNIST and SVHN datasets for both MLP and", + "type": "text" + } + ], + "index": 44 + }, + { + "bbox": [ + 105, + 709, + 506, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 709, + 506, + 722 + ], + "score": 1.0, + "content": "Shallow CNN across different width. However, similar to Section 2, we did not observe significant", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 105, + 721, + 322, + 733 + ], + "spans": [ + { + "bbox": [ + 105, + 721, + 322, + 733 + ], + "score": 1.0, + "content": "improvements when increasing depth (see Figure 12).", + "type": "text" + } + ], + "index": 46 + } + ], + "index": 43.5, + "bbox_fs": [ + 105, + 665, + 506, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 114, + 65, + 497, + 145 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 114, + 65, + 497, + 145 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 114, + 65, + 497, + 145 + ], + "spans": [ + { + "bbox": [ + 114, + 65, + 497, + 145 + ], + "score": 0.965, + "type": "image", + "image_path": "1fb67d56308165521203ab6851d4aa51c7f4a00a83e592db19b1324c72b5fe4a.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 114, + 65, + 497, + 91.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 114, + 91.66666666666667, + 497, + 118.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 114, + 118.33333333333334, + 497, + 145.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 107, + 146, + 505, + 186 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 145, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 106, + 145, + 505, + 156 + ], + "score": 1.0, + "content": "Figure 7: Similar loss barrier between real world and our model AFTER applying permutation, when", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 155, + 505, + 166 + ], + "spans": [ + { + "bbox": [ + 106, + 155, + 505, + 166 + ], + "score": 1.0, + "content": "search space is reduced. We observe that reducing the search space makes SA more successful in finding the", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 165, + 504, + 177 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 495, + 177 + ], + "score": 1.0, + "content": "permutation to remove the barriers. Specifically, SA could indeed find permutations that when applied to", + "type": "text" + }, + { + "bbox": [ + 495, + 165, + 504, + 174 + ], + "score": 0.86, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 174, + 496, + 186 + ], + "spans": [ + { + "bbox": [ + 105, + 174, + 477, + 186 + ], + "score": 1.0, + "content": "result in zero barrier e.g., MLP for MNIST where depth is 1 (across all width), 2 and 4 (where width is", + "type": "text" + }, + { + "bbox": [ + 477, + 174, + 490, + 185 + ], + "score": 0.85, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 491, + 174, + 496, + 186 + ], + "score": 1.0, + "content": ")", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4.5 + } + ], + "index": 2.75 + }, + { + "type": "title", + "bbox": [ + 107, + 207, + 307, + 218 + ], + "lines": [ + { + "bbox": [ + 105, + 205, + 309, + 221 + ], + "spans": [ + { + "bbox": [ + 105, + 205, + 198, + 221 + ], + "score": 1.0, + "content": "4.3 SIMILARITY OF", + "type": "text" + }, + { + "bbox": [ + 199, + 208, + 207, + 218 + ], + "score": 0.73, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 205, + 229, + 221 + ], + "score": 1.0, + "content": "AND", + "type": "text" + }, + { + "bbox": [ + 229, + 208, + 240, + 218 + ], + "score": 0.83, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 240, + 205, + 309, + 221 + ], + "score": 1.0, + "content": "AFTER SEARCH", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 106, + 228, + 505, + 338 + ], + "lines": [ + { + "bbox": [ + 105, + 226, + 506, + 242 + ], + "spans": [ + { + "bbox": [ + 105, + 226, + 372, + 242 + ], + "score": 1.0, + "content": "Figure 7 shows the surprising similarity of the barrier between", + "type": "text" + }, + { + "bbox": [ + 372, + 228, + 381, + 238 + ], + "score": 0.77, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 381, + 226, + 401, + 242 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 401, + 228, + 412, + 239 + ], + "score": 0.86, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 412, + 226, + 506, + 242 + ], + "score": 1.0, + "content": "even after applying a", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 104, + 239, + 507, + 252 + ], + "spans": [ + { + "bbox": [ + 104, + 239, + 507, + 252 + ], + "score": 1.0, + "content": "permutation found by a search algorithm (when search space is reduced). We also observe that", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 250, + 506, + 263 + ], + "spans": [ + { + "bbox": [ + 105, + 250, + 429, + 263 + ], + "score": 1.0, + "content": "reducing the search space makes SA more successful in finding the permutation", + "type": "text" + }, + { + "bbox": [ + 429, + 250, + 446, + 262 + ], + "score": 0.92, + "content": "\\{ \\pi \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 250, + 506, + 263 + ], + "score": 1.0, + "content": "to remove the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 261, + 505, + 273 + ], + "spans": [ + { + "bbox": [ + 106, + 262, + 469, + 273 + ], + "score": 1.0, + "content": "barriers. Specifically, in some cases SA could indeed find permutations that when applied to", + "type": "text" + }, + { + "bbox": [ + 469, + 261, + 479, + 272 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 480, + 262, + 505, + 273 + ], + "score": 1.0, + "content": "result", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 272, + 506, + 284 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 414, + 284 + ], + "score": 1.0, + "content": "in zero barrier. However, the fact that SA’s success shows a similar pattern for", + "type": "text" + }, + { + "bbox": [ + 414, + 272, + 436, + 283 + ], + "score": 0.91, + "content": "s , s ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 436, + 272, + 506, + 284 + ], + "score": 1.0, + "content": "provides another", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 283, + 505, + 296 + ], + "spans": [ + { + "bbox": [ + 106, + 283, + 505, + 296 + ], + "score": 1.0, + "content": "evidence in support of the conjecture. For example, SA successfully reduces the barrier for both", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 293, + 506, + 307 + ], + "spans": [ + { + "bbox": [ + 106, + 294, + 128, + 305 + ], + "score": 0.9, + "content": "s , s ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 129, + 293, + 506, + 307 + ], + "score": 1.0, + "content": "on MNIST and SVHN datasets. Figure 1 (right) summarizes our extensive empirical evidence", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "score": 1.0, + "content": "(more than 3000 trained networks) in one density plot, supporting similarity of barriers in real world", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 316, + 507, + 328 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 507, + 328 + ], + "score": 1.0, + "content": "and our model across different choices of architecture family, dataset, width, depth, and random seed.", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 327, + 388, + 339 + ], + "spans": [ + { + "bbox": [ + 106, + 327, + 388, + 339 + ], + "score": 1.0, + "content": "Putting together, all our empirical results support our main conjecture.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 12.5 + }, + { + "type": "title", + "bbox": [ + 108, + 354, + 293, + 367 + ], + "lines": [ + { + "bbox": [ + 105, + 353, + 295, + 370 + ], + "spans": [ + { + "bbox": [ + 105, + 353, + 295, + 370 + ], + "score": 1.0, + "content": "5 DISCUSSIONS AND CONCLUSION", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 380, + 505, + 511 + ], + "lines": [ + { + "bbox": [ + 106, + 380, + 505, + 392 + ], + "spans": [ + { + "bbox": [ + 106, + 380, + 505, + 392 + ], + "score": 1.0, + "content": "We investigated the loss landscape of ReLU networks, proposed and probed the conjecture that the", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 390, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 390, + 505, + 403 + ], + "score": 1.0, + "content": "barriers in the loss landscape between different solutions of a neural network optimization problem are", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "score": 1.0, + "content": "an artifact of ignoring the permutation invariance of the function class. In a nutshell, this conjecture", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 413, + 505, + 425 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 505, + 425 + ], + "score": 1.0, + "content": "suggests that if one considers permutation invariance, there is essentially no loss barrier between", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 423, + 505, + 436 + ], + "spans": [ + { + "bbox": [ + 105, + 423, + 505, + 436 + ], + "score": 1.0, + "content": "different solutions and they all exist in the same basin in the loss landscape. Our analysis has direct", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 435, + 505, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 505, + 447 + ], + "score": 1.0, + "content": "implication on initialization schemes for neural networks. Essentially it postulates that randomness", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "score": 1.0, + "content": "in terms of permutation does not impact the quality of the final result. It is interesting to explore", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 457, + 505, + 469 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 469 + ], + "score": 1.0, + "content": "whether it is possible to come up with an initialization that does not have permutation invariance and", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 468, + 505, + 480 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 505, + 480 + ], + "score": 1.0, + "content": "only acts like a perturbation to the same permutation. If all basins in the loss landscape are basically", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 479, + 504, + 490 + ], + "spans": [ + { + "bbox": [ + 106, + 479, + 504, + 490 + ], + "score": 1.0, + "content": "the same function, there will be no need to search all of them. One can explore the same basin while", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 489, + 505, + 502 + ], + "spans": [ + { + "bbox": [ + 105, + 489, + 505, + 502 + ], + "score": 1.0, + "content": "looking for diverse solutions and this makes search much easier and would lead to substantially more", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 501, + 217, + 513 + ], + "spans": [ + { + "bbox": [ + 105, + 501, + 217, + 513 + ], + "score": 1.0, + "content": "efficient search algorithms.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 24.5 + }, + { + "type": "text", + "bbox": [ + 107, + 518, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 106, + 518, + 505, + 529 + ], + "spans": [ + { + "bbox": [ + 106, + 518, + 505, + 529 + ], + "score": 1.0, + "content": "Another area where our analysis is of importance is for ensembles and distributed training. Related", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 528, + 506, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 506, + 541 + ], + "score": 1.0, + "content": "works (Frankle et al., 2020; Fort et al., 2019) show that simply averaging two SGD solutions would", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "score": 1.0, + "content": "fail. If these models lie at the periphery of a wide and flat low loss region then ensembling them", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 550, + 506, + 563 + ], + "spans": [ + { + "bbox": [ + 105, + 550, + 506, + 563 + ], + "score": 1.0, + "content": "in their weight space (averaging), creates a model tending to the center of the region, which leads", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "score": 1.0, + "content": "to performance improvement (Izmailov et al., 2019; Wen et al., 2020). If we can track the optimal", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "score": 1.0, + "content": "permutation (that brings all solutions to one basin), it is possible to use it to do weight averaging and", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 582, + 506, + 596 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 596 + ], + "score": 1.0, + "content": "build ensembles more efficiently. Moreover, we are interested in answering the question whether", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "there is a one-to-one mapping between lottery tickets and permutations. Frankle et al. (2020) requires", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "stability to find lottery tickets. They define stability as the point in training trajectory where, if", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 617, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 617, + 505, + 628 + ], + "score": 1.0, + "content": "we branch at this point and train two copies with different seeds, the trained solutions are linearly", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 628, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 628, + 505, + 638 + ], + "score": 1.0, + "content": "mode connected. We conjecture that all the SGD trained solutions are linearly mode connected if", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "score": 1.0, + "content": "the permutation is considered (satisfying the necessary condition for Lottery Ticket Hypothesis).", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "score": 1.0, + "content": "We believe our analysis laid the ground for investigating these important questions and testing the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 660, + 506, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 506, + 673 + ], + "score": 1.0, + "content": "usefulness of our conjecture in ensemble methods and pruning, which is the subject of future studies.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 37.5 + }, + { + "type": "text", + "bbox": [ + 107, + 677, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 676, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 676, + 506, + 690 + ], + "score": 1.0, + "content": "The biggest limiting factor of our study is the size of the search space and hence we need a strong", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "search algorithm, specially for deep models where the size and complexity of the search space was", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 699, + 506, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 711 + ], + "score": 1.0, + "content": "prohibitive in terms of computation for the existing search methods. We hope improvements of search", + "type": "text" + } + ], + "index": 47 + }, + { + "bbox": [ + 106, + 709, + 506, + 723 + ], + "spans": [ + { + "bbox": [ + 106, + 709, + 506, + 723 + ], + "score": 1.0, + "content": "algorithms can help us to extend these results. Lastly, our analysis focuses on image recognition task", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 721, + 426, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 426, + 733 + ], + "score": 1.0, + "content": "and extending the results to natural language tasks is of interest for future work.", + "type": "text" + } + ], + "index": 49 + } + ], + "index": 47 + } + ], + "page_idx": 8, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 302, + 751, + 308, + 759 + ], + "lines": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "spans": [ + { + "bbox": [ + 302, + 751, + 309, + 762 + ], + "score": 1.0, + "content": "9", + "type": "text" + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 114, + 65, + 497, + 145 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 114, + 65, + 497, + 145 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 114, + 65, + 497, + 145 + ], + "spans": [ + { + "bbox": [ + 114, + 65, + 497, + 145 + ], + "score": 0.965, + "type": "image", + "image_path": "1fb67d56308165521203ab6851d4aa51c7f4a00a83e592db19b1324c72b5fe4a.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 114, + 65, + 497, + 91.66666666666667 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 114, + 91.66666666666667, + 497, + 118.33333333333334 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 114, + 118.33333333333334, + 497, + 145.0 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 107, + 146, + 505, + 186 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 145, + 505, + 156 + ], + "spans": [ + { + "bbox": [ + 106, + 145, + 505, + 156 + ], + "score": 1.0, + "content": "Figure 7: Similar loss barrier between real world and our model AFTER applying permutation, when", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 155, + 505, + 166 + ], + "spans": [ + { + "bbox": [ + 106, + 155, + 505, + 166 + ], + "score": 1.0, + "content": "search space is reduced. We observe that reducing the search space makes SA more successful in finding the", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 105, + 165, + 504, + 177 + ], + "spans": [ + { + "bbox": [ + 105, + 165, + 495, + 177 + ], + "score": 1.0, + "content": "permutation to remove the barriers. 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We also observe that", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 105, + 250, + 506, + 263 + ], + "spans": [ + { + "bbox": [ + 105, + 250, + 429, + 263 + ], + "score": 1.0, + "content": "reducing the search space makes SA more successful in finding the permutation", + "type": "text" + }, + { + "bbox": [ + 429, + 250, + 446, + 262 + ], + "score": 0.92, + "content": "\\{ \\pi \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 250, + 506, + 263 + ], + "score": 1.0, + "content": "to remove the", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 261, + 505, + 273 + ], + "spans": [ + { + "bbox": [ + 106, + 262, + 469, + 273 + ], + "score": 1.0, + "content": "barriers. Specifically, in some cases SA could indeed find permutations that when applied to", + "type": "text" + }, + { + "bbox": [ + 469, + 261, + 479, + 272 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 480, + 262, + 505, + 273 + ], + "score": 1.0, + "content": "result", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 105, + 272, + 506, + 284 + ], + "spans": [ + { + "bbox": [ + 105, + 272, + 414, + 284 + ], + "score": 1.0, + "content": "in zero barrier. However, the fact that SA’s success shows a similar pattern for", + "type": "text" + }, + { + "bbox": [ + 414, + 272, + 436, + 283 + ], + "score": 0.91, + "content": "s , s ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 436, + 272, + 506, + 284 + ], + "score": 1.0, + "content": "provides another", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 283, + 505, + 296 + ], + "spans": [ + { + "bbox": [ + 106, + 283, + 505, + 296 + ], + "score": 1.0, + "content": "evidence in support of the conjecture. For example, SA successfully reduces the barrier for both", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 293, + 506, + 307 + ], + "spans": [ + { + "bbox": [ + 106, + 294, + 128, + 305 + ], + "score": 0.9, + "content": "s , s ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 129, + 293, + 506, + 307 + ], + "score": 1.0, + "content": "on MNIST and SVHN datasets. Figure 1 (right) summarizes our extensive empirical evidence", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "spans": [ + { + "bbox": [ + 105, + 304, + 506, + 318 + ], + "score": 1.0, + "content": "(more than 3000 trained networks) in one density plot, supporting similarity of barriers in real world", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 105, + 316, + 507, + 328 + ], + "spans": [ + { + "bbox": [ + 105, + 316, + 507, + 328 + ], + "score": 1.0, + "content": "and our model across different choices of architecture family, dataset, width, depth, and random seed.", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 327, + 388, + 339 + ], + "spans": [ + { + "bbox": [ + 106, + 327, + 388, + 339 + ], + "score": 1.0, + "content": "Putting together, all our empirical results support our main conjecture.", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 12.5, + "bbox_fs": [ + 104, + 226, + 507, + 339 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 354, + 293, + 367 + ], + "lines": [ + { + "bbox": [ + 105, + 353, + 295, + 370 + ], + "spans": [ + { + "bbox": [ + 105, + 353, + 295, + 370 + ], + "score": 1.0, + "content": "5 DISCUSSIONS AND CONCLUSION", + "type": "text" + } + ], + "index": 18 + } + ], + "index": 18 + }, + { + "type": "text", + "bbox": [ + 107, + 380, + 505, + 511 + ], + "lines": [ + { + "bbox": [ + 106, + 380, + 505, + 392 + ], + "spans": [ + { + "bbox": [ + 106, + 380, + 505, + 392 + ], + "score": 1.0, + "content": "We investigated the loss landscape of ReLU networks, proposed and probed the conjecture that the", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 390, + 505, + 403 + ], + "spans": [ + { + "bbox": [ + 105, + 390, + 505, + 403 + ], + "score": 1.0, + "content": "barriers in the loss landscape between different solutions of a neural network optimization problem are", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "spans": [ + { + "bbox": [ + 105, + 402, + 505, + 415 + ], + "score": 1.0, + "content": "an artifact of ignoring the permutation invariance of the function class. In a nutshell, this conjecture", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 413, + 505, + 425 + ], + "spans": [ + { + "bbox": [ + 105, + 413, + 505, + 425 + ], + "score": 1.0, + "content": "suggests that if one considers permutation invariance, there is essentially no loss barrier between", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 423, + 505, + 436 + ], + "spans": [ + { + "bbox": [ + 105, + 423, + 505, + 436 + ], + "score": 1.0, + "content": "different solutions and they all exist in the same basin in the loss landscape. Our analysis has direct", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 435, + 505, + 447 + ], + "spans": [ + { + "bbox": [ + 105, + 435, + 505, + 447 + ], + "score": 1.0, + "content": "implication on initialization schemes for neural networks. Essentially it postulates that randomness", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "spans": [ + { + "bbox": [ + 105, + 446, + 505, + 459 + ], + "score": 1.0, + "content": "in terms of permutation does not impact the quality of the final result. It is interesting to explore", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 457, + 505, + 469 + ], + "spans": [ + { + "bbox": [ + 105, + 457, + 505, + 469 + ], + "score": 1.0, + "content": "whether it is possible to come up with an initialization that does not have permutation invariance and", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 468, + 505, + 480 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 505, + 480 + ], + "score": 1.0, + "content": "only acts like a perturbation to the same permutation. If all basins in the loss landscape are basically", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 479, + 504, + 490 + ], + "spans": [ + { + "bbox": [ + 106, + 479, + 504, + 490 + ], + "score": 1.0, + "content": "the same function, there will be no need to search all of them. One can explore the same basin while", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 489, + 505, + 502 + ], + "spans": [ + { + "bbox": [ + 105, + 489, + 505, + 502 + ], + "score": 1.0, + "content": "looking for diverse solutions and this makes search much easier and would lead to substantially more", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 501, + 217, + 513 + ], + "spans": [ + { + "bbox": [ + 105, + 501, + 217, + 513 + ], + "score": 1.0, + "content": "efficient search algorithms.", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 24.5, + "bbox_fs": [ + 105, + 380, + 505, + 513 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 518, + 505, + 672 + ], + "lines": [ + { + "bbox": [ + 106, + 518, + 505, + 529 + ], + "spans": [ + { + "bbox": [ + 106, + 518, + 505, + 529 + ], + "score": 1.0, + "content": "Another area where our analysis is of importance is for ensembles and distributed training. Related", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 105, + 528, + 506, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 506, + 541 + ], + "score": 1.0, + "content": "works (Frankle et al., 2020; Fort et al., 2019) show that simply averaging two SGD solutions would", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 538, + 506, + 552 + ], + "score": 1.0, + "content": "fail. If these models lie at the periphery of a wide and flat low loss region then ensembling them", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 550, + 506, + 563 + ], + "spans": [ + { + "bbox": [ + 105, + 550, + 506, + 563 + ], + "score": 1.0, + "content": "in their weight space (averaging), creates a model tending to the center of the region, which leads", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "spans": [ + { + "bbox": [ + 105, + 561, + 506, + 574 + ], + "score": 1.0, + "content": "to performance improvement (Izmailov et al., 2019; Wen et al., 2020). If we can track the optimal", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "spans": [ + { + "bbox": [ + 105, + 572, + 506, + 585 + ], + "score": 1.0, + "content": "permutation (that brings all solutions to one basin), it is possible to use it to do weight averaging and", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 105, + 582, + 506, + 596 + ], + "spans": [ + { + "bbox": [ + 105, + 582, + 506, + 596 + ], + "score": 1.0, + "content": "build ensembles more efficiently. Moreover, we are interested in answering the question whether", + "type": "text" + } + ], + "index": 37 + }, + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "spans": [ + { + "bbox": [ + 105, + 594, + 505, + 607 + ], + "score": 1.0, + "content": "there is a one-to-one mapping between lottery tickets and permutations. Frankle et al. (2020) requires", + "type": "text" + } + ], + "index": 38 + }, + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 605, + 506, + 618 + ], + "score": 1.0, + "content": "stability to find lottery tickets. They define stability as the point in training trajectory where, if", + "type": "text" + } + ], + "index": 39 + }, + { + "bbox": [ + 106, + 617, + 505, + 628 + ], + "spans": [ + { + "bbox": [ + 106, + 617, + 505, + 628 + ], + "score": 1.0, + "content": "we branch at this point and train two copies with different seeds, the trained solutions are linearly", + "type": "text" + } + ], + "index": 40 + }, + { + "bbox": [ + 106, + 628, + 505, + 638 + ], + "spans": [ + { + "bbox": [ + 106, + 628, + 505, + 638 + ], + "score": 1.0, + "content": "mode connected. We conjecture that all the SGD trained solutions are linearly mode connected if", + "type": "text" + } + ], + "index": 41 + }, + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "spans": [ + { + "bbox": [ + 105, + 638, + 506, + 651 + ], + "score": 1.0, + "content": "the permutation is considered (satisfying the necessary condition for Lottery Ticket Hypothesis).", + "type": "text" + } + ], + "index": 42 + }, + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "spans": [ + { + "bbox": [ + 105, + 648, + 506, + 662 + ], + "score": 1.0, + "content": "We believe our analysis laid the ground for investigating these important questions and testing the", + "type": "text" + } + ], + "index": 43 + }, + { + "bbox": [ + 105, + 660, + 506, + 673 + ], + "spans": [ + { + "bbox": [ + 105, + 660, + 506, + 673 + ], + "score": 1.0, + "content": "usefulness of our conjecture in ensemble methods and pruning, which is the subject of future studies.", + "type": "text" + } + ], + "index": 44 + } + ], + "index": 37.5, + "bbox_fs": [ + 105, + 518, + 506, + 673 + ] + }, + { + "type": "text", + "bbox": [ + 107, + 677, + 504, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 676, + 506, + 690 + ], + "spans": [ + { + "bbox": [ + 105, + 676, + 506, + 690 + ], + "score": 1.0, + "content": "The biggest limiting factor of our study is the size of the search space and hence we need a strong", + "type": "text" + } + ], + "index": 45 + }, + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 106, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "search algorithm, specially for deep models where the size and complexity of the search space was", + "type": "text" + } + ], + "index": 46 + }, + { + "bbox": [ + 105, + 699, + 506, + 711 + ], + "spans": [ + { + "bbox": [ + 105, + 699, + 506, + 711 + ], + "score": 1.0, + "content": "prohibitive in terms of computation for the existing search methods. 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Lastly, our analysis focuses on image recognition task", + "type": "text" + } + ], + "index": 48 + }, + { + "bbox": [ + 106, + 721, + 426, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 721, + 426, + 733 + ], + "score": 1.0, + "content": "and extending the results to natural language tasks is of interest for future work.", + "type": "text" + } + ], + "index": 49 + } + ], + "index": 47, + "bbox_fs": [ + 105, + 676, + 506, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 107, + 82, + 176, + 93 + ], + "lines": [ + { + "bbox": [ + 106, + 82, + 176, + 95 + ], + "spans": [ + { + "bbox": [ + 106, + 82, + 176, + 95 + ], + "score": 1.0, + "content": "REFERENCES", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "text", + "bbox": [ + 106, + 100, + 506, + 133 + ], + "lines": [ + { + "bbox": [ + 105, + 99, + 505, + 113 + ], + "spans": [ + { + "bbox": [ + 105, + 99, + 505, + 113 + ], + "score": 1.0, + "content": "Carlo Baldassi, Fabrizio Pittorino, and Riccardo Zecchina. 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Weight Decay1-=
Data AugmentationNormalizationNormalizationNormalizationNormalization
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Such similar performance is observed along a wide range of width and depth for both MLP", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 451, + 506, + 465 + ], + "spans": [ + { + "bbox": [ + 105, + 451, + 506, + 465 + ], + "score": 1.0, + "content": "and Shallow-CNN over different datasets (MNIST, SVHN, CIFAR10, CIFAR100). We look into", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 106, + 463, + 506, + 476 + ], + "spans": [ + { + "bbox": [ + 106, + 463, + 506, + 476 + ], + "score": 1.0, + "content": "effects of changing model size in terms of width and depth as in earlier sections, and note that similar", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 474, + 506, + 487 + ], + "spans": [ + { + "bbox": [ + 106, + 474, + 307, + 487 + ], + "score": 1.0, + "content": "trends hold for before and after permuting solution", + "type": "text" + }, + { + "bbox": [ + 308, + 474, + 318, + 485 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 318, + 474, + 506, + 487 + ], + "score": 1.0, + "content": ". Comparing Figure 13 and Figure 7 shows that", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 485, + 506, + 498 + ], + "spans": [ + { + "bbox": [ + 105, + 485, + 429, + 498 + ], + "score": 1.0, + "content": "reducing the search space makes SA more successful in finding the permutation", + "type": "text" + }, + { + "bbox": [ + 429, + 485, + 446, + 497 + ], + "score": 0.92, + "content": "\\{ \\pi \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 447, + 485, + 506, + 498 + ], + "score": 1.0, + "content": "to remove the", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 105, + 496, + 506, + 509 + ], + "spans": [ + { + "bbox": [ + 105, + 496, + 506, + 509 + ], + "score": 1.0, + "content": "barriers. Specifically, SA can indeed find permutations across different networks and datasets that", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 106, + 507, + 505, + 519 + ], + "spans": [ + { + "bbox": [ + 106, + 507, + 259, + 519 + ], + "score": 1.0, + "content": "result in zero barrier when applied to", + "type": "text" + }, + { + "bbox": [ + 259, + 507, + 269, + 518 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 270, + 507, + 505, + 519 + ], + "score": 1.0, + "content": ". SA can also find permutations that reduce the barrier for", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 517, + 506, + 531 + ], + "spans": [ + { + "bbox": [ + 105, + 517, + 506, + 531 + ], + "score": 1.0, + "content": "both MLP and Shallow-CNN across different width, depth and datasets. For example, such cases", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 105, + 528, + 506, + 541 + ], + "spans": [ + { + "bbox": [ + 105, + 528, + 463, + 541 + ], + "score": 1.0, + "content": "include MLP for MNIST, SVHN, CIFAR10, and CIFAR100 where depth is 1 and width is", + "type": "text" + }, + { + "bbox": [ + 463, + 528, + 474, + 539 + ], + "score": 0.84, + "content": "2 ^ { 3 }", + "type": "inline_equation" + }, + { + "bbox": [ + 474, + 528, + 491, + 541 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 492, + 528, + 502, + 539 + ], + "score": 0.81, + "content": "2 ^ { 4 }", + "type": "inline_equation" + }, + { + "bbox": [ + 503, + 528, + 506, + 541 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 105, + 539, + 506, + 552 + ], + "spans": [ + { + "bbox": [ + 105, + 539, + 299, + 552 + ], + "score": 1.0, + "content": "MLP for MNIST where depth is 2 and width is", + "type": "text" + }, + { + "bbox": [ + 300, + 540, + 314, + 550 + ], + "score": 0.81, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 315, + 539, + 506, + 552 + ], + "score": 1.0, + "content": ", Shallow-CNN for MNIST, SVHN, CIFAR10,", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 550, + 506, + 563 + ], + "spans": [ + { + "bbox": [ + 106, + 550, + 271, + 563 + ], + "score": 1.0, + "content": "CIFAR100 where depth is 2 and width is", + "type": "text" + }, + { + "bbox": [ + 271, + 550, + 282, + 561 + ], + "score": 0.86, + "content": "2 ^ { 4 }", + "type": "inline_equation" + }, + { + "bbox": [ + 282, + 550, + 506, + 563 + ], + "score": 1.0, + "content": "and for Shallow-CNN for MNIST where depth is 2 and", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 104, + 561, + 155, + 573 + ], + "spans": [ + { + "bbox": [ + 104, + 561, + 140, + 573 + ], + "score": 1.0, + "content": "width is", + "type": "text" + }, + { + "bbox": [ + 141, + 561, + 151, + 572 + ], + "score": 0.78, + "content": "2 ^ { 6 }", + "type": "inline_equation" + }, + { + "bbox": [ + 151, + 561, + 155, + 573 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 29 + } + ], + "index": 21, + "bbox_fs": [ + 104, + 387, + 507, + 573 + ] + }, + { + "type": "image", + "bbox": [ + 112, + 588, + 497, + 668 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 112, + 588, + 497, + 668 + ], + "group_id": 2, + "lines": [ + { + "bbox": [ + 112, + 588, + 497, + 668 + ], + "spans": [ + { + "bbox": [ + 112, + 588, + 497, + 668 + ], + "score": 0.96, + "type": "image", + "image_path": "2896b6d8340569045e114781769c96b8ed2f88580a8241174f40bf8be3d188f4.jpg" + } + ] + } + ], + "index": 31, + "virtual_lines": [ + { + "bbox": [ + 112, + 588, + 497, + 614.6666666666666 + ], + "spans": [], + "index": 30 + }, + { + "bbox": [ + 112, + 614.6666666666666, + 497, + 641.3333333333333 + ], + "spans": [], + "index": 31 + }, + { + "bbox": [ + 112, + 641.3333333333333, + 497, + 667.9999999999999 + ], + "spans": [], + "index": 32 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 678, + 505, + 729 + ], + "group_id": 2, + "lines": [ + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "spans": [ + { + "bbox": [ + 106, + 677, + 505, + 690 + ], + "score": 1.0, + "content": "Figure 13: Effect of width and depth on barrier similarity between real world and our model before", + "type": "text" + } + ], + "index": 33 + }, + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 383, + 700 + ], + "score": 1.0, + "content": "permutation. Search space is reduced here i.e., we take two SGD solutions", + "type": "text" + }, + { + "bbox": [ + 383, + 689, + 393, + 698 + ], + "score": 0.88, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 687, + 409, + 700 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 410, + 689, + 419, + 698 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 687, + 454, + 700 + ], + "score": 1.0, + "content": ", permute", + "type": "text" + }, + { + "bbox": [ + 455, + 689, + 464, + 698 + ], + "score": 0.88, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 465, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "and report", + "type": "text" + } + ], + "index": 34 + }, + { + "bbox": [ + 105, + 698, + 505, + 710 + ], + "spans": [ + { + "bbox": [ + 105, + 698, + 217, + 710 + ], + "score": 1.0, + "content": "the barrier between permuted", + "type": "text" + }, + { + "bbox": [ + 217, + 699, + 227, + 708 + ], + "score": 0.87, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 227, + 698, + 244, + 710 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 244, + 699, + 254, + 708 + ], + "score": 0.87, + "content": "\\theta _ { 2 }", + "type": "inline_equation" + }, + { + "bbox": [ + 254, + 698, + 333, + 710 + ], + "score": 1.0, + "content": "as found by SA with", + "type": "text" + }, + { + "bbox": [ + 334, + 699, + 358, + 708 + ], + "score": 0.9, + "content": "n = 2", + "type": "inline_equation" + }, + { + "bbox": [ + 358, + 698, + 505, + 710 + ], + "score": 1.0, + "content": ". Similarity of loss barrier between real", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 105, + 706, + 506, + 721 + ], + "spans": [ + { + "bbox": [ + 105, + 706, + 506, + 721 + ], + "score": 1.0, + "content": "world and our model is preserved across model type and dataset choices as width and depth of the models are", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 718, + 145, + 729 + ], + "spans": [ + { + "bbox": [ + 106, + 718, + 145, + 729 + ], + "score": 1.0, + "content": "increased.", + "type": "text" + } + ], + "index": 37 + } + ], + "index": 35 + } + ], + "index": 33.0 + } + ] + }, + { + "preproc_blocks": [ + { + "type": "title", + "bbox": [ + 108, + 82, + 240, + 94 + ], + "lines": [ + { + "bbox": [ + 107, + 83, + 240, + 95 + ], + "spans": [ + { + "bbox": [ + 107, + 83, + 240, + 95 + ], + "score": 1.0, + "content": "A.4 SIMULATED ANNEALING", + "type": "text" + } + ], + "index": 0 + } + ], + "index": 0 + }, + { + "type": "text", + "bbox": [ + 106, + 106, + 446, + 119 + ], + "lines": [ + { + "bbox": [ + 105, + 105, + 448, + 122 + ], + "spans": [ + { + "bbox": [ + 105, + 105, + 448, + 122 + ], + "score": 1.0, + "content": "We use Simanneal4 as python module for simulated annealing. The process involves:", + "type": "text" + } + ], + "index": 1 + } + ], + "index": 1 + }, + { + "type": "text", + "bbox": [ + 131, + 131, + 505, + 215 + ], + "lines": [ + { + "bbox": [ + 134, + 132, + 377, + 145 + ], + "spans": [ + { + "bbox": [ + 134, + 132, + 377, + 145 + ], + "score": 1.0, + "content": "• Randomly move or alter the state (generate a permutation)", + "type": "text" + } + ], + "index": 2 + }, + { + "bbox": [ + 133, + 156, + 506, + 169 + ], + "spans": [ + { + "bbox": [ + 133, + 156, + 506, + 169 + ], + "score": 1.0, + "content": "• Assess the energy of the new state (permuted model) using the objective function (Linear", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 141, + 168, + 309, + 180 + ], + "spans": [ + { + "bbox": [ + 141, + 168, + 309, + 180 + ], + "score": 1.0, + "content": "Mode Connectivity based on Equation 1)", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 133, + 191, + 506, + 205 + ], + "spans": [ + { + "bbox": [ + 133, + 191, + 506, + 205 + ], + "score": 1.0, + "content": "• Compare the energy to the previous state and decide whether to accept the new solution or", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 142, + 204, + 311, + 216 + ], + "spans": [ + { + "bbox": [ + 142, + 204, + 311, + 216 + ], + "score": 1.0, + "content": "reject it based on the current temperature.", + "type": "text" + } + ], + "index": 6 + } + ], + "index": 4 + }, + { + "type": "text", + "bbox": [ + 106, + 228, + 369, + 240 + ], + "lines": [ + { + "bbox": [ + 105, + 227, + 370, + 242 + ], + "spans": [ + { + "bbox": [ + 105, + 227, + 370, + 242 + ], + "score": 1.0, + "content": "For a move to be accepted, it must meet one of two requirements:", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 7 + }, + { + "type": "text", + "bbox": [ + 129, + 253, + 505, + 300 + ], + "lines": [ + { + "bbox": [ + 133, + 252, + 505, + 266 + ], + "spans": [ + { + "bbox": [ + 133, + 252, + 505, + 266 + ], + "score": 1.0, + "content": "• The move causes a decrease in state energy (i.e. an improvement in the objective function)", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 132, + 276, + 505, + 290 + ], + "spans": [ + { + "bbox": [ + 132, + 276, + 505, + 290 + ], + "score": 1.0, + "content": "• The move increases the state energy (i.e. a slightly worse solution) but is within the bounds", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 141, + 288, + 221, + 301 + ], + "spans": [ + { + "bbox": [ + 141, + 288, + 221, + 301 + ], + "score": 1.0, + "content": "of the temperature.", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 9 + }, + { + "type": "text", + "bbox": [ + 106, + 314, + 505, + 379 + ], + "lines": [ + { + "bbox": [ + 105, + 314, + 505, + 326 + ], + "spans": [ + { + "bbox": [ + 105, + 314, + 482, + 326 + ], + "score": 1.0, + "content": "Temperature. In each step, the generated permutation is chosen with the probability of", + "type": "text" + }, + { + "bbox": [ + 482, + 315, + 505, + 325 + ], + "score": 0.85, + "content": "P =", + "type": "inline_equation" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 325, + 506, + 343 + ], + "spans": [ + { + "bbox": [ + 106, + 325, + 155, + 339 + ], + "score": 0.61, + "content": "e ^ { \\frac { - c o s t } { t e m p e r a t u r e } }", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 325, + 267, + 343 + ], + "score": 1.0, + "content": ", where cost is the barrier at", + "type": "text" + }, + { + "bbox": [ + 267, + 327, + 294, + 342 + ], + "score": 0.93, + "content": "\\begin{array} { r } { \\alpha = \\frac { 1 } { 2 } } \\end{array}", + "type": "inline_equation" + }, + { + "bbox": [ + 294, + 325, + 506, + 343 + ], + "score": 1.0, + "content": ". In the first steps, as the temperature is high, there is", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 340, + 505, + 351 + ], + "spans": [ + { + "bbox": [ + 106, + 340, + 505, + 351 + ], + "score": 1.0, + "content": "a high probability that the worse neighbor is also selected. The neighbor is another permutation that", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "spans": [ + { + "bbox": [ + 106, + 351, + 505, + 362 + ], + "score": 1.0, + "content": "if applied, differs slightly in the order of the neurons/channels. As we move forward the temperature", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 361, + 464, + 380 + ], + "spans": [ + { + "bbox": [ + 105, + 366, + 167, + 378 + ], + "score": 1.0, + "content": "decreases with", + "type": "text" + }, + { + "bbox": [ + 167, + 361, + 246, + 378 + ], + "score": 0.91, + "content": "\\ T = e ^ { e ^ { - \\frac { - T m a x \\times s t e p s } { T m i n \\times s t e p s } } }", + "type": "inline_equation" + }, + { + "bbox": [ + 246, + 367, + 464, + 380 + ], + "score": 1.0, + "content": "and we stick to permutations that improve the barrier.", + "type": "text" + } + ], + "index": 15 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 106, + 384, + 506, + 484 + ], + "lines": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "spans": [ + { + "bbox": [ + 105, + 383, + 506, + 398 + ], + "score": 1.0, + "content": "Scaling the computation for SA. In an experiment, we scale number of steps in simulated annealing", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "spans": [ + { + "bbox": [ + 106, + 396, + 505, + 407 + ], + "score": 1.0, + "content": "to investigate the effect of this hyper-parameter. If the barrier continues to decrease as the amount of", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 105, + 406, + 506, + 420 + ], + "spans": [ + { + "bbox": [ + 105, + 406, + 506, + 420 + ], + "score": 1.0, + "content": "computation increases and does not plateau, then this would suggest that with enough computation,", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 416, + 505, + 430 + ], + "spans": [ + { + "bbox": [ + 105, + 416, + 505, + 430 + ], + "score": 1.0, + "content": "the barrier found by simulated annealing could eventually go to zero. Figure 14 shows that increasing", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "spans": [ + { + "bbox": [ + 105, + 428, + 506, + 441 + ], + "score": 1.0, + "content": "number of steps exponentially, helps SA to find better solutions. Table 3 shows that as the number of", + "type": "text" + } + ], + "index": 20 + }, + { + "bbox": [ + 106, + 439, + 505, + 451 + ], + "spans": [ + { + "bbox": [ + 106, + 439, + 168, + 451 + ], + "score": 1.0, + "content": "steps increases", + "type": "text" + }, + { + "bbox": [ + 169, + 439, + 193, + 451 + ], + "score": 0.85, + "content": "( 1 0 \\times )", + "type": "inline_equation" + }, + { + "bbox": [ + 194, + 439, + 197, + 451 + ], + "score": 1.0, + "content": ",", + "type": "text" + }, + { + "bbox": [ + 198, + 439, + 207, + 450 + ], + "score": 0.73, + "content": "\\Delta", + "type": "inline_equation" + }, + { + "bbox": [ + 207, + 439, + 294, + 451 + ], + "score": 1.0, + "content": "moves towards 2 i.e.,", + "type": "text" + }, + { + "bbox": [ + 294, + 439, + 314, + 450 + ], + "score": 0.85, + "content": "50 \\%", + "type": "inline_equation" + }, + { + "bbox": [ + 315, + 439, + 398, + 451 + ], + "score": 1.0, + "content": "reduction in barrier (", + "type": "text" + }, + { + "bbox": [ + 398, + 439, + 426, + 450 + ], + "score": 0.89, + "content": "\\Delta > 0", + "type": "inline_equation" + }, + { + "bbox": [ + 426, + 439, + 505, + 451 + ], + "score": 1.0, + "content": "means barrier does", + "type": "text" + } + ], + "index": 21 + }, + { + "bbox": [ + 105, + 450, + 505, + 461 + ], + "spans": [ + { + "bbox": [ + 105, + 450, + 505, + 461 + ], + "score": 1.0, + "content": "not plateau) . 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width=16width=32width=64
stepsbarrier△barrierstepsbarrier△barrierstepsbarrier△barrier
100.470=100.430-100.2711
1000.3311.42×11000.3021.43×1000.2021.35×
1K0.1901.73×1K0.1751.71×1K0.1211.41×
10K0.1051.80×10K0.9951.75×10K0.0851.71×
50K0.0551.90×50K0.0551.80×50K0.0481.77×
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// Simulated Annealing from simanneal import Annealer def barrier_SA(arch,model,sd1,sd2,w2,init_state,tmax,tmin,steps,train_inputs,
deftrain_targets,train_avg_org_models,nchannels,nclasses,nunits):
class BarrierCalculationProblem(Annealer): """anealer with a travelling salesman problem. 11 11 11
__init__(self,state): super(BarrierCalculationProblem,self).__init__(state)# important!
def move(self):
"""Swaps two cities in the route."""
initial_energy = self.energy()
for j in range(5):
fori in range(len(self.state[j])): X = self.state[j][i] a = random.randint(O,len(x)- 1)
b = random.randint(o,len(x)- 1)
self.state[j][i][a],self.state[j][i][b]=self.state[j][i][b],
self.state[j][i][a]
return self.energy()- initial_energy
def energy(self):
"""Calculates the cost for proposed permutation.""
permuted_models = []
for i in range(5):
permuted_models.append(permute(arch,model,self.state[i],sd2[i],w2[i],
nchannels,nclasses,nunits))
#### form one model which is the average of 5 permuted models
permuted_avg = copy.deepcopy(model)
new_params = OrderedDict()
for key in sd2[O].keys():
param = 0
fori in range(len(permuted_models)):
param = param + permuted_models[i][key]
new_params[key]= param /len(permuted_models)
permuted_avg.load_state_dict(new_params)
eval_train = evaluate_model(permuted_avg,train_inputs,train_targets)['top1'
cost = 1 - eval_train
return cost
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width=16width=32width=64
stepsbarrier△barrierstepsbarrier△barrierstepsbarrier△barrier
100.470=100.430-100.2711
1000.3311.42×11000.3021.43×1000.2021.35×
1K0.1901.73×1K0.1751.71×1K0.1211.41×
10K0.1051.80×10K0.9951.75×10K0.0851.71×
50K0.0551.90×50K0.0551.80×50K0.0481.77×
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// Simulated Annealing from simanneal import Annealer def barrier_SA(arch,model,sd1,sd2,w2,init_state,tmax,tmin,steps,train_inputs,
deftrain_targets,train_avg_org_models,nchannels,nclasses,nunits):
class BarrierCalculationProblem(Annealer): """anealer with a travelling salesman problem. 11 11 11
__init__(self,state): super(BarrierCalculationProblem,self).__init__(state)# important!
def move(self):
"""Swaps two cities in the route."""
initial_energy = self.energy()
for j in range(5):
fori in range(len(self.state[j])): X = self.state[j][i] a = random.randint(O,len(x)- 1)
b = random.randint(o,len(x)- 1)
self.state[j][i][a],self.state[j][i][b]=self.state[j][i][b],
self.state[j][i][a]
return self.energy()- initial_energy
def energy(self):
"""Calculates the cost for proposed permutation.""
permuted_models = []
for i in range(5):
permuted_models.append(permute(arch,model,self.state[i],sd2[i],w2[i],
nchannels,nclasses,nunits))
#### form one model which is the average of 5 permuted models
permuted_avg = copy.deepcopy(model)
new_params = OrderedDict()
for key in sd2[O].keys():
param = 0
fori in range(len(permuted_models)):
param = param + permuted_models[i][key]
new_params[key]= param /len(permuted_models)
permuted_avg.load_state_dict(new_params)
eval_train = evaluate_model(permuted_avg,train_inputs,train_targets)['top1'
cost = 1 - eval_train
return cost
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However, a critical question still remains: Is there an algorithm that finds better", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 140, + 165, + 150 + ], + "spans": [ + { + "bbox": [ + 105, + 140, + 165, + 150 + ], + "score": 1.0, + "content": "permutations?", + "type": "text" + } + ], + "index": 4 + } + ], + "index": 2.5 + }, + { + "type": "text", + "bbox": [ + 107, + 155, + 505, + 222 + ], + "lines": [ + { + "bbox": [ + 106, + 156, + 505, + 168 + ], + "spans": [ + { + "bbox": [ + 106, + 156, + 505, + 168 + ], + "score": 1.0, + "content": "He et al. (2018) proposed an algorithms that merges correlated, pre-trained deep neural networks for", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 167, + 505, + 179 + ], + "spans": [ + { + "bbox": [ + 105, + 167, + 505, + 179 + ], + "score": 1.0, + "content": "cross-model compression. Their objective is to zip two neural networks, optimized for two different", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 177, + 506, + 191 + ], + "spans": [ + { + "bbox": [ + 105, + 177, + 506, + 191 + ], + "score": 1.0, + "content": "tasks, into one network. The ultimate network does both tasks without losing too much accuracy", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 189, + 505, + 201 + ], + "spans": [ + { + "bbox": [ + 106, + 189, + 505, + 201 + ], + "score": 1.0, + "content": "on each task. Their algorithm is based on layer-wise neuron sharing, which uses f(weights, post", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "spans": [ + { + "bbox": [ + 105, + 199, + 505, + 212 + ], + "score": 1.0, + "content": "activations) to find which neurons could be zipped together. They define the similarity (or equivalently", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 210, + 373, + 223 + ], + "spans": [ + { + "bbox": [ + 106, + 210, + 373, + 223 + ], + "score": 1.0, + "content": "difference) of two neurons as below (Eq. 12 in the original paper):", + "type": "text" + } + ], + "index": 10 + } + ], + "index": 7.5 + }, + { + "type": "interline_equation", + "bbox": [ + 176, + 241, + 436, + 265 + ], + "lines": [ + { + "bbox": [ + 176, + 241, + 436, + 265 + ], + "spans": [ + { + "bbox": [ + 176, + 241, + 436, + 265 + ], + "score": 0.92, + "content": "\\delta _ { n _ { A } , n _ { B } } = \\frac { 1 } { 2 } ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } ) . ( ( H _ { l , i } ^ { A } ) ^ { - 1 } + ( H _ { l , i } ^ { B } ) ^ { - 1 } ) ^ { - 1 } . ( w _ { l , i } ^ { A } - w _ { l , i } ^ { B } )", + "type": "interline_equation", + "image_path": "af652a4f6754b7b4b21a5168a360b40113fbc2d5eca6936206b034f70cf8c8a3.jpg" + } + ] + } + ], + "index": 11, + "virtual_lines": [ + { + "bbox": [ + 176, + 241, + 436, + 265 + ], + "spans": [], + "index": 11 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 274, + 506, + 352 + ], + "lines": [ + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "spans": [ + { + "bbox": [ + 105, + 275, + 505, + 288 + ], + "score": 1.0, + "content": "We also used their \"functional difference\" as a measure for neuron matching between two randomly", + "type": "text" + } + ], + "index": 12 + }, + { + "bbox": [ + 106, + 287, + 506, + 298 + ], + "spans": [ + { + "bbox": [ + 106, + 287, + 506, + 298 + ], + "score": 1.0, + "content": "initialized trained networks. 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Functional Differ-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 542, + 443, + 554 + ], + "spans": [ + { + "bbox": [ + 106, + 542, + 443, + 554 + ], + "score": 1.0, + "content": "ence could indeed find better permutations, improving the barrier size between two solutions.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 31.5 + } + ], + "index": 28.0 + }, + { + "type": "title", + "bbox": [ + 108, + 575, + 239, + 587 + ], + "lines": [ + { + "bbox": [ + 105, + 573, + 240, + 590 + ], + "spans": [ + { + "bbox": [ + 105, + 573, + 240, + 590 + ], + "score": 1.0, + "content": "C MAKING ENSEMBLES", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 106, + 600, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 600, + 505, + 612 + ], + "spans": [ + { + "bbox": [ + 105, + 600, + 505, + 612 + ], + "score": 1.0, + "content": "As stated before, our conjecture has implications for ensemble methods. 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Functional Differ-", + "type": "text" + } + ], + "index": 31 + }, + { + "bbox": [ + 106, + 542, + 443, + 554 + ], + "spans": [ + { + "bbox": [ + 106, + 542, + 443, + 554 + ], + "score": 1.0, + "content": "ence could indeed find better permutations, improving the barrier size between two solutions.", + "type": "text" + } + ], + "index": 32 + } + ], + "index": 31.5 + } + ], + "index": 28.0 + }, + { + "type": "title", + "bbox": [ + 108, + 575, + 239, + 587 + ], + "lines": [ + { + "bbox": [ + 105, + 573, + 240, + 590 + ], + "spans": [ + { + "bbox": [ + 105, + 573, + 240, + 590 + ], + "score": 1.0, + "content": "C MAKING ENSEMBLES", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 33 + }, + { + "type": "text", + "bbox": [ + 106, + 600, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 600, + 505, + 612 + ], + "spans": [ + { + "bbox": [ + 105, + 600, + 505, + 612 + ], + "score": 1.0, + "content": "As stated before, our conjecture has implications for ensemble methods. 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MLP1024CIFAR1052.9557.8958.94
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While functional difference (He et al., 2018) gives", + "type": "text" + } + ], + "index": 9 + }, + { + "bbox": [ + 106, + 229, + 505, + 241 + ], + "spans": [ + { + "bbox": [ + 106, + 229, + 505, + 241 + ], + "score": 1.0, + "content": "better permutations compared to simulated annealing, Subspace Learning (Wortsman et al., 2021) enforces two", + "type": "text" + } + ], + "index": 10 + }, + { + "bbox": [ + 106, + 239, + 505, + 250 + ], + "spans": [ + { + "bbox": [ + 106, + 239, + 385, + 250 + ], + "score": 1.0, + "content": "solutions into one basin from scratch. We combine the best of two worlds in", + "type": "text" + }, + { + "bbox": [ + 385, + 240, + 418, + 249 + ], + "score": 0.88, + "content": "\\mathrm { F D } + \\mathrm { S L }", + "type": "inline_equation" + }, + { + "bbox": [ + 419, + 239, + 505, + 250 + ], + "score": 1.0, + "content": "to guarantee functional", + "type": "text" + } + ], + "index": 11 + }, + { + "bbox": [ + 106, + 249, + 333, + 260 + ], + "spans": [ + { + "bbox": [ + 106, + 249, + 333, + 260 + ], + "score": 1.0, + "content": "diversity of learned solutions and also make them in one basin.", + "type": "text" + } + ], + "index": 12 + } + ], + "index": 10.5 + }, + { + "type": "title", + "bbox": [ + 108, + 282, + 254, + 296 + ], + "lines": [ + { + "bbox": [ + 105, + 282, + 255, + 297 + ], + "spans": [ + { + "bbox": [ + 105, + 282, + 255, + 297 + ], + "score": 1.0, + "content": "D PROOF OF THEOREM 3.1", + "type": "text" + } + ], + "index": 13 + } + ], + "index": 13 + }, + { + "type": "text", + "bbox": [ + 106, + 308, + 417, + 321 + ], + "lines": [ + { + "bbox": [ + 106, + 308, + 419, + 322 + ], + "spans": [ + { + "bbox": [ + 106, + 308, + 419, + 322 + ], + "score": 1.0, + "content": "We first recap Theorem 3.1 below for convenience and then provide the proof", + "type": "text" + } + ], + "index": 14 + } + ], + "index": 14 + }, + { + "type": "text", + "bbox": [ + 106, + 324, + 506, + 396 + ], + "lines": [ + { + "bbox": [ + 105, + 323, + 505, + 338 + ], + "spans": [ + { + "bbox": [ + 105, + 323, + 210, + 338 + ], + "score": 1.0, + "content": "Theorem D.1 (3.1). Let", + "type": "text" + }, + { + "bbox": [ + 210, + 325, + 217, + 335 + ], + "score": 0.53, + "content": "h", + "type": "inline_equation" + }, + { + "bbox": [ + 218, + 323, + 505, + 338 + ], + "score": 1.0, + "content": "be the number of hidden units, d be the input size. Let the function", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 107, + 333, + 506, + 349 + ], + "spans": [ + { + "bbox": [ + 107, + 335, + 199, + 347 + ], + "score": 0.91, + "content": "f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) = \\mathbf { v } ^ { \\top } \\boldsymbol { \\sigma } ( \\mathbf { U } \\mathbf { x } )", + "type": "inline_equation" + }, + { + "bbox": [ + 200, + 333, + 229, + 349 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 229, + 336, + 247, + 348 + ], + "score": 0.9, + "content": "\\sigma ( \\cdot )", + "type": "inline_equation" + }, + { + "bbox": [ + 247, + 333, + 333, + 349 + ], + "score": 1.0, + "content": "is ReLU activation,", + "type": "text" + }, + { + "bbox": [ + 333, + 335, + 369, + 346 + ], + "score": 0.91, + "content": "\\mathbf { v } \\in \\mathbb { R } ^ { h }", + "type": "inline_equation" + }, + { + "bbox": [ + 369, + 333, + 389, + 349 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 389, + 335, + 438, + 346 + ], + "score": 0.92, + "content": "\\dot { \\textbf { U } } \\in \\mathbb { R } ^ { h \\times d }", + "type": "inline_equation" + }, + { + "bbox": [ + 438, + 333, + 506, + 349 + ], + "score": 1.0, + "content": "are parameters", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 346, + 505, + 361 + ], + "spans": [ + { + "bbox": [ + 105, + 346, + 124, + 361 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 125, + 348, + 159, + 358 + ], + "score": 0.88, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 159, + 346, + 349, + 361 + ], + "score": 1.0, + "content": "is the input. We show that if each element of √", + "type": "text" + }, + { + "bbox": [ + 349, + 348, + 360, + 358 + ], + "score": 0.38, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 360, + 346, + 379, + 361 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 379, + 348, + 392, + 358 + ], + "score": 0.87, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 393, + 346, + 505, + 361 + ], + "score": 1.0, + "content": "is sampled uniformly from√ √", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 107, + 359, + 505, + 374 + ], + "spans": [ + { + "bbox": [ + 107, + 359, + 172, + 372 + ], + "score": 0.92, + "content": "[ - 1 / \\sqrt { d } , 1 / \\sqrt { d } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 172, + 359, + 282, + 374 + ], + "score": 1.0, + "content": "and each element of v and √", + "type": "text" + }, + { + "bbox": [ + 282, + 360, + 292, + 371 + ], + "score": 0.84, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 293, + 359, + 401, + 374 + ], + "score": 1.0, + "content": "is sampled uniformly from", + "type": "text" + }, + { + "bbox": [ + 401, + 359, + 467, + 372 + ], + "score": 0.93, + "content": "[ - 1 / \\sqrt { h } , 1 / \\sqrt { h } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 468, + 359, + 505, + 374 + ], + "score": 1.0, + "content": ", then for", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 371, + 506, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 372, + 123, + 387 + ], + "score": 1.0, + "content": "any", + "type": "text" + }, + { + "bbox": [ + 123, + 373, + 154, + 384 + ], + "score": 0.88, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 372, + 192, + 387 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 192, + 371, + 240, + 385 + ], + "score": 0.92, + "content": "\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } } ,", + "type": "inline_equation" + }, + { + "bbox": [ + 241, + 372, + 308, + 387 + ], + "score": 1.0, + "content": ", with probability", + "type": "text" + }, + { + "bbox": [ + 308, + 373, + 331, + 384 + ], + "score": 0.82, + "content": "1 - \\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 372, + 363, + 387 + ], + "score": 1.0, + "content": "over U,", + "type": "text" + }, + { + "bbox": [ + 364, + 373, + 401, + 384 + ], + "score": 0.89, + "content": "\\mathbf { U } ^ { \\prime } , \\mathbf { v } , \\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 402, + 372, + 506, + 387 + ], + "score": 1.0, + "content": ", there exist a permutation", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 104, + 383, + 146, + 395 + ], + "spans": [ + { + "bbox": [ + 104, + 383, + 146, + 395 + ], + "score": 1.0, + "content": "such that", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 17.5 + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 399, + 466, + 422 + ], + "lines": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "spans": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}", + "type": "interline_equation", + "image_path": "5c444741b2274f8a09435c2ae14e8916cb4c86384d38c5d1cda241d78217a596.jpg" + } + ] + } + ], + "index": 21, + "virtual_lines": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "spans": [], + "index": 21 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 427, + 326, + 440 + ], + "lines": [ + { + "bbox": [ + 105, + 426, + 327, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 426, + 133, + 442 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 428, + 145, + 438 + ], + "score": 0.86, + "content": "\\mathbf { v } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 426, + 164, + 442 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 164, + 428, + 179, + 438 + ], + "score": 0.88, + "content": "\\mathbf { U } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 426, + 282, + 442 + ], + "score": 1.0, + "content": "are permuted versions of", + "type": "text" + }, + { + "bbox": [ + 282, + 428, + 292, + 438 + ], + "score": 0.84, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 426, + 311, + 442 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 311, + 428, + 323, + 438 + ], + "score": 0.87, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 324, + 426, + 327, + 442 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 22 + }, + { + "type": "text", + "bbox": [ + 106, + 456, + 505, + 495 + ], + "lines": [ + { + "bbox": [ + 105, + 455, + 504, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 192, + 470 + ], + "score": 1.0, + "content": "Proof. For any given", + "type": "text" + }, + { + "bbox": [ + 192, + 458, + 216, + 469 + ], + "score": 0.91, + "content": "\\xi > 0", + "type": "inline_equation" + }, + { + "bbox": [ + 217, + 455, + 297, + 470 + ], + "score": 1.0, + "content": ", we consider the set", + "type": "text" + }, + { + "bbox": [ + 297, + 456, + 504, + 470 + ], + "score": 0.9, + "content": "S _ { \\xi } = \\{ - 1 / \\sqrt { d } + \\xi , - 1 / \\sqrt { d } + 3 \\xi , \\ldots , 1 / \\sqrt { d } - \\xi \\} ^ { d }", + "type": "inline_equation" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 465, + 506, + 486 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 165, + 483 + ], + "score": 1.0, + "content": "which has size", + "type": "text" + }, + { + "bbox": [ + 166, + 469, + 196, + 486 + ], + "score": 0.89, + "content": "\\displaystyle ( \\frac { 1 } { \\xi \\sqrt { d } } ) ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 196, + 465, + 238, + 483 + ], + "score": 1.0, + "content": "5. For any", + "type": "text" + }, + { + "bbox": [ + 238, + 470, + 266, + 482 + ], + "score": 0.91, + "content": "s \\in S _ { \\xi }", + "type": "inline_equation" + }, + { + "bbox": [ + 267, + 465, + 282, + 483 + ], + "score": 1.0, + "content": ", let", + "type": "text" + }, + { + "bbox": [ + 282, + 470, + 311, + 482 + ], + "score": 0.89, + "content": "C _ { s } ( \\mathbf { U } )", + "type": "inline_equation" + }, + { + "bbox": [ + 312, + 465, + 434, + 483 + ], + "score": 1.0, + "content": "be the set of indices of rows of", + "type": "text" + }, + { + "bbox": [ + 434, + 470, + 444, + 480 + ], + "score": 0.51, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 444, + 465, + 506, + 483 + ], + "score": 1.0, + "content": "that are closest", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 482, + 330, + 497 + ], + "spans": [ + { + "bbox": [ + 105, + 482, + 204, + 497 + ], + "score": 1.0, + "content": "in Euclidean distance to", + "type": "text" + }, + { + "bbox": [ + 205, + 486, + 210, + 493 + ], + "score": 0.78, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 482, + 315, + 497 + ], + "score": 1.0, + "content": "than any other element in", + "type": "text" + }, + { + "bbox": [ + 315, + 484, + 327, + 496 + ], + "score": 0.88, + "content": "S _ { \\xi }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 482, + 330, + 497 + ], + "score": 1.0, + "content": ":", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 24 + }, + { + "type": "interline_equation", + "bbox": [ + 226, + 502, + 385, + 524 + ], + "lines": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "spans": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "score": 0.94, + "content": "C _ { s } ( \\mathbf { U } ) = \\{ i | s = \\underset { s ^ { \\prime } \\in S _ { \\xi } } { \\arg \\operatorname* { m i n } } \\big \\| \\mathbf { u } _ { i } - s ^ { \\prime } \\big \\| _ { \\infty } \\}", + "type": "interline_equation", + "image_path": "c92ddf90e1c3cc2e2579bfeee97b8f9908969a48edfed6b86d8b8aa6cd74df06.jpg" + } + ] + } + ], + "index": 26, + "virtual_lines": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "spans": [], + "index": 26 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 531, + 505, + 576 + ], + "lines": [ + { + "bbox": [ + 104, + 530, + 504, + 545 + ], + "spans": [ + { + "bbox": [ + 104, + 530, + 491, + 545 + ], + "score": 1.0, + "content": "where for simplicity we assume that arg min returns a single element. 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Let", + "type": "text" + }, + { + "bbox": [ + 210, + 325, + 217, + 335 + ], + "score": 0.53, + "content": "h", + "type": "inline_equation" + }, + { + "bbox": [ + 218, + 323, + 505, + 338 + ], + "score": 1.0, + "content": "be the number of hidden units, d be the input size. 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1 / \\sqrt { h } , 1 / \\sqrt { h } ]", + "type": "inline_equation" + }, + { + "bbox": [ + 468, + 359, + 505, + 374 + ], + "score": 1.0, + "content": ", then for", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 371, + 506, + 387 + ], + "spans": [ + { + "bbox": [ + 105, + 372, + 123, + 387 + ], + "score": 1.0, + "content": "any", + "type": "text" + }, + { + "bbox": [ + 123, + 373, + 154, + 384 + ], + "score": 0.88, + "content": "\\mathbf { x } \\in \\mathbb { R } ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 155, + 372, + 192, + 387 + ], + "score": 1.0, + "content": "such that", + "type": "text" + }, + { + "bbox": [ + 192, + 371, + 240, + 385 + ], + "score": 0.92, + "content": "\\| \\mathbf { x } \\| _ { 2 } = { \\sqrt { d } } ,", + "type": "inline_equation" + }, + { + "bbox": [ + 241, + 372, + 308, + 387 + ], + "score": 1.0, + "content": ", with probability", + "type": "text" + }, + { + "bbox": [ + 308, + 373, + 331, + 384 + ], + "score": 0.82, + "content": "1 - \\delta", + "type": "inline_equation" + }, + { + "bbox": [ + 331, + 372, + 363, + 387 + ], + "score": 1.0, + "content": "over U,", + "type": "text" + }, + { + "bbox": [ + 364, + 373, + 401, + 384 + ], + "score": 0.89, + "content": "\\mathbf { U } ^ { \\prime } , \\mathbf { v } , \\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 402, + 372, + 506, + 387 + ], + "score": 1.0, + "content": ", there exist a permutation", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 104, + 383, + 146, + 395 + ], + "spans": [ + { + "bbox": [ + 104, + 383, + 146, + 395 + ], + "score": 1.0, + "content": "such that", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 17.5, + "bbox_fs": [ + 104, + 323, + 506, + 395 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 143, + 399, + 466, + 422 + ], + "lines": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "spans": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "score": 0.89, + "content": "\\begin{array} { r } { \\bigg | f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\bigg | = \\tilde { O } ( h ^ { - \\frac { 1 } { 2 d + 4 } } ) } \\end{array}", + "type": "interline_equation", + "image_path": "5c444741b2274f8a09435c2ae14e8916cb4c86384d38c5d1cda241d78217a596.jpg" + } + ] + } + ], + "index": 21, + "virtual_lines": [ + { + "bbox": [ + 143, + 399, + 466, + 422 + ], + "spans": [], + "index": 21 + } + ] + }, + { + "type": "text", + "bbox": [ + 107, + 427, + 326, + 440 + ], + "lines": [ + { + "bbox": [ + 105, + 426, + 327, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 426, + 133, + 442 + ], + "score": 1.0, + "content": "where", + "type": "text" + }, + { + "bbox": [ + 133, + 428, + 145, + 438 + ], + "score": 0.86, + "content": "\\mathbf { v } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 146, + 426, + 164, + 442 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 164, + 428, + 179, + 438 + ], + "score": 0.88, + "content": "\\mathbf { U } ^ { \\prime \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 426, + 282, + 442 + ], + "score": 1.0, + "content": "are permuted versions of", + "type": "text" + }, + { + "bbox": [ + 282, + 428, + 292, + 438 + ], + "score": 0.84, + "content": "\\mathbf { v } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 292, + 426, + 311, + 442 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 311, + 428, + 323, + 438 + ], + "score": 0.87, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 324, + 426, + 327, + 442 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 22 + } + ], + "index": 22, + "bbox_fs": [ + 105, + 426, + 327, + 442 + ] + }, + { + "type": "text", + "bbox": [ + 106, + 456, + 505, + 495 + ], + "lines": [ + { + "bbox": [ + 105, + 455, + 504, + 470 + ], + "spans": [ + { + "bbox": [ + 105, + 455, + 192, + 470 + ], + "score": 1.0, + "content": "Proof. For any given", + "type": "text" + }, + { + "bbox": [ + 192, + 458, + 216, + 469 + ], + "score": 0.91, + "content": "\\xi > 0", + "type": "inline_equation" + }, + { + "bbox": [ + 217, + 455, + 297, + 470 + ], + "score": 1.0, + "content": ", we consider the set", + "type": "text" + }, + { + "bbox": [ + 297, + 456, + 504, + 470 + ], + "score": 0.9, + "content": "S _ { \\xi } = \\{ - 1 / \\sqrt { d } + \\xi , - 1 / \\sqrt { d } + 3 \\xi , \\ldots , 1 / \\sqrt { d } - \\xi \\} ^ { d }", + "type": "inline_equation" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 465, + 506, + 486 + ], + "spans": [ + { + "bbox": [ + 105, + 468, + 165, + 483 + ], + "score": 1.0, + "content": "which has size", + "type": "text" + }, + { + "bbox": [ + 166, + 469, + 196, + 486 + ], + "score": 0.89, + "content": "\\displaystyle ( \\frac { 1 } { \\xi \\sqrt { d } } ) ^ { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 196, + 465, + 238, + 483 + ], + "score": 1.0, + "content": "5. For any", + "type": "text" + }, + { + "bbox": [ + 238, + 470, + 266, + 482 + ], + "score": 0.91, + "content": "s \\in S _ { \\xi }", + "type": "inline_equation" + }, + { + "bbox": [ + 267, + 465, + 282, + 483 + ], + "score": 1.0, + "content": ", let", + "type": "text" + }, + { + "bbox": [ + 282, + 470, + 311, + 482 + ], + "score": 0.89, + "content": "C _ { s } ( \\mathbf { U } )", + "type": "inline_equation" + }, + { + "bbox": [ + 312, + 465, + 434, + 483 + ], + "score": 1.0, + "content": "be the set of indices of rows of", + "type": "text" + }, + { + "bbox": [ + 434, + 470, + 444, + 480 + ], + "score": 0.51, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 444, + 465, + 506, + 483 + ], + "score": 1.0, + "content": "that are closest", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 482, + 330, + 497 + ], + "spans": [ + { + "bbox": [ + 105, + 482, + 204, + 497 + ], + "score": 1.0, + "content": "in Euclidean distance to", + "type": "text" + }, + { + "bbox": [ + 205, + 486, + 210, + 493 + ], + "score": 0.78, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 210, + 482, + 315, + 497 + ], + "score": 1.0, + "content": "than any other element in", + "type": "text" + }, + { + "bbox": [ + 315, + 484, + 327, + 496 + ], + "score": 0.88, + "content": "S _ { \\xi }", + "type": "inline_equation" + }, + { + "bbox": [ + 327, + 482, + 330, + 497 + ], + "score": 1.0, + "content": ":", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 24, + "bbox_fs": [ + 105, + 455, + 506, + 497 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 226, + 502, + 385, + 524 + ], + "lines": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "spans": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "score": 0.94, + "content": "C _ { s } ( \\mathbf { U } ) = \\{ i | s = \\underset { s ^ { \\prime } \\in S _ { \\xi } } { \\arg \\operatorname* { m i n } } \\big \\| \\mathbf { u } _ { i } - s ^ { \\prime } \\big \\| _ { \\infty } \\}", + "type": "interline_equation", + "image_path": "c92ddf90e1c3cc2e2579bfeee97b8f9908969a48edfed6b86d8b8aa6cd74df06.jpg" + } + ] + } + ], + "index": 26, + "virtual_lines": [ + { + "bbox": [ + 226, + 502, + 385, + 524 + ], + "spans": [], + "index": 26 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 531, + 505, + 576 + ], + "lines": [ + { + "bbox": [ + 104, + 530, + 504, + 545 + ], + "spans": [ + { + "bbox": [ + 104, + 530, + 491, + 545 + ], + "score": 1.0, + "content": "where for simplicity we assume that arg min returns a single element. We next use the function", + "type": "text" + }, + { + "bbox": [ + 492, + 532, + 504, + 543 + ], + "score": 0.86, + "content": "C _ { s }", + "type": "inline_equation" + } + ], + "index": 27 + }, + { + "bbox": [ + 105, + 543, + 506, + 555 + ], + "spans": [ + { + "bbox": [ + 105, + 543, + 303, + 555 + ], + "score": 1.0, + "content": "to specify a permutation that allows each row in", + "type": "text" + }, + { + "bbox": [ + 303, + 543, + 316, + 553 + ], + "score": 0.88, + "content": "\\mathbf { U } ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 316, + 543, + 474, + 555 + ], + "score": 1.0, + "content": "to be close to its corresponding row in", + "type": "text" + }, + { + "bbox": [ + 474, + 543, + 484, + 553 + ], + "score": 0.26, + "content": "\\mathbf { U }", + "type": "inline_equation" + }, + { + "bbox": [ + 485, + 543, + 506, + 555 + ], + "score": 1.0, + "content": ". 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\\mathbf { u } _ { i } ^ { \\prime \\prime } \\right\\| _ { \\infty } \\leq 2 / \\sqrt { d }", + "type": "inline_equation" + }, + { + "bbox": [ + 504, + 185, + 507, + 200 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 7 + }, + { + "bbox": [ + 106, + 198, + 436, + 210 + ], + "spans": [ + { + "bbox": [ + 106, + 198, + 436, + 210 + ], + "score": 1.0, + "content": "We next upper bound the left hand side of the inequality in the theorem statement:", + "type": "text" + } + ], + "index": 8 + } + ], + "index": 6.5 + }, + { + "type": "interline_equation", + "bbox": [ + 111, + 219, + 510, + 331 + ], + "lines": [ + { + "bbox": [ + 111, + 219, + 510, + 331 + ], + "spans": [ + { + "bbox": [ + 111, + 219, + 510, + 331 + ], + "score": 0.94, + "content": "\\begin{array} { r l } & { f _ { \\alpha \\mathbf { v } + ( 1 - \\alpha ) \\mathbf { v } ^ { \\prime \\prime } , \\alpha \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - 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h t ^ { 2 } } { 2 \\left\\| \\mathbf { r } \\right\\| _ { 2 } ^ { 2 } } } \\right)", + "type": "interline_equation", + "image_path": "f192de4a3ee22a22f17274756327d611f98909550515dc1b09d4e2dbdad056ca.jpg" + } + ] + } + ], + "index": 14.5, + "virtual_lines": [ + { + "bbox": [ + 232, + 377, + 379, + 394.0 + ], + "spans": [], + "index": 14 + }, + { + "bbox": [ + 232, + 394.0, + 379, + 411.0 + ], + "spans": [], + "index": 15 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 428, + 505, + 452 + ], + "lines": [ + { + "bbox": [ + 105, + 426, + 506, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 426, + 277, + 442 + ], + "score": 1.0, + "content": "Using the above argument, with probability", + "type": "text" + }, + { + "bbox": [ + 277, + 428, + 307, + 441 + ], + "score": 0.91, + "content": "1 - \\delta / 3", + "type": "inline_equation" + }, + { + "bbox": [ + 308, + 426, + 506, + 442 + ], + "score": 1.0, + "content": ", we can bound the right hand side of inequality (7)", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 439, + 153, + 452 + ], + "spans": [ + { + "bbox": [ + 105, + 439, + 153, + 452 + ], + "score": 1.0, + "content": "as follows:", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 16.5 + }, + { + "type": "interline_equation", + "bbox": [ + 130, + 460, + 480, + 675 + ], + "lines": [ + { + "bbox": [ + 130, + 460, + 480, + 675 + ], + "spans": [ + { + "bbox": [ + 130, + 460, + 480, + 675 + ], + "score": 0.94, + "content": "\\begin{array} { r l } & { \\alpha \\mathbf { x } ^ { \\mathrm { w } } | ^ { T } ( \\alpha ( \\mathbf { u } + \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ^ { \\mathrm { w } } - 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\\alpha ) \\mathbf { U } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { x } ) \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & { \\qquad \\quad \\leq \\alpha \\sqrt { \\frac { \\sigma } { \\delta } \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { f } [ \\alpha ( \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ] } \\left\\| \\alpha ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } \\mathbf { x } - \\mathbf { I } \\mathbf { x } \\right\\| _ { 2 } } \\\\ & { \\qquad \\quad - ( 1 - \\alpha ) \\sqrt { \\frac { T \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { x } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } - \\mathbf { I } \\mathbf { y } \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & = \\alpha \\sqrt \\end{array}", + "type": "interline_equation", + "image_path": "818af58a87c0ace72770e4d2e199ba38adcb0a8076ca2379ab20911a34ba48e0.jpg" + } + ] + } + ], + "index": 19, + "virtual_lines": [ + { + "bbox": [ + 130, + 460, + 480, + 531.6666666666666 + ], + "spans": [], + "index": 18 + }, + { + "bbox": [ + 130, + 531.6666666666666, + 480, + 603.3333333333333 + ], + "spans": [], + "index": 19 + }, + { + "bbox": [ + 130, + 603.3333333333333, + 480, + 674.9999999999999 + ], + "spans": [], + "index": 20 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 684, + 505, + 733 + ], + "lines": [ + { + "bbox": [ + 105, + 683, + 506, + 697 + ], + "spans": [ + { + "bbox": [ + 105, + 683, + 506, + 697 + ], + "score": 1.0, + "content": "where the inequality 10 is due to Lipschitz property of ReLU activations. 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h t ^ { 2 } } { 2 \\left\\| \\mathbf { r } \\right\\| _ { 2 } ^ { 2 } } } \\right)", + "type": "interline_equation", + "image_path": "f192de4a3ee22a22f17274756327d611f98909550515dc1b09d4e2dbdad056ca.jpg" + } + ] + } + ], + "index": 14.5, + "virtual_lines": [ + { + "bbox": [ + 232, + 377, + 379, + 394.0 + ], + "spans": [], + "index": 14 + }, + { + "bbox": [ + 232, + 394.0, + 379, + 411.0 + ], + "spans": [], + "index": 15 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 428, + 505, + 452 + ], + "lines": [ + { + "bbox": [ + 105, + 426, + 506, + 442 + ], + "spans": [ + { + "bbox": [ + 105, + 426, + 277, + 442 + ], + "score": 1.0, + "content": "Using the above argument, with probability", + "type": "text" + }, + { + "bbox": [ + 277, + 428, + 307, + 441 + ], + "score": 0.91, + "content": "1 - \\delta / 3", + "type": "inline_equation" + }, + { + "bbox": [ + 308, + 426, + 506, + 442 + ], + "score": 1.0, + "content": ", we can bound the right hand side of inequality (7)", + "type": "text" + } + ], + "index": 16 + }, + { + "bbox": [ + 105, + 439, + 153, + 452 + ], + "spans": [ + { + "bbox": [ + 105, + 439, + 153, + 452 + ], + "score": 1.0, + "content": "as follows:", + "type": "text" + } + ], + "index": 17 + } + ], + "index": 16.5, + "bbox_fs": [ + 105, + 426, + 506, + 452 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 130, + 460, + 480, + 675 + ], + "lines": [ + { + "bbox": [ + 130, + 460, + 480, + 675 + ], + "spans": [ + { + "bbox": [ + 130, + 460, + 480, + 675 + ], + "score": 0.94, + "content": "\\begin{array} { r l } & { \\alpha \\mathbf { x } ^ { \\mathrm { w } } | ^ { T } ( \\alpha ( \\mathbf { u } + \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ^ { \\mathrm { w } } - \\alpha ( \\mathbf { I } \\mathbf { x } ) \\mathbf { u } ^ { \\mathrm { w } } | } \\\\ & { = \\Big | ( 1 - \\alpha ) \\mathbf { w } ^ { \\mathrm { w } } \\mathbf { F } ^ { \\mathrm { w } } \\mathbf { f } [ \\alpha ( \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } ) \\mathbf { x } - \\sigma ( \\mathbf { I } \\mathbf { w } ^ { \\mathrm { w } } ) ] } \\\\ & { \\qquad \\quad - \\alpha \\mathbf { y } ^ { \\mathrm { i } } \\frac { \\partial ^ { T } \\log ( 1 / T \\delta ) } { \\partial t } \\Big | \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } \\mathbf { x } ) \\mathbf { u } \\Big | } \\\\ & { \\qquad \\quad - ( 1 - \\alpha ) \\sqrt { \\frac { 2 \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } \\mathbf { x } ) \\mathbf { u } ^ { \\mathrm { w } } \\Big \\| _ { 2 } } \\\\ & { = \\alpha \\sqrt { \\frac { \\sigma } { \\delta } \\frac { \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { f } ( \\mathbf { u } \\mathbf { u } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } ) \\mathbf { x } ) - \\sigma ( \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { x } ) \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & { \\qquad \\quad \\leq \\alpha \\sqrt { \\frac { \\sigma } { \\delta } \\mathbf { u } ^ { \\mathrm { w } } \\mathbf { f } [ \\alpha ( \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } ] } \\left\\| \\alpha ( 1 - \\alpha ) \\mathbf { U } ^ { \\mathrm { w } } \\mathbf { x } - \\mathbf { I } \\mathbf { x } \\right\\| _ { 2 } } \\\\ & { \\qquad \\quad - ( 1 - \\alpha ) \\sqrt { \\frac { T \\log ( 1 / T \\delta ) } { \\delta } } \\Big \\| \\alpha ( \\mathbf { x } + ( 1 - \\alpha ) \\mathbf { u } ^ { \\mathrm { w } } ) \\mathbf { x } - \\mathbf { I } \\mathbf { y } \\mathbf { x } \\Big \\| _ { 2 } } \\\\ & = \\alpha \\sqrt \\end{array}", + "type": "interline_equation", + "image_path": "818af58a87c0ace72770e4d2e199ba38adcb0a8076ca2379ab20911a34ba48e0.jpg" + } + ] + } + ], + "index": 19, + "virtual_lines": [ + { + "bbox": [ + 130, + 460, + 480, + 531.6666666666666 + ], + "spans": [], + "index": 18 + }, + { + "bbox": [ + 130, + 531.6666666666666, + 480, + 603.3333333333333 + ], + "spans": [], + "index": 19 + }, + { + "bbox": [ + 130, + 603.3333333333333, + 480, + 674.9999999999999 + ], + "spans": [], + "index": 20 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 684, + 505, + 733 + ], + "lines": [ + { + "bbox": [ + 105, + 683, + 506, + 697 + ], + "spans": [ + { + "bbox": [ + 105, + 683, + 506, + 697 + ], + "score": 1.0, + "content": "where the inequality 10 is due to Lipschitz property of ReLU activations. 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\\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\right| } \\\\ & { \\leq \\sqrt { \\frac { \\log \\left( 1 2 / \\delta \\right) } { 2 h } } \\| ( \\mathbf { U } - \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\| _ { 2 } } \\\\ & { \\leq \\sqrt { 2 \\log \\left( 1 2 / \\delta \\right) \\log ( 1 2 h / \\delta ) \\left( \\frac { | I | } { h } + \\xi ^ { 2 } d \\right) } } \\end{array}", + "type": "interline_equation", + "image_path": "998eacfab0f057638f3c0e67d9533dd3090529675d0e216b4628beb4f1278ec2.jpg" + } + ] + } + ], + "index": 8, + "virtual_lines": [ + { + "bbox": [ + 173, + 281, + 439, + 309.6666666666667 + ], + "spans": [], + "index": 7 + }, + { + "bbox": [ + 173, + 309.6666666666667, + 439, + 338.33333333333337 + ], + "spans": [], + "index": 8 + }, + { + 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{ \\prime \\prime } , \\mathbf { u } , \\mathbf { U } + ( 1 - \\alpha ) \\mathbf { U } ^ { \\prime \\prime } } ( \\mathbf { x } ) - \\alpha f _ { \\mathbf { v } , \\mathbf { U } } ( \\mathbf { x } ) - ( 1 - \\alpha ) f _ { \\mathbf { v } ^ { \\prime } , \\mathbf { U } ^ { \\prime } } ( \\mathbf { x } ) \\right| } \\\\ & { \\leq \\sqrt { \\frac { \\log \\left( 1 2 / \\delta \\right) } { 2 h } } \\| ( \\mathbf { U } - \\mathbf { U } ^ { \\prime \\prime } ) \\mathbf { x } \\| _ { 2 } } \\\\ & { \\leq \\sqrt { 2 \\log \\left( 1 2 / \\delta \\right) \\log ( 1 2 h / \\delta ) \\left( \\frac { | I | } { h } + \\xi ^ { 2 } d \\right) } } \\end{array}", + "type": "interline_equation", + "image_path": "998eacfab0f057638f3c0e67d9533dd3090529675d0e216b4628beb4f1278ec2.jpg" + } + ] + } + ], + "index": 8, + "virtual_lines": [ + { + "bbox": [ + 173, + 281, + 439, + 309.6666666666667 + ], + "spans": [], + "index": 7 + }, + { + "bbox": [ + 173, + 309.6666666666667, + 439, + 338.33333333333337 + ], + 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Left: Train and Test Loss under different label noise. Middle:", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 203, + 505, + 215 + ], + "spans": [ + { + "bbox": [ + 105, + 203, + 505, + 215 + ], + "score": 1.0, + "content": "Train and Test Error under different label noise. Right: Train barrier (accuracy) under different label noise. 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Left: Train and Test Loss under different label noise. Middle:", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 105, + 203, + 505, + 215 + ], + "spans": [ + { + "bbox": [ + 105, + 203, + 505, + 215 + ], + "score": 1.0, + "content": "Train and Test Error under different label noise. Right: Train barrier (accuracy) under different label noise. 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Note that since we consider all possible", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 562, + 505, + 573 + ], + "spans": [ + { + "bbox": [ + 105, + 562, + 505, + 573 + ], + "score": 1.0, + "content": "pairs, the observed barrier values are not i.i.d. If instead we randomly divide the 100 trained networks", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 106, + 573, + 506, + 586 + ], + "spans": [ + { + "bbox": [ + 106, + 573, + 506, + 586 + ], + "score": 1.0, + "content": "into two sets and choose pairs that are made by picking one network from each set, we will have", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 106, + 584, + 505, + 595 + ], + "spans": [ + { + "bbox": [ + 106, + 584, + 505, + 595 + ], + "score": 1.0, + "content": "an i.i.d sampling strategy. We investigate the pairs of networks trained on MNIST and measure the", + "type": "text" + } + ], + "index": 27 + }, + { + "bbox": [ + 106, + 595, + 505, + 606 + ], + "spans": [ + { + "bbox": [ + 106, + 595, + 505, + 606 + ], + "score": 1.0, + "content": "value of the direct and indirect barriers between them. Indirect barrier between two networks A, C is", + "type": "text" + } + ], + "index": 28 + }, + { + "bbox": [ + 105, + 606, + 506, + 618 + ], + "spans": [ + { + "bbox": [ + 105, + 606, + 297, + 618 + ], + "score": 1.0, + "content": "minimum over all possible intermediate points", + "type": "text" + }, + { + "bbox": [ + 297, + 606, + 305, + 616 + ], + "score": 0.27, + "content": "\\mathbf { B }", + "type": "inline_equation" + }, + { + "bbox": [ + 306, + 606, + 506, + 618 + ], + "score": 1.0, + "content": "of maximum of barrier between A, B and barrier", + "type": "text" + } + ], + "index": 29 + }, + { + "bbox": [ + 105, + 615, + 183, + 630 + ], + "spans": [ + { + "bbox": [ + 105, + 615, + 183, + 630 + ], + "score": 1.0, + "content": "between B, C, i.e.,", + "type": "text" + } + ], + "index": 30 + } + ], + "index": 25, + "bbox_fs": [ + 105, + 507, + 506, + 630 + ] + }, + { + "type": "interline_equation", + "bbox": [ + 221, + 628, + 388, + 647 + ], + "lines": [ + { + "bbox": [ + 221, + 628, + 388, + 647 + ], + "spans": [ + { + "bbox": [ + 221, + 628, + 388, + 647 + ], + "score": 0.91, + "content": "\\operatorname* { m i n } _ { B ! = A , B ! = C } \\operatorname* { m a x } ( B ( \\theta _ { A } , \\theta _ { B } ) , B ( \\theta _ { B } , \\theta _ { C } ) ) .", + "type": "interline_equation", + "image_path": "a51ee9b6b6584be3a06aaf292a0f076edbb834379986368a1793e9d381404d0e.jpg" + } + ] + } + ], + "index": 31, + "virtual_lines": [ + { + "bbox": [ + 221, + 628, + 388, + 647 + ], + "spans": [], + "index": 31 + } + ] + }, + { + "type": "text", + "bbox": [ + 106, + 651, + 505, + 674 + ], + "lines": [ + { + "bbox": [ + 106, + 651, + 505, + 662 + ], + "spans": [ + { + "bbox": [ + 106, + 651, + 505, + 662 + ], + "score": 1.0, + "content": "The reason we look into this value is that if maximum between two barriers is small, it means that", + "type": "text" + } + ], + "index": 32 + }, + { + "bbox": [ + 106, + 662, + 435, + 674 + ], + "spans": [ + { + "bbox": [ + 106, + 662, + 435, + 674 + ], + "score": 1.0, + "content": "both barriers are small and therefore there exist an indirect path between A and C.", + "type": "text" + } + ], + "index": 33 + } + ], + "index": 32.5, + "bbox_fs": [ + 106, + 651, + 505, + 674 + ] + }, + { + "type": "title", + "bbox": [ + 108, + 689, + 277, + 700 + ], + "lines": [ + { + "bbox": [ + 106, + 688, + 278, + 701 + ], + "spans": [ + { + "bbox": [ + 106, + 688, + 278, + 701 + ], + "score": 1.0, + "content": "E.4 LOSS BARRIERS ON THE TEST SET", + "type": "text" + } + ], + "index": 34 + } + ], + "index": 34 + }, + { + "type": "text", + "bbox": [ + 106, + 709, + 505, + 732 + ], + "lines": [ + { + "bbox": [ + 105, + 708, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 708, + 505, + 722 + ], + "score": 1.0, + "content": "Width. We evaluate the impact of width on the test barrier size in Figure 19. In comparison to", + "type": "text" + } + ], + "index": 35 + }, + { + "bbox": [ + 106, + 720, + 505, + 733 + ], + "spans": [ + { + "bbox": [ + 106, + 720, + 505, + 733 + ], + "score": 1.0, + "content": "Figure 2 the magnitude of test barriers are shifted to lower values as the test accuracy is lower than", + "type": "text" + } + ], + "index": 36 + }, + { + "bbox": [ + 106, + 422, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 422, + 505, + 435 + ], + "score": 1.0, + "content": "train accuracy. This effect is intensified for harder tasks such as CIFAR100. The double descent", + "type": "text", + "cross_page": true + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 433, + 458, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 458, + 446 + ], + "score": 1.0, + "content": "phenomena is also observed here, especially for simpler tasks, e.g., MNIST and SVHN.", + "type": "text", + "cross_page": true + } + ], + "index": 9 + } + ], + "index": 35.5, + "bbox_fs": [ + 105, + 708, + 505, + 733 + ] + } + ] + }, + { + "preproc_blocks": [ + { + "type": "image", + "bbox": [ + 113, + 81, + 497, + 338 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 113, + 81, + 497, + 338 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 113, + 81, + 497, + 338 + ], + "spans": [ + { + "bbox": [ + 113, + 81, + 497, + 338 + ], + "score": 0.976, + "type": "image", + "image_path": "d1611c87607551c8e953e8a6812aaac2a0d6fd2a4ed29a025f70cde81dcab638.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 113, + 81, + 497, + 166.66666666666669 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 113, + 166.66666666666669, + 497, + 252.33333333333337 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 113, + 252.33333333333337, + 497, + 338.00000000000006 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 349, + 505, + 400 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 349, + 505, + 360 + ], + "spans": [ + { + "bbox": [ + 106, + 349, + 505, + 360 + ], + "score": 1.0, + "content": "Figure 18: Histogram of barrier values between pairs of 100 networks with the same architecture trained", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 359, + 505, + 371 + ], + "spans": [ + { + "bbox": [ + 106, + 359, + 505, + 371 + ], + "score": 1.0, + "content": "on MNIST starting from different initializations. We find a permutation for each pair that minimizes the", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 369, + 506, + 380 + ], + "spans": [ + { + "bbox": [ + 106, + 369, + 506, + 380 + ], + "score": 1.0, + "content": "barrier. This is done for two layer MLPs and repeated for networks of different sizes. Bottom row: Indirect", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 379, + 506, + 390 + ], + "spans": [ + { + "bbox": [ + 105, + 379, + 506, + 390 + ], + "score": 1.0, + "content": "barrier between two networks A,C is minmimum over all possible intermediate points B of maximum of barrier", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 388, + 468, + 401 + ], + "spans": [ + { + "bbox": [ + 105, + 388, + 468, + 401 + ], + "score": 1.0, + "content": "between A, B and barrier between B, C. Left: before the permutation; Right: after the permutation.", + "type": "text" + } + ], + "index": 7 + } + ], + "index": 5 + } + ], + "index": 3.0 + }, + { + "type": "text", + "bbox": [ + 106, + 422, + 504, + 446 + ], + "lines": [ + { + "bbox": [ + 106, + 422, + 505, + 435 + ], + "spans": [ + { + "bbox": [ + 106, + 422, + 505, + 435 + ], + "score": 1.0, + "content": "train accuracy. This effect is intensified for harder tasks such as CIFAR100. The double descent", + "type": "text" + } + ], + "index": 8 + }, + { + "bbox": [ + 105, + 433, + 458, + 446 + ], + "spans": [ + { + "bbox": [ + 105, + 433, + 458, + 446 + ], + "score": 1.0, + "content": "phenomena is also observed here, especially for simpler tasks, e.g., MNIST and SVHN.", + "type": "text" + } + ], + "index": 9 + } + ], + "index": 8.5 + }, + { + "type": "image", + "bbox": [ + 114, + 456, + 498, + 537 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 114, + 456, + 498, + 537 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 114, + 456, + 498, + 537 + ], + "spans": [ + { + "bbox": [ + 114, + 456, + 498, + 537 + ], + "score": 0.963, + "type": "image", + "image_path": "ace3de8aaed4561d00d2b0415e1224818ee713604c214b648ae76e7ee7f63f8f.jpg" + } + ] + } + ], + "index": 11, + "virtual_lines": [ + { + "bbox": [ + 114, + 456, + 498, + 483.0 + ], + "spans": [], + "index": 10 + }, + { + "bbox": [ + 114, + 483.0, + 498, + 510.0 + ], + "spans": [], + "index": 11 + }, + { + "bbox": [ + 114, + 510.0, + 498, + 537.0 + ], + "spans": [], + "index": 12 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 107, + 547, + 506, + 587 + ], + "group_id": 1, + "lines": [ + { + "bbox": [ + 106, + 546, + 506, + 558 + ], + "spans": [ + { + "bbox": [ + 106, + 546, + 506, + 558 + ], + "score": 1.0, + "content": "Figure 19: Effect of width on barrier size (Test). From left to right: one-layer MLP, two-layer Shallow-CNN,", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "score": 1.0, + "content": "VGG-16, and ResNet-18 architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. When the task", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 566, + 505, + 578 + ], + "spans": [ + { + "bbox": [ + 105, + 566, + 505, + 578 + ], + "score": 1.0, + "content": "is hard (CIFAR10, CIFAR100) the test barrier shrinks. For simpler tasks and large width sizes also the barrier", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 577, + 164, + 587 + ], + "spans": [ + { + "bbox": [ + 106, + 577, + 164, + 587 + ], + "score": 1.0, + "content": "becomes small.", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 14.5 + } + ], + "index": 12.75 + }, + { + "type": "text", + "bbox": [ + 107, + 607, + 505, + 651 + ], + "lines": [ + { + "bbox": [ + 106, + 607, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 106, + 607, + 505, + 618 + ], + "score": 1.0, + "content": "Depth. We evaluate the impact of depth on the test barrier size in Figure 20. For MLPs, we fixed the", + "type": "text" + } + ], + "index": 17 + }, + { + "bbox": [ + 104, + 616, + 506, + 632 + ], + "spans": [ + { + "bbox": [ + 104, + 616, + 165, + 632 + ], + "score": 1.0, + "content": "layer width at", + "type": "text" + }, + { + "bbox": [ + 165, + 618, + 180, + 628 + ], + "score": 0.85, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 180, + 616, + 380, + 632 + ], + "score": 1.0, + "content": "while adding identical layers as shown along the", + "type": "text" + }, + { + "bbox": [ + 380, + 620, + 387, + 628 + ], + "score": 0.44, + "content": "\\mathbf { X }", + "type": "inline_equation" + }, + { + "bbox": [ + 387, + 616, + 506, + 632 + ], + "score": 1.0, + "content": "-axis. Similar to Figure 3 we", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 630, + 505, + 641 + ], + "spans": [ + { + "bbox": [ + 105, + 630, + 505, + 641 + ], + "score": 1.0, + "content": "observe a fast and significant barrier increase as more layers are added. In comparison to Figure 3 the", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 639, + 502, + 653 + ], + "spans": [ + { + "bbox": [ + 105, + 639, + 502, + 653 + ], + "score": 1.0, + "content": "magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 18.5 + }, + { + "type": "title", + "bbox": [ + 109, + 666, + 316, + 677 + ], + "lines": [ + { + "bbox": [ + 105, + 664, + 319, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 664, + 199, + 679 + ], + "score": 1.0, + "content": "E.5 SIMILARITY OF", + "type": "text" + }, + { + "bbox": [ + 200, + 667, + 208, + 676 + ], + "score": 0.75, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 664, + 230, + 679 + ], + "score": 1.0, + "content": "AND", + "type": "text" + }, + { + "bbox": [ + 230, + 667, + 241, + 676 + ], + "score": 0.84, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 241, + 664, + 319, + 679 + ], + "score": 1.0, + "content": "ON THE TEST SET", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 687, + 505, + 731 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "We note SA success on test barrier removal by comparing Figure 21 and Figure 22. SA performance", + "type": "text" + } + ], + "index": 22 + }, + { + "bbox": [ + 106, + 699, + 505, + 711 + ], + "spans": [ + { + "bbox": [ + 106, + 699, + 119, + 711 + ], + "score": 1.0, + "content": "on", + "type": "text" + }, + { + "bbox": [ + 120, + 699, + 128, + 709 + ], + "score": 0.79, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 128, + 699, + 147, + 711 + ], + "score": 1.0, + "content": "and", + "type": "text" + }, + { + "bbox": [ + 147, + 699, + 158, + 709 + ], + "score": 0.85, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 159, + 699, + 505, + 711 + ], + "score": 1.0, + "content": "yields similar results for both before and after permutation scenarios. Such similar", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "performance is observed along a wide range of width and depth for both MLP and Shallow-CNN", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "score": 1.0, + "content": "over different datasets(MNIST, SVHN, CIFAR10, CIFAR100). We look into effects of changing", + "type": "text" + } + ], + "index": 25 + } + ], + "index": 23.5 + } + ], + "page_idx": 22, + "page_size": [ + 612, + 792 + ], + "discarded_blocks": [ + { + "type": "discarded", + "bbox": [ + 107, + 27, + 293, + 37 + ], + "lines": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "spans": [ + { + "bbox": [ + 106, + 25, + 294, + 39 + ], + "score": 1.0, + "content": "Published as a conference paper at ICLR 2022", + "type": "text" + } + ] + } + ] + }, + { + "type": "discarded", + "bbox": [ + 300, + 751, + 311, + 760 + ], + "lines": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "spans": [ + { + "bbox": [ + 298, + 750, + 313, + 764 + ], + "score": 1.0, + "content": "", + "type": "text", + "height": 14, + "width": 15 + } + ] + } + ] + } + ], + "para_blocks": [ + { + "type": "image", + "bbox": [ + 113, + 81, + 497, + 338 + ], + "blocks": [ + { + "type": "image_body", + "bbox": [ + 113, + 81, + 497, + 338 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 113, + 81, + 497, + 338 + ], + "spans": [ + { + "bbox": [ + 113, + 81, + 497, + 338 + ], + "score": 0.976, + "type": "image", + "image_path": "d1611c87607551c8e953e8a6812aaac2a0d6fd2a4ed29a025f70cde81dcab638.jpg" + } + ] + } + ], + "index": 1, + "virtual_lines": [ + { + "bbox": [ + 113, + 81, + 497, + 166.66666666666669 + ], + "spans": [], + "index": 0 + }, + { + "bbox": [ + 113, + 166.66666666666669, + 497, + 252.33333333333337 + ], + "spans": [], + "index": 1 + }, + { + "bbox": [ + 113, + 252.33333333333337, + 497, + 338.00000000000006 + ], + "spans": [], + "index": 2 + } + ] + }, + { + "type": "image_caption", + "bbox": [ + 106, + 349, + 505, + 400 + ], + "group_id": 0, + "lines": [ + { + "bbox": [ + 106, + 349, + 505, + 360 + ], + "spans": [ + { + "bbox": [ + 106, + 349, + 505, + 360 + ], + "score": 1.0, + "content": "Figure 18: Histogram of barrier values between pairs of 100 networks with the same architecture trained", + "type": "text" + } + ], + "index": 3 + }, + { + "bbox": [ + 106, + 359, + 505, + 371 + ], + "spans": [ + { + "bbox": [ + 106, + 359, + 505, + 371 + ], + "score": 1.0, + "content": "on MNIST starting from different initializations. We find a permutation for each pair that minimizes the", + "type": "text" + } + ], + "index": 4 + }, + { + "bbox": [ + 106, + 369, + 506, + 380 + ], + "spans": [ + { + "bbox": [ + 106, + 369, + 506, + 380 + ], + "score": 1.0, + "content": "barrier. This is done for two layer MLPs and repeated for networks of different sizes. Bottom row: Indirect", + "type": "text" + } + ], + "index": 5 + }, + { + "bbox": [ + 105, + 379, + 506, + 390 + ], + "spans": [ + { + "bbox": [ + 105, + 379, + 506, + 390 + ], + "score": 1.0, + "content": "barrier between two networks A,C is minmimum over all possible intermediate points B of maximum of barrier", + "type": "text" + } + ], + "index": 6 + }, + { + "bbox": [ + 105, + 388, + 468, + 401 + ], + "spans": [ + { + "bbox": [ + 105, + 388, + 468, + 401 + ], + "score": 1.0, + "content": "between A, B and barrier between B, C. 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From left to right: one-layer MLP, two-layer Shallow-CNN,", + "type": "text" + } + ], + "index": 13 + }, + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "spans": [ + { + "bbox": [ + 105, + 555, + 506, + 568 + ], + "score": 1.0, + "content": "VGG-16, and ResNet-18 architectures and MNIST, CIFAR-10, SVHN, CIFAR-100 datasets. When the task", + "type": "text" + } + ], + "index": 14 + }, + { + "bbox": [ + 105, + 566, + 505, + 578 + ], + "spans": [ + { + "bbox": [ + 105, + 566, + 505, + 578 + ], + "score": 1.0, + "content": "is hard (CIFAR10, CIFAR100) the test barrier shrinks. For simpler tasks and large width sizes also the barrier", + "type": "text" + } + ], + "index": 15 + }, + { + "bbox": [ + 106, + 577, + 164, + 587 + ], + "spans": [ + { + "bbox": [ + 106, + 577, + 164, + 587 + ], + "score": 1.0, + "content": "becomes small.", + "type": "text" + } + ], + "index": 16 + } + ], + "index": 14.5 + } + ], + "index": 12.75 + }, + { + "type": "text", + "bbox": [ + 107, + 607, + 505, + 651 + ], + "lines": [ + { + "bbox": [ + 106, + 607, + 505, + 618 + ], + "spans": [ + { + "bbox": [ + 106, + 607, + 505, + 618 + ], + "score": 1.0, + "content": "Depth. We evaluate the impact of depth on the test barrier size in Figure 20. 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Similar to Figure 3 we", + "type": "text" + } + ], + "index": 18 + }, + { + "bbox": [ + 105, + 630, + 505, + 641 + ], + "spans": [ + { + "bbox": [ + 105, + 630, + 505, + 641 + ], + "score": 1.0, + "content": "observe a fast and significant barrier increase as more layers are added. In comparison to Figure 3 the", + "type": "text" + } + ], + "index": 19 + }, + { + "bbox": [ + 105, + 639, + 502, + 653 + ], + "spans": [ + { + "bbox": [ + 105, + 639, + 502, + 653 + ], + "score": 1.0, + "content": "magnitude of test barriers are shifted to lower values as the test accuracy is lower than train accuracy.", + "type": "text" + } + ], + "index": 20 + } + ], + "index": 18.5, + "bbox_fs": [ + 104, + 607, + 506, + 653 + ] + }, + { + "type": "title", + "bbox": [ + 109, + 666, + 316, + 677 + ], + "lines": [ + { + "bbox": [ + 105, + 664, + 319, + 679 + ], + "spans": [ + { + "bbox": [ + 105, + 664, + 199, + 679 + ], + "score": 1.0, + "content": "E.5 SIMILARITY OF", + "type": "text" + }, + { + "bbox": [ + 200, + 667, + 208, + 676 + ], + "score": 0.75, + "content": "s", + "type": "inline_equation" + }, + { + "bbox": [ + 208, + 664, + 230, + 679 + ], + "score": 1.0, + "content": "AND", + "type": "text" + }, + { + "bbox": [ + 230, + 667, + 241, + 676 + ], + "score": 0.84, + "content": "S ^ { \\prime }", + "type": "inline_equation" + }, + { + "bbox": [ + 241, + 664, + 319, + 679 + ], + "score": 1.0, + "content": "ON THE TEST SET", + "type": "text" + } + ], + "index": 21 + } + ], + "index": 21 + }, + { + "type": "text", + "bbox": [ + 107, + 687, + 505, + 731 + ], + "lines": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "spans": [ + { + "bbox": [ + 105, + 687, + 505, + 700 + ], + "score": 1.0, + "content": "We note SA success on test barrier removal by comparing Figure 21 and Figure 22. 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Such similar", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 710, + 505, + 722 + ], + "spans": [ + { + "bbox": [ + 105, + 710, + 505, + 722 + ], + "score": 1.0, + "content": "performance is observed along a wide range of width and depth for both MLP and Shallow-CNN", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "spans": [ + { + "bbox": [ + 105, + 720, + 505, + 734 + ], + "score": 1.0, + "content": "over different datasets(MNIST, SVHN, CIFAR10, CIFAR100). 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We observe that reducing the search space makes SA more successful in finding the", + "type": "text" + } + ], + "index": 23 + }, + { + "bbox": [ + 105, + 560, + 505, + 571 + ], + "spans": [ + { + "bbox": [ + 105, + 560, + 154, + 571 + ], + "score": 1.0, + "content": "permutation", + "type": "text" + }, + { + "bbox": [ + 154, + 560, + 170, + 571 + ], + "score": 0.91, + "content": "\\{ \\pi \\}", + "type": "inline_equation" + }, + { + "bbox": [ + 171, + 560, + 505, + 571 + ], + "score": 1.0, + "content": "to remove the barriers. Specifically, SA could indeed find permutations across different", + "type": "text" + } + ], + "index": 24 + }, + { + "bbox": [ + 105, + 570, + 505, + 582 + ], + "spans": [ + { + "bbox": [ + 105, + 570, + 261, + 582 + ], + "score": 1.0, + "content": "networks and datasets that when applied to", + "type": "text" + }, + { + "bbox": [ + 261, + 571, + 270, + 580 + ], + "score": 0.85, + "content": "\\theta _ { 1 }", + "type": "inline_equation" + }, + { + "bbox": [ + 271, + 570, + 505, + 582 + ], + "score": 1.0, + "content": "result in almost zero test barrier e.g., MLP across MNIST dataset", + "type": "text" + } + ], + "index": 25 + }, + { + "bbox": [ + 104, + 579, + 506, + 592 + ], + "spans": [ + { + "bbox": [ + 104, + 579, + 265, + 592 + ], + "score": 1.0, + "content": "where depth is 1 and width is larger than", + "type": "text" + }, + { + "bbox": [ + 265, + 580, + 275, + 589 + ], + "score": 0.77, + "content": "2 ^ { 6 }", + "type": "inline_equation" + }, + { + "bbox": [ + 275, + 579, + 488, + 592 + ], + "score": 1.0, + "content": ", MLP for MNIST where depth is 2 and 4, and width is", + "type": "text" + }, + { + "bbox": [ + 489, + 579, + 502, + 589 + ], + "score": 0.81, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 502, + 579, + 506, + 592 + ], + "score": 1.0, + "content": ",", + "type": "text" + } + ], + "index": 26 + }, + { + "bbox": [ + 104, + 588, + 482, + 601 + ], + "spans": [ + { + "bbox": [ + 104, + 588, + 466, + 601 + ], + "score": 1.0, + "content": "Shallow-CNN for MNIST where depth is 2, Shallow-CNN for SVHN where depth is 2 and width is", + "type": "text" + }, + { + "bbox": [ + 466, + 589, + 479, + 599 + ], + "score": 0.86, + "content": "2 ^ { 1 0 }", + "type": "inline_equation" + }, + { + "bbox": [ + 480, + 588, + 482, + 601 + ], + "score": 1.0, + "content": ".", + "type": "text" + } + ], + "index": 27 + } + ], + "index": 24.5 + } + ], + "index": 22.25 + } + ] + } + ], + "_backend": "pipeline", + "_version_name": "2.2.2" +} \ No newline at end of file diff --git a/parse/dev/gSdSJoenupI/gSdSJoenupI_content_list.json b/parse/dev/gSdSJoenupI/gSdSJoenupI_content_list.json new file mode 100644 index 0000000000000000000000000000000000000000..00c900a3c4a34f577e45a24d6354e38ee144a415 --- /dev/null +++ b/parse/dev/gSdSJoenupI/gSdSJoenupI_content_list.json @@ -0,0 +1,2263 @@ +[ + { + "type": "text", + "text": "POLYLOSS: A POLYNOMIAL EXPANSION PERSPECTIVE OF CLASSIFICATION LOSS FUNCTIONS ", + "text_level": 1, + "bbox": [ + 176, + 98, + 823, + 146 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Zhaoqi Leng1, Mingxing $\\mathbf { T a n } ^ { 1 }$ , Chenxi Liu1, Ekin Dogus Cubuk2, Xiaojie $\\mathbf { S h i ^ { 2 } }$ , Shuyang Cheng1,Dragomir Anguelov1 ", + "bbox": [ + 181, + 169, + 733, + 199 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1Waymo LLC 2Google LLC \n{lengzhaoqi, tanmingxing, cxliu, shuyangcheng, dragomir}@waymo.com \n{cubuk, xiaojies}@google.com ", + "bbox": [ + 184, + 204, + 830, + 241 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "ABSTRACT ", + "text_level": 1, + "bbox": [ + 452, + 246, + 544, + 261 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Cross-entropy loss and focal loss are the most common choices when training deep neural networks for classification problems. Generally speaking, however, a good loss function can take on much more flexible forms, and should be tailored for different tasks and datasets. Motivated by how functions can be approximated via Taylor expansion, we propose a simple framework, named PolyLoss, to view and design loss functions as a linear combination of polynomial functions. Our PolyLoss allows the importance of different polynomial bases to be easily adjusted depending on the targeting tasks and datasets, while naturally subsuming the aforementioned cross-entropy loss and focal loss as special cases. Extensive experimental results show that the optimal choice within the PolyLoss is indeed dependent on the task and dataset. Simply by introducing one extra hyperparameter and adding one line of code, our Poly-1 formulation outperforms the crossentropy loss and focal loss on 2D image classification, instance segmentation, object detection, and 3D object detection tasks, sometimes by a large margin. ", + "bbox": [ + 232, + 266, + 766, + 459 + ], + "page_idx": 0 + }, + { + "type": "table", + "img_path": "images/237c736175de708ec712de5925fd09f52398906c6a9f62b430a39974d3ebd3b9.jpg", + "table_caption": [ + "Table 1: PolyLoss outperforms cross-entropy and focal loss on various models and tasks. Results are for the simplest Poly-1, which has only a single hyperparameter. On ImageNet (Deng et al., 2009), our PolyLoss improves both pretraining and finetuning for the recent EfficientNetV2 (Tan & Le, 2021); on COCO (Lin et al., 2014), PolyLoss improves both 2D detection and segmentation AR for Mask-RCNN (He et al., 2017); on Waymo Open Dataset (WOD) (Sun et al., 2020), PolyLoss improves 3D detection AP for the widely used PointPillars (Lang et al., 2019) and the very recent Range Sparse Net (RSN) (Sun et al., 2021). Details are in Table 4, 5, 7. " + ], + "table_footnote": [], + "table_body": "
Task Default lossImageNet classification Cross-entropyCOCO det.and seg. Cross-entropyWaymo Open Dataset 3D detection Focal loss
ModelENetV2-L(21K)ENetV2-L(1K)Mask R-CNNPointPillars CarPointPillars PedRSN CarRSN Ped
Baseline45.886.847.242.363.368.978.479.4
PolyLoss46.4 (+0.6)87.2 (+0.4)49.7 (+2.5)44.4 (+2.1)63.7 (+0.4)69.6 (+0.7)78.9 (+0.5)80.2 (+0.8)
", + "bbox": [ + 191, + 472, + 807, + 527 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "1 INTRODUCTION ", + "text_level": 1, + "bbox": [ + 176, + 652, + 336, + 667 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Loss functions are important in training neural networks. In principle, a loss function could be any (differentiable) function that maps predictions and labels to a scalar. Therefore, designing a good loss function is generally challenging due to its large design space, and designing a universal loss function that works across different tasks and datasets is even more challenging: for example, $\\mathrm { L } 1 ~ /$ L2 losses are commonly used for regression tasks, but they are rarely used for classification tasks; focal loss is often used to alleviate the overfitting issue of cross-entropy loss for imbalanced object detection datasets (Lin et al., 2017), but it is not shown to consistently help other tasks. Many recent works have also explored new loss functions via meta-learning, ensembling or compositing different losses (Hajiabadi et al., 2017; Xu et al., 2018; Gonzalez & Miikkulainen, 2020b;a; Li et al., 2019). ", + "bbox": [ + 173, + 676, + 825, + 803 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "In this paper, we propose PolyLoss: a novel framework for understanding and designing loss functions. Our key insight is to decompose commonly used classification loss functions, such as crossentropy loss and focal loss, into a series of weighted polynomial bases. They are decomposed in the form of $\\textstyle \\sum _ { j = 1 } ^ { \\infty } \\alpha _ { j } ( 1 - P _ { t } ) ^ { j }$ , where $\\alpha _ { j } \\in \\mathbb { R } ^ { + }$ is the polynomial coefficient and $P _ { t }$ is the prediction probability of the target class label. Each polynomial base $( 1 - P _ { t } ) ^ { j }$ is weighted by a corresponding polynomial coefficient $\\alpha _ { j }$ , which enables us to easily adjust the importance of different bases for different applications. When $\\alpha _ { j } = 1 / j$ for all $j$ , our PolyLoss becomes equivalent to the commonly used cross-entropy loss, but this coefficient assignment may not be optimal. ", + "bbox": [ + 174, + 809, + 823, + 924 + ], + "page_idx": 0 + }, + { + "type": "text", + "text": "Our study shows that, in order to achieve better results, it is necessary to adjust polynomial coefficients $\\alpha _ { j }$ for different tasks and datasets. Since it is impossible to adjust an infinite number of $\\alpha _ { j }$ , we explore various strategies with a small degree of freedom. Perhaps surprisingly, we observe that simply adjusting the single polynomial coefficient for the leading polynomial, which we denote $L _ { \\mathrm { P o l y - 1 } }$ , is sufficient to achieve significant improvements over the commonly used cross-entropy loss and focal loss. Overall, our contribution can be summarized as: ", + "bbox": [ + 174, + 103, + 825, + 188 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "• Insights on common losses: We propose a unified framework, named PolyLoss, to rethink and redesign loss functions. This framework helps to explain cross-entropy loss and focal loss as two special cases of the PolyLoss family (by horizontally shifting polynomial coefficients), which was not recognized before. This new finding motivates us to investigate new loss functions that vertically adjust polynomial coefficients, shown in Figure 1. ", + "bbox": [ + 176, + 194, + 825, + 263 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "• New loss formulation: We evaluate different ways of vertically manipulating polynomial coefficients to simplify the hyperparameters search space. We propose a simple and effective Poly-1 loss formulation which only introduces one hyperparameter and one line of code. ", + "bbox": [ + 179, + 265, + 820, + 305 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "• New findings: We identify that focal loss, though effective for many detection tasks, is suboptimal for the imbalanced ImageNet-21K. We find the leading polynomial contributes to a large portion of the gradient during training, and its coefficient correlates to the prediction confidence $P _ { t }$ . In addition, we provide an intuitive explanation on how to leverage this correlation to design good PolyLoss tailored to imbalanced datasets. ", + "bbox": [ + 176, + 306, + 825, + 373 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "• Extensive experiments: We evaluate our PolyLoss on different tasks, models, and datasets. Results show PolyLoss consistently improves the performance on all fronts, summarized in Table 1, which includes the state-of-the-art classifiers EfficientNetV2 and detectors RSN. ", + "bbox": [ + 178, + 375, + 820, + 416 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "2 RELATED WORK ", + "text_level": 1, + "bbox": [ + 176, + 430, + 344, + 446 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Cross-entropy loss is used in popular and current state-of-the-art models for perception tasks such as classification, detection and semantic segmentation (Tan & Le, 2021; He et al., 2017; Zoph et al., 2020; Tao et al., 2020). Various losses are proposed to improve cross-entropy loss (Lin et al., 2017; Law & Deng, 2018; Cui et al., 2019; Zhao et al., 2021). Unlike prior works, the goal of this paper is to provide a unified framework for systematically designing a better classification loss function. ", + "bbox": [ + 173, + 455, + 825, + 525 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Loss for class imbalance Training detection models, especially single-stage detectors, is difficult due to class imbalance. Common approaches such as hard example mining and reweighing are developed to address the class imbalance issue (Sung, 1996; Viola & Jones, 2001; Felzenszwalb et al., 2010; Shrivastava et al., 2016; Liu et al., 2016; Bulo et al., 2017). As one of these approaches, focal loss is designed to mitigate the class imbalance issue by focusing on the hard examples and is used to train state-of-the-art 2D and 3D detectors (Lin et al., 2017; Tan et al., 2020; Du et al., 2020; Shi et al., 2020; Sun et al., 2021). In our work, we found that focal loss is suboptimal for the imbalanced ImageNet-21K. Using the PolyLoss framework, we discover a better loss function, which performs the opposite role of focal loss. We further provide intuitive understanding of why it is important to design different loss functions tailored to different imbalanced datasets using the PolyLoss framework. ", + "bbox": [ + 173, + 529, + 825, + 681 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Robust loss to label noise Another direction of research is to design loss functions that are robust to label noise (Ghosh et al., 2015; 2017; Zhang & Sabuncu, 2018; Wang et al., 2019; Oksuz et al., 2020; Menon et al., 2019). A commonly used approach is to incorporate noise robust loss function such as Mean Absolute Error (MAE) into cross-entropy loss. In particular, Taylor cross entropy loss is proposed to unify MAE and cross-entropy loss by expanding the cross-entropy loss in $( 1 - P _ { t } ) ^ { j }$ polynomial bases (Feng et al., 2020). By truncating the higher-order polynomials, they show truncated cross-entropy loss function is closer to MAE, which is more robust to label noise on datasets with synthetic label noise. In contrast, our PolyLoss provides a more general framework to design loss functions for different datasets by manipulating polynomial coefficients, which includes dropping higher-order polynomials proposed in Feng et al. (2020). Our experiments in subsection 4.1 show the loss proposed in Feng et al. (2020) performs worse than cross-entropy loss on the clean ImageNet dataset. ", + "bbox": [ + 173, + 684, + 825, + 851 + ], + "page_idx": 1 + }, + { + "type": "text", + "text": "Learned loss functions Several recent works demonstrate learning the loss function during training via gradient descent or meta learning (Hajiabadi et al., 2017; Xu et al., 2018; Gonzalez & Miikkulainen, 2020a; Li et al., 2019; 2020). Notably, TaylorGLO utilizes CMA-ES to optimize multivariate Taylor parameterization of a loss function and learning rate schedule during training (Hansen & Ostermeier, 1996; Gonzalez & Miikkulainen, 2020b). Due to the search space scale with the order of polynomials, the paper demonstrates that using the third-order parameterization (8 parameters), the learned loss function schedule outperforms cross-entropy loss on 10-class classification problems. Our paper (Figure 2a), on the other hand, shows for 1000-class classification tasks, hundreds of polynomials are needed. This results in a prohibitively large search space. Our proposed Poly-1 formulation mitigates the challenge of the large search space and do not rely on advanced black-box optimization algorithms. Instead, we show a simple grid search over one hyperparameter can lead to significant improvement on all tasks that we investigate. ", + "bbox": [ + 174, + 854, + 823, + 924 + ], + "page_idx": 1 + }, + { + "type": "image", + "img_path": "images/2ef883d044fcca098e2421bd4675d031cd9ede30b94cf3ca5c67e782719b1de9.jpg", + "image_caption": [ + "Figure 1: Unified view of cross-entropy loss, focal loss, and PolyLoss. PolyLoss $\\textstyle \\sum _ { j = 1 } ^ { \\infty } \\alpha _ { j } ( 1 -$ $P _ { t } ) ^ { j }$ is a more general framework, where $P _ { t }$ stands for prediction probability of the target class. Left: Polyloss is more flexible: it can be steeper (deep red) than cross-entropy loss (black) or flatter (light red) than focal loss (green). Right: Polynomial coefficients of different loss functions in the bases of $( 1 - P _ { t } ) ^ { j }$ , where $j \\in \\mathbb { Z } ^ { + }$ . Black dash lines are drawn to show the trend of polynomial coefficients. In the PolyLoss framework, focal loss can only shift the polynomial coefficients horizontally (green arrow), see Equation 2, whereas the proposed PolyLoss framework is more general, which also allows vertical adjustment (red arrows) of the polynomial coefficient for each polynomial term. " + ], + "image_footnote": [], + "bbox": [ + 194, + 75, + 797, + 165 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "", + "bbox": [ + 173, + 299, + 825, + 398 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "3 POLYLOSS ", + "text_level": 1, + "bbox": [ + 174, + 411, + 295, + 428 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "PolyLoss provides a framework for understanding and improving the commonly used cross-entropy loss and focal loss, visualized in Figure 1. It is inspired from the Taylor expansion of cross-entropy loss (Equation 1) and focal loss (Equation 2) in the bases of $( 1 - P _ { t } ) ^ { j }$ : ", + "bbox": [ + 174, + 436, + 825, + 478 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/b6b81c879f20769ec175f53396dc9e0c97b21dcc0910e378d2f84510efc35045.jpg", + "text": "$$\n\\begin{array} { c } { { { \\displaystyle { \\cal L } _ { \\mathrm { C E } } = - \\log ( P _ { t } ) = \\sum _ { j = 1 } ^ { \\infty } 1 / j ( 1 - P _ { t } ) ^ { j } = ( 1 - P _ { t } ) + 1 / 2 ( 1 - P _ { t } ) ^ { 2 } . . . } } } \\\\ { { { } } } \\\\ { { { { \\cal L } _ { \\mathrm { F L } } = - ( 1 - P _ { t } ) ^ { \\gamma } \\log ( P _ { t } ) = \\sum _ { j = 1 } ^ { \\infty } 1 / j ( 1 - P _ { t } ) ^ { j + \\gamma } = ( 1 - P _ { t } ) ^ { 1 + \\gamma } + 1 / 2 ( 1 - P _ { t } ) ^ { 2 + \\gamma } . . . } } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 199, + 478, + 782, + 565 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "where $P _ { t }$ is the model’s prediction probability of the target ground-truth class. ", + "bbox": [ + 176, + 569, + 686, + 584 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Cross-entropy loss as PolyLoss Using the gradient descent method to optimize the cross-entropy loss requires taking the gradient with respect to $P _ { t }$ . In the PolyLoss framework, an interesting observation is that the coefficients $1 / j$ exactly cancel the $j$ th power of the polynomial bases, see Equation 1. Thus, the gradient of cross-entropy loss is simply the sum of polynomials $( 1 - P _ { t } ) ^ { j }$ , shown in Equation 3. ", + "bbox": [ + 174, + 590, + 825, + 661 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/0c317f7d2e12be439e0ebadef95b9edba8b8bb3b341f27d38c073cf5bd293ecf.jpg", + "text": "$$\n- { \\frac { \\mathrm { d } L _ { \\mathrm { C E } } } { \\mathrm { d } P _ { t } } } = \\sum _ { j = 1 } ^ { \\infty } ( 1 - P _ { t } ) ^ { j - 1 } = 1 + ( 1 - P _ { t } ) + ( 1 - P _ { t } ) ^ { 2 } . . .\n$$", + "text_format": "latex", + "bbox": [ + 302, + 666, + 691, + 709 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "The polynomial terms in the gradient expansion capture different sensitivity with respect to $P _ { t }$ . The leading gradient term is 1, which provides a constant gradient regardless of the value of $P _ { t }$ . On the contrary, when $j \\gg 1$ , the $j$ th gradient term is strongly suppressed when $P _ { t }$ gets closer to 1. ", + "bbox": [ + 176, + 714, + 823, + 757 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "Focal loss as PolyLoss In the PolyLoss framework, Equation 2, it is apparent that the focal loss simply shifts the power $j$ by the power of a modulating factor $\\gamma$ . This is equivalent to horizontally shifting all the polynomial coefficients by $\\gamma$ as shown in Figure 1. To understand the focal loss from a gradient prospective, we take the gradient of the focal loss (Equation 2) with respect to $P _ { t }$ : ", + "bbox": [ + 174, + 763, + 826, + 820 + ], + "page_idx": 2 + }, + { + "type": "equation", + "img_path": "images/870f819655ee8af59180294cee4fae49ef55ebdfa53b29d316b34a994efba4a0.jpg", + "text": "$$\n- \\frac { \\mathrm { d } L _ { \\mathrm { F L } } } { \\mathrm { d } P _ { t } } = \\sum _ { j = 1 } ^ { \\infty } ( 1 + \\gamma / j ) ( 1 - P _ { t } ) ^ { j + \\gamma - 1 } = ( 1 + \\gamma ) ( 1 - P _ { t } ) ^ { \\gamma } + ( 1 + \\gamma / 2 ) ( 1 - P _ { t } ) ^ { 1 + \\gamma } \\dots\n$$", + "text_format": "latex", + "bbox": [ + 194, + 825, + 781, + 868 + ], + "page_idx": 2 + }, + { + "type": "text", + "text": "For a positive $\\gamma$ , the gradient of focal loss drops the constant leading gradient term, 1, in the crossentropy loss, see Equation 3. As discussed in the previous paragraph, this constant gradient term causes the model to emphasize the majority class, since its gradient is simply the total number of ", + "bbox": [ + 174, + 881, + 825, + 924 + ], + "page_idx": 2 + }, + { + "type": "table", + "img_path": "images/24254f6af667e6e9cfe12d70e8e77a4e45c82fd2383dcc7ffb283b41f948fffa.jpg", + "table_caption": [], + "table_footnote": [], + "table_body": "
Polynomial expansion in the basis of (1-Pt)Loss
Cross-entropy loss(1-Pt)+1/2(1-Pt)²+.+1/N(1-Pt)N +1/(N+1)(1-Pt)N+1 +...LCE=-log(Pt)
Drop poly. (Sec 4.1)(1 - Pt)+ 1/2(1- Pt)² +. +1/N(1- Pt)N (drop the remaining terms)LDrop = LcE-∑j=N1/j(1-Pt)
Poly-N (Sec 4.2)+1)(1- Pt)+.. +(∈N+1/N)DN +1/(N+1)(1- Pt)N+1 +.
Poly-1 (Sec 4.3)+1)(1-Pt)+1/2(1-Pi)2+. +1/N(1- Pt) +1/(N +1)(1- Pt)N+1 +.LPoly-1 = LCE+∈1(1-Pt)
", + "bbox": [ + 174, + 75, + 821, + 148 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Table 2: Comparing different losses in the PolyLoss framework. Dropping higher order polynomial, proposed in prior works, truncates all higher order $( N + 1 \\infty$ ) polynomial terms. We propose Poly-N loss, which perturbs the leading $_ \\mathrm { N }$ polynomial coefficients. Poly-1 is the final loss formulation, which further simplifies Poly-N and only requires a simple grid search over one hyperparameter. The differences compared to cross-entropy loss are highlighted in red. ", + "bbox": [ + 173, + 154, + 825, + 223 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "examples for each class. By shifting the power of all the polynomial terms by $\\gamma$ , the first term then becomes $( 1 - P _ { t } ) ^ { \\gamma }$ , which is suppressed by the power of $\\gamma$ to avoid overfitting to the already confident (meaning $P _ { t }$ close to 1) majority class. More details are shown in section 12. ", + "bbox": [ + 174, + 239, + 823, + 281 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Connection to regression and general form Representing the loss function in the PolyLoss framework provides an intuitive connection to regression. For classification tasks where $y = 1$ is the effective probability of the ground-truth label, the polynomial bases $( 1 - P _ { t } ) ^ { j }$ can be expressed as $( y - P _ { t } ) ^ { j }$ . Thus both cross-entropy loss and focal loss can be interpreted as a weighted ensemble of distances between the prediction and label to the $j$ th power. However, a fundamental question in those losses: Are the coefficients in front of the regression terms optimal? ", + "bbox": [ + 174, + 297, + 825, + 381 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "In general, PolyLoss is a monotone decreasing function1 on $[ 0 , 1 ]$ which can be expressed as $\\textstyle \\sum _ { j = 1 } ^ { \\infty } \\alpha _ { j } ( \\mathrm { i } - \\check { P } _ { t } ) ^ { j }$ and provides a flexible framework to adjust each coefficient2. PolyLoss can be generalized to non-integer $j$ , but for simplicity we only focus on integer power $( j \\in \\mathbb { Z } ^ { + } )$ in this paper. In the next section, we investigate several strategies on designing better loss functions in the PolyLoss framework via manipulating $\\alpha _ { j }$ . ", + "bbox": [ + 174, + 387, + 825, + 462 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "4 UNDERSTANDING THE EFFECT OF POLYNOMIAL COEFFICIENTS ", + "text_level": 1, + "bbox": [ + 176, + 476, + 730, + 492 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "In the previous section, we established the PolyLoss framework and showed that cross-entropy loss and focal loss simply correspond to different polynomial coefficients, where focal loss horizontally shifts the polynomial coefficients of cross-entropy loss. ", + "bbox": [ + 176, + 501, + 821, + 544 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "In this section, we propose the final loss formulation Poly-1. We study in depth how vertically adjusting polynomial coefficients, shown in Figure 1, may affect training. Specifically, we explore three different strategies in assigning polynomial coefficients: dropping higher-order terms; adjusting multiple leading polynomial coefficients; and adjusting the first polynomial coefficient, summarized in Table 2. We find adjusting the first polynomial coefficient (Poly-1 formulation) leads to maximal gain while requiring minimal code change and hyperparameter tuning. ", + "bbox": [ + 174, + 550, + 825, + 635 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "In these explorations, we experiment with 1000-class ImageNet (Deng et al., 2009) classification. We abbreviate it as ImageNet-1K to differentiate it from the full version, which contains 21K classes. We use ResNet-50 (He et al., 2016) and its training hyperparameters without modification.3 ", + "bbox": [ + 174, + 640, + 825, + 684 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "4.1 $L _ { D r o p }$ : REVISITING DROPPING HIGHER-ORDER POLYNOMIAL TERMS ", + "text_level": 1, + "bbox": [ + 176, + 695, + 689, + 709 + ], + "page_idx": 3 + }, + { + "type": "text", + "text": "Prior works (Feng et al., 2020; Gonzalez & Miikkulainen, 2020b) have shown dropping the higherorder polynomials and tuning the leading polynomials can improve model robustness and perfor- mance. We adopt the same loss formulation $\\begin{array} { r } { \\dot { L _ { \\mathrm { D r o p } } } = \\sum _ { j = 1 } ^ { N } 1 / \\dot { j } ( 1 - P _ { t } ) ^ { j } } \\end{array}$ , as in Feng et al. (2020), and compare their performance with the baseline cross-entropy loss on ImageNet-1K. As shown in Figure 2a, we need to sum up more than 600 polynomial terms to match the accuracy of crossentropy loss. Notably, removing higher-order polynomials cannot simply be interpreted as adjusting the learning rate. To verify this, Figure 2b compares the performance for different learning rates with various cutoffs: no matter we increase or decrease the learning rate from the original value of 0.1, the accuracy worsens. Additional hyperparameter tuning is shown in section 9. ", + "bbox": [ + 173, + 713, + 825, + 844 + ], + "page_idx": 3 + }, + { + "type": "image", + "img_path": "images/876612310365b79e3055fe1b3c14d3a20be446712da276138a5631269b5de29e.jpg", + "image_caption": [ + "(b) Adjusting the learning rate (default 0.1) of $L _ { \\mathrm { D r o p } }$ does not improve the classification accuracy. " + ], + "image_footnote": [], + "bbox": [ + 197, + 77, + 488, + 164 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "(a) Truncating the infinite sum of polynomials in cross-entropy loss to $N$ reduces accuracy. ", + "bbox": [ + 196, + 171, + 490, + 198 + ], + "page_idx": 4 + }, + { + "type": "image", + "img_path": "images/7537464298f565527318ca7d0dff4e6bdfb5ccaeb7ae5d6ff0e9d5a4e39dfbd3.jpg", + "image_caption": [ + "Figure 2: Training ResNet-50 on ImageNet-1K requires hundreds of polynomial terms to reproduce the same accuracy as cross-entropy loss. " + ], + "image_footnote": [], + "bbox": [ + 511, + 77, + 800, + 165 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "To understand why higher-order terms are important, we consider the residual sum after removing the first $N$ polynomial terms from cross-entropy loss: $\\begin{array} { r } { R _ { \\mathrm { N } } = L _ { \\mathrm { C E } } - L _ { \\mathrm { D r o p } } = \\sum _ { j = N + 1 } ^ { \\infty } 1 / j ( 1 - P _ { t } ) ^ { j } } \\end{array}$ ", + "bbox": [ + 174, + 247, + 823, + 277 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Theorem 1. For any small $\\zeta > 0$ , $\\delta > 0$ if $N > \\log _ { 1 - \\delta } \\left( \\zeta \\cdot \\delta \\right)$ , then for any $p \\in [ \\delta , 1 ]$ , we have $| R _ { N } ( p ) | < \\zeta$ and $| R _ { N } ^ { \\prime } ( p ) | < \\zeta$ . (Proof in section 7) ", + "bbox": [ + 174, + 281, + 820, + 311 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Hence, taking a large $N$ is necessary to ensure $L _ { \\mathrm { D r o p } }$ is uniformly close to $L _ { \\mathrm { C E } }$ in the perspectives of loss and loss derivative on $[ \\delta , 1 ]$ . For a fixed $\\zeta$ , as $\\delta$ approaches 0, $N$ grows rapidly. Our experimental results align with the theorem. The higher-order $( j ~ > ~ N + 1 )$ polynomials play an important role during the early stages of training, where $P _ { t }$ is typically close to zero. For example, when $P _ { t } \\sim 0 . 0 0 1$ , according to Equation 3, the coefficient of the $5 0 0 \\mathrm { { t h } }$ term’s gradient is $0 . 9 9 9 ^ { \\bar { 4 } 9 9 } \\sim 0 . 6$ , which is fairly large. Different from aforementioned prior works, our results show that we cannot easily reduce the number of polynomial coefficients $\\alpha _ { j }$ by excluding the higher-order polynomials. ", + "bbox": [ + 173, + 321, + 825, + 420 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Dropping higher order polynomials is equivalent to pushing all the higher order $( j > N + 1 )$ polynomial coefficients $\\alpha _ { j }$ vertically to zero in the PolyLoss framework. Since simply setting coefficients to zero is suboptimal for training ImageNet-1K, in the following sections, we investigate how to manipulate polynomial coefficient beyond setting them to zero in the PolyLoss framework. In particular, we aim to propose a simple and effective loss function that requires minimal tuning. ", + "bbox": [ + 173, + 426, + 825, + 497 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "4.2 $L _ { \\mathrm { P o L Y - N } }$ : PERTURBING LEADING POLYNOMIAL COEFFICIENTS ", + "text_level": 1, + "bbox": [ + 174, + 507, + 633, + 521 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "In this paper, we propose an alternative way of designing a new loss function in the PolyLoss framework, where we adjust the coefficients of each polynomial. In general, there are infinitely many polynomial coefficients $\\alpha _ { j }$ need to be tuned. Thus, it is infeasible to optimize the most general loss: ", + "bbox": [ + 174, + 526, + 825, + 570 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/46455e67413d4eab0cea8a0b46cc9c19a4f8816dedf9a53744c80577f4ecd8d3.jpg", + "text": "$$\nL _ { \\mathrm { P o l y } } = \\alpha _ { 1 } ( 1 - P _ { t } ) + \\alpha _ { 2 } ( 1 - P _ { t } ) ^ { 2 } + \\ldots + \\alpha _ { N } ( 1 - P _ { t } ) ^ { N } + \\ldots = \\sum _ { j = 1 } ^ { \\infty } \\alpha _ { j } ( 1 - P _ { t } ) ^ { j }\n$$", + "text_format": "latex", + "bbox": [ + 225, + 575, + 769, + 619 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "The previous section (subsection 4.1) has shown that hundreds of polynomials are required in training to do well on tasks such as ImageNet-1K classification. If we naively truncate the infinite sum in Equation 5 to the first few hundreds terms, tuning coefficients for so many polynomials still results in a prohibitively large search space. In addition, collectively tuning many coefficients also does not outperform cross-entropy loss, details in section 10. ", + "bbox": [ + 173, + 625, + 825, + 695 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "To tackle this challenge, we propose to perturb the leading polynomial coefficients in cross-entropy loss, while keeping the rest the same. We denote the proposed loss formulation as Poly-N, where $\\mathbf { N }$ stands for the number of leading coefficients that will be tuned. ", + "bbox": [ + 174, + 702, + 823, + 744 + ], + "page_idx": 4 + }, + { + "type": "equation", + "img_path": "images/67d26356a3a1143cdf91637cfc766676593ff3f1d535bf775a3a7d8adfbb631d.jpg", + "text": "$$\n\\begin{array} { l } { { \\displaystyle { \\cal L } _ { \\mathrm { P o l y - N } } = \\underbrace { ( \\epsilon _ { 1 } + 1 ) ( 1 - P _ { t } ) + \\ldots + ( \\epsilon _ { N } + 1 / N ) ( 1 - P _ { t } ) ^ { N } } _ { \\mathrm { p e r t u n b e d b y } \\epsilon _ { j } } + \\underbrace { 1 / ( N + 1 ) ( 1 - P _ { t } ) ^ { N + 1 } + \\ldots } _ { \\mathrm { s a m e ~ a s ~ } L _ { \\mathrm { C E } } } } } \\\\ { { \\displaystyle ~ = - \\log ( P _ { t } ) + \\sum _ { j = 1 } ^ { N } \\epsilon _ { j } ( 1 - P _ { t } ) ^ { j } } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 199, + 748, + 799, + 835 + ], + "page_idx": 4 + }, + { + "type": "text", + "text": "Here, we replace the $j$ th polynomial coefficient in crossentropy loss $1 / j$ with $1 / j + \\epsilon _ { j }$ , where $\\epsilon _ { j } \\in [ - 1 / j , \\infty )$ is the perturbation term. This allows us to pinpoint the first $N$ polynomials without the need to worry about the infinitely many higher-order $( j > N + 1 )$ coefficients, as in Equation 5. ", + "bbox": [ + 174, + 840, + 549, + 924 + ], + "page_idx": 4 + }, + { + "type": "table", + "img_path": "images/1ddd2b7a816fa929880e797b0bc1b1fdbe87bb114908602fd8effbdbf14e0eb3.jpg", + "table_caption": [ + "Table 3: ${ \\cal L } _ { \\mathrm { P o l y - N } }$ outperforms crossentropy loss on ImageNet-1K. " + ], + "table_footnote": [], + "table_body": "
CElossN=1N=2N=3
N-dim. grid search76.376.776.81
Greedy grid search76.376.776.776.7
", + "bbox": [ + 563, + 844, + 820, + 885 + ], + "page_idx": 4 + }, + { + "type": "image", + "img_path": "images/f0f054186d0e05e950ba4d8fa1e641ba2b432f80eb66a9d3aa80293836309ed0.jpg", + "image_caption": [], + "image_footnote": [], + "bbox": [ + 509, + 78, + 799, + 170 + ], + "page_idx": 5 + }, + { + "type": "image", + "img_path": "images/39a2b77ef262c787045c690c9562210ce71a5f5baaf7823ad18677141e90981b.jpg", + "image_caption": [ + "(b) Percentage of gradient from the first polynomial versus the rest (infinitely many) polynomials. " + ], + "image_footnote": [], + "bbox": [ + 197, + 79, + 488, + 166 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "(a) PolyLoss family $L _ { \\mathrm { P o l y - 1 } } = - \\log ( P _ { t } ) + \\epsilon _ { 1 } ( 1 -$ $P _ { t }$ ), where $\\epsilon _ { 1 } \\in \\{ - 1 , 0 , 1 , \\dots , 8 \\}$ . ", + "bbox": [ + 196, + 174, + 488, + 200 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Figure 3: The first polynomial plays an important role for training ResNet-50 on ImageNet1K. (a) Increasing the coefficient of the first polynomial term $( \\epsilon _ { 1 } > 0 $ ) consistently improves the ResNet50 prediction accuracy. Red dash line shows the accuracy when using cross-entropy loss. Mean and stdev of three runs are plotted. (b) The first polynomial $\\left( 1 - P _ { t } \\right)$ contributes more than half of the cross-entropy gradient at the last $65 \\%$ of the training steps, which highlights the importance of tuning the first polynomial. The red dash line shows the crossover. ", + "bbox": [ + 173, + 215, + 825, + 299 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Table 3 shows $L _ { \\mathrm { P o l y - N } }$ outperforms the baseline cross-entropy loss accuracy. We explore Ndimensional grid search and greedy grid search of $\\epsilon _ { j }$ in $L _ { \\mathrm { P o l y - N } }$ up to $N = 3$ and find that simply adjusting the coefficient of the first polynomial $N = 1$ ) leads to better classification accuracy. Performing 2D grid search $N = 2$ ) can further boost the accuracy. However, the additional gain is small $( + 0 . 1 )$ compared to adjusting only the first polynomial $\\left( + 0 . 4 \\right)$ . ", + "bbox": [ + 174, + 303, + 823, + 373 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "4.3 $L _ { \\mathrm { P o L Y - 1 } }$ : SIMPLE AND EFFECTIVE ", + "text_level": 1, + "bbox": [ + 176, + 383, + 437, + 397 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "As shown in the previous section, we find tuning the first polynomial term leads to the most significant gain. In this section, we further simplify the Poly-N formulation and focus on evaluating Poly-1, where only the first polynomial coefficient in cross-entropy loss is modified. ", + "bbox": [ + 174, + 402, + 823, + 444 + ], + "page_idx": 5 + }, + { + "type": "equation", + "img_path": "images/9d325f83b893e2b3b2a3a6868688ad97a28cffc235d7fc090a6aa64e5fb7b796.jpg", + "text": "$$\nL _ { \\mathrm { P o l y - 1 } } = ( 1 + \\epsilon _ { 1 } ) ( 1 - P _ { t } ) + 1 / 2 ( 1 - P _ { t } ) ^ { 2 } + \\ldots = - \\log ( P _ { t } ) + \\epsilon _ { 1 } ( 1 - P _ { t } )\n$$", + "text_format": "latex", + "bbox": [ + 250, + 445, + 748, + 464 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "We study the effect of different first term scaling on the accuracy and observe that increasing the first polynomial coefficient can systematically increase the ResNet-50 accuracy, as shown in Figure 3a. This result suggests that the cross-entropy loss is suboptimal in terms of polynomial coefficient values, and increasing the first polynomial coefficient leads to consistent improvement, which is comparable to other training techniques (section 11). ", + "bbox": [ + 173, + 473, + 825, + 544 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Figure 3b shows the leading polynomial contributes to more than half of the cross-entropy gradient during training for the majority of the time, which highlights the significance of the first polynomial term $\\left( 1 - P _ { t } \\right)$ compared to the rest of the infinite many terms. Therefore, in the remaining of the paper, we adopt the form of $L _ { \\mathrm { P o l y - 1 } }$ and primarily focus on adjusting the leading polynomial coefficient. As is evident from Equation 7, it only modifies the original loss implementation by a single line of code (adding a $\\epsilon _ { 1 } ( 1 - P _ { t } )$ term on top of cross-entropy loss). ", + "bbox": [ + 173, + 550, + 825, + 635 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Note that, all the training hyperparameters are optimized for cross-entropy loss. Even so, a simple grid search on the first polynomial coefficients in the Poly-1 formulation significantly increases the classification accuracy. We find optimizing other hyperparameters for $L _ { \\mathrm { P o l y - 1 } }$ leads to higher accuracy, and show more details in section 8. ", + "bbox": [ + 174, + 641, + 825, + 696 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "5 EXPERIMENTAL RESULTS ", + "text_level": 1, + "bbox": [ + 176, + 703, + 419, + 718 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "In this section, we compare our PolyLoss against the commonly used cross-entropy loss and focal loss on various tasks, models, and datasets. For the following experiments, we adopt the default training hyperparameters in the public repositories without any tuning. Nevertheless, Poly-1 formulation leads to consistent advantage over default loss functions at the cost of a simple grid search. ", + "bbox": [ + 174, + 727, + 825, + 782 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "5.1 LPOLY-1 IMPROVES 2D IMAGE CLASSIFICATION ON IMAGENET ", + "text_level": 1, + "bbox": [ + 173, + 792, + 638, + 808 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Image classification is a fundamental problem in computer vision, and progress on image classification has led to progress on many related computer vision tasks. In terms of the network architecture, in addition to the ResNet-50 already used in section 4, we also experiment with the state-of-the-art EfficientNetV2 (Tan & Le, 2021). We use the ImageNet settings in (Tan & Le, 2021) except for replacing the original cross-entropy loss with our PolyLoss $L _ { P o l y - 1 }$ with different values of $\\epsilon _ { 1 }$ . In terms of the dataset, in addition to the ImageNet-1K dataset already used in section 4, we also consider ImageNet-21K, which has about 13M training images with 21,841 classes. We will study both the ImageNet-21K pretraining results and the ImageNet-1K finetuning results. ", + "bbox": [ + 173, + 811, + 825, + 924 + ], + "page_idx": 5 + }, + { + "type": "text", + "text": "Pretraining EfficientNetV2-L on ImageNet-21K, then finetuning it on ImageNet-1K can improve classification accuracy (Tan & Le, 2021). Here, we follow the same pretraining and finetuning schedule as reported in Tan & Le (2021) without modification4 but replace the cross-entropy loss with $L _ { \\mathrm { P o l y - 1 } } = - \\log ( P _ { t } ) + \\epsilon _ { 1 } ( 1 - P _ { t } )$ . We reserve 25,000 images from the training set as minival to search the optimal $\\epsilon _ { 1 }$ . ", + "bbox": [ + 173, + 103, + 823, + 172 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Pretraining on ImageNet-21K Figure 4 highlights the importance of using tailored loss function when pretraining model on ImageNet21K dataset. A simple grid search over $\\epsilon _ { 1 } ~ \\in$ $\\{ 0 , 1 , 2 , \\ldots , 7 \\}$ in $L _ { \\mathrm { P o l y - 1 } }$ without changing other default hyperparameters leads to around $1 \\%$ accuracy gain for all SOTA EfficientNetV2 models with different sizes. The accuracy improvement of using a better loss function nearly matches the improvement of scaling up the model architecture (S to M and M to L). ", + "bbox": [ + 174, + 176, + 483, + 328 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Surprisingly, see Figure 5a, increasing the weight of the leading polynomial coefficient improves the accuracy of pretraining on ImageNet-21K $_ { ( + 0 . 6 ) }$ , whereas reducing it low", + "bbox": [ + 173, + 335, + 483, + 391 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/7884e7972bbde84fe12505f77b86b3c7fd365595ac636757e8ca7efae894dd85.jpg", + "image_caption": [ + "Figure 4: PolyLoss improves EfficientNetV2 family on the speed-accuracy Pareto curve. Validation accuracy of EfficientNetV2 models pretrained on ImageNet-21K are plotted. PolyLoss outperforms cross-entropy loss with about $\\times 2$ speed-up. " + ], + "image_footnote": [], + "bbox": [ + 514, + 170, + 802, + 294 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "ers the accuracy (-0.9). Setting $\\epsilon _ { 1 } = - 1$ truncates the leading polynomial term in the cross-entropy loss (Equation 1), which is similar to having a focal loss with $\\gamma = 1$ (Equation 2). However, the opposite change, where $\\epsilon _ { 1 } > 0$ , improves the accuracy on the imbalanced ImageNet-21K. ", + "bbox": [ + 174, + 391, + 823, + 433 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "We hypothesize the prediction of the imbalanced ImageNet-21K is not confident enough ( $P _ { t }$ is small), and using positive $\\epsilon _ { 1 }$ PolyLoss leads to more confident predictions. To validate our hypothesis, we plot $P _ { t }$ as a function of training steps in Figure 5b. We observe that $\\epsilon _ { 1 }$ directly controls the mean $P _ { t }$ over all classes. Using positive $\\epsilon _ { 1 }$ PolyLoss leads to more confident prediction (higher $P _ { t }$ ). On the other hand, negative $\\epsilon _ { 1 }$ PolyLoss lowers the confidence. ", + "bbox": [ + 173, + 439, + 823, + 508 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/e22c64b66f694b3701d437f65d35cd83a00405f3e7ebb451800bd09652ca2867.jpg", + "image_caption": [], + "image_footnote": [], + "bbox": [ + 506, + 513, + 799, + 598 + ], + "page_idx": 6 + }, + { + "type": "image", + "img_path": "images/e8784af14799362097832888900e3a4821591aaf6269e0d016860b8ed3dff38b.jpg", + "image_caption": [ + "(b) Positive $\\epsilon _ { 1 } = 1$ (dark) increases the prediction confidence, while negative $\\epsilon _ { 1 } = - 1$ (light) decreases the prediction confidence. " + ], + "image_footnote": [], + "bbox": [ + 196, + 513, + 486, + 598 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "(a) Validation accuracy of EfficientNetV2-L on ImageNet-21K. PolyLoss with positive $\\epsilon _ { 1 }$ outperforms baseline cross-entropy loss (red dash line). ", + "bbox": [ + 194, + 606, + 488, + 643 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Figure 5: PolyLoss improves EfficientNetV2-L by increasing prediction confidence $P _ { t }$ ", + "text_level": 1, + "bbox": [ + 192, + 650, + 794, + 665 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Fine tuning on ImageNet-1K After pretraining on ImageNet-21K, we take the EfficientNetV2-L checkpoint and finetune it on ImageNet-1K, using the same procedure as Tan & Le (2021) except for replacing the original cross-entropy loss with the Poly-1 formulation. PolyLoss improves the finetuning accuracy by $0 . 4 \\%$ , advancing the ImageNet-1K top-1 accuracy from $8 6 . 8 \\%$ to $8 7 . 2 \\%$ . ", + "bbox": [ + 174, + 667, + 547, + 765 + ], + "page_idx": 6 + }, + { + "type": "table", + "img_path": "images/647b36a0d12cb9c521646e0b103b4f3e57a7da8677852309d2a30adfcd47ce71.jpg", + "table_caption": [ + "Table 4: PolyLoss improves classification accuracy on ImageNet validation set. We set $\\epsilon _ { 1 } = 2$ for both. " + ], + "table_footnote": [], + "table_body": "
EfficientNetV2-LLCELPoly-1Improv.
ImageNet-21K45.846.4+0.6
ImageNet-1K86.887.2+0.4
", + "bbox": [ + 563, + 671, + 820, + 717 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "5.2 $L _ { \\mathrm { P o L Y - 1 } }$ IMPROVES 2D INSTANCE SEGMENTATION AND OBJECT DETECTION ON COCO ", + "text_level": 1, + "bbox": [ + 173, + 771, + 539, + 799 + ], + "page_idx": 6 + }, + { + "type": "text", + "text": "Instance segmentation and object detection require localizing objects in an image in addition to recognizing them: the former in the form of arbitrary shapes and the latter in the form of bounding boxes. For both instance segmentation and object detection, we use the popular COCO (Lin et al., 2014) dataset, which contains 80 object classes. We choose Mask R-CNN (He et al., 2017) as the representative model for instance segmentation and object detection. These models optimize multiple losses, e.g. $L _ { \\mathrm { M a s k R C N N } } = L _ { \\mathrm { c l s } } + L _ { \\mathrm { b o x } } + L _ { \\mathrm { m a s k } }$ . For the following experiments, we only replace the $L _ { \\mathrm { c l s } }$ with PolyLoss and leave other losses intact. Results are summarized in Table 5. ", + "bbox": [ + 173, + 804, + 825, + 901 + ], + "page_idx": 6 + }, + { + "type": "table", + "img_path": "images/780bded7a65b9336b6c57e16e53fed3ea672b88f80861b55a3fe88a7a226c41d.jpg", + "table_caption": [ + "Table 5: PolyLoss improves detection results on COCO validation set. Bounding box and instance segmentation mask average-precision (AP) and average-recall (AR) are reported for Mask R-CNN model with a ResNet-50 backbone. Mean and stdev of three runs are reported. " + ], + "table_footnote": [], + "table_body": "
LossBoxMask
APARAPAR
Mask R-CNN LCE-log(Pt)35.0±0.0947.2± 0.1631.3±0.0942.3±0.02
Mask R-CNN LPoly-1-log(Pt)-(1-Pt)35.3 ± 0.1249.7± 0.0731.6 ± 0.1144.4 ± 0.07
Improvement+0.3+2.5+0.3+2.1
", + "bbox": [ + 238, + 77, + 754, + 138 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Reducing the leading polynomial coefficient improves Mask R-CNN AP and AR. In training Mask R-CNN, we use the training schedule optimized for cross-entropy loss,5 and replace the crossentropy loss with $L _ { P o l y - 1 } = - \\mathrm { l o g } ( P _ { t } ) + \\bar { \\epsilon _ { 1 } } ( 1 - P _ { t } )$ for the classification loss $L _ { c l s }$ , where $\\epsilon _ { 1 } ~ \\in$ $\\{ - 1 . 0 , - 0 . 8 , - 0 . 6 , - 0 . 4 , - 0 . 2 , 0 , 0 . 5 , 1 . 0 \\}$ . We ensure the leading coefficient is positive, i.e. $\\epsilon _ { 1 } \\geq$ $- 1$ . Our results in Figure 6a show systematic improvements of box AP, box AR, mask AP, and mask AR as we reduce the weight of the first polynomial by using negative $\\epsilon _ { 1 }$ values. Note that Poly-1 $\\epsilon = - 1$ ) not only improves AP but also significantly increases AR, shown in Table 5. ", + "bbox": [ + 173, + 190, + 825, + 289 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/d3bc5f279780ac929949f6c9b6ba2a2b83ca9ed89198e1a5994cd1d12fcc6f97.jpg", + "image_caption": [ + "(a) Bound box AP, AR and Mask AP, AR increase as $\\epsilon _ { 1 }$ decreases. Negative $\\epsilon _ { 1 }$ outperforms cross-entropy loss (red dash line). " + ], + "image_footnote": [], + "bbox": [ + 179, + 297, + 566, + 402 + ], + "page_idx": 7 + }, + { + "type": "image", + "img_path": "images/06eaac6c85877bbca253512abf37fc915242c3fc25d450676fd0e665af1b251c.jpg", + "image_caption": [ + "(b) Negative $\\epsilon _ { 1 } = - 1$ (light) reduces the overconfident prediction $P _ { t }$ . " + ], + "image_footnote": [], + "bbox": [ + 588, + 301, + 813, + 398 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Figure 6: PolyLoss improves Mask R-CNN by lowering overconfident predictions. Mean and stdev of three runs are plotted. ", + "text_level": 1, + "bbox": [ + 176, + 440, + 821, + 469 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Tailoring loss function to datasets and tasks is important. ImageNet-21K and COCO are both imbalanced but the optimal $\\epsilon$ for PolyLoss are opposite in sign, i.e. $\\epsilon = 2$ for ImageNet-21K classification and $\\epsilon = - 1$ for Mask R-CNN detection. We plot the $P _ { t }$ of the Mask R-CNN classification head and found the original prediction is overly confident $P _ { t }$ is close to 1) on the imbalanced COCO dataset, thus using a negative $\\epsilon$ lowers the prediction confidence, as shown in Figure 6b. This effect is similar to label smoothing (Szegedy et al., 2016) and confidence penalty (Pereyra et al., 2017), but unlike those methods, as long as $0 > \\epsilon > - 1$ , PolyLoss lowers the gradients of overconfident predictions but will not encourage incorrect predictions or directly penalize prediction confidence. ", + "bbox": [ + 173, + 470, + 825, + 583 + ], + "page_idx": 7 + }, + { + "type": "table", + "img_path": "images/017cc1d5ff1a372f3e3205797beff7eb674a837fc89a00bbe949e0e416049bc3.jpg", + "table_caption": [ + "5.3 $L _ { \\mathrm { P o L Y - 1 } }$ IMPROVES 3D OBJECT DETECTION ON WAYMO OPEN DATASET " + ], + "table_footnote": [], + "table_body": "
Polynomial expansion in the basis of (1-Pt)Loss
Focal loss(1-Pt))+1+1/2(1-Pt)γ+2+1/3(1-Pt)γ++...LFL =-(1-Pt)log(Pt)
Poly-1 (PointPillars)(∈1 +1)(1-Pt))+1 +1/2(1- Pt)x+2 +1/3(1- Pt))+ +.
Poly-1*(RSN)(drop first) (1/2+ ∈2)(1− Pt)+² +1/3(1- Pt)γ+3 +...Py1 =LFL-(1−Pt)γ+1+∈2(1−)+2
", + "bbox": [ + 176, + 609, + 821, + 674 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Table 6: PolyLoss vs. focal loss for 3D detection models. Differences are highlighted in red. We found the best Poly-1 for PointPillars is $\\epsilon _ { 1 } = - 1$ , which is equivalent to dropping the first term. Therefore, for RSN, we drop the first term and tune the new leading polynomial $\\bar { ( 1 - P _ { t } ) } ^ { \\gamma + 2 }$ . ", + "bbox": [ + 174, + 684, + 823, + 727 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "Detecting 3D objects from LiDAR point clouds is an important topic and can directly benefit autonomous driving applications. We conduct these experiments on the Waymo Open Dataset (Sun et al., 2020). Similar to 2D detectors, 3D detection models are commonly based on single-stage and two-stage architectures. Here, we evaluate our PolyLoss on two models: a popular single-stage PointPillars model (Lang et al., 2019); and a state-of-the-art two-stage Range Sparse Net (RSN) model (Sun et al., 2021). Both models rely on multi-task loss functions during training. Here, we focus on improving the classification focal loss by replacing it with PolyLoss. Similar to the 2D perception cases, we adopt the Poly-1 formulation to improve upon focal loss, shown in Table 6. ", + "bbox": [ + 173, + 737, + 825, + 849 + ], + "page_idx": 7 + }, + { + "type": "text", + "text": "PolyLoss improves single-stage PointPillars model. The PointPillars model converts the raw 3D point cloud to a 2D top-down pseudo image, and then detect 3D bounding boxes from the 2D image in a similar way to RetinaNet (Lin et al., 2017). Here, we replace the classification focal loss $( \\gamma = 2 )$ with ${ \\cal L } _ { \\mathrm { p o l y - 1 } } ^ { \\mathrm { F L } } \\ : = \\ : - ( 1 \\ : - \\ : P _ { t } ) ^ { 2 } \\log P _ { t } \\ : + \\ : \\epsilon _ { 1 } ( 1 \\ : - \\ : P _ { t } ) ^ { 3 }$ and adopt the same training schedule optimized for focal loss without any modification6. Table 7 shows that $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { F L } }$ with $\\epsilon = - 1$ leads to significant improvement on all the metrics for both vehicle and pedestrian models. ", + "bbox": [ + 176, + 856, + 825, + 898 + ], + "page_idx": 7 + }, + { + "type": "table", + "img_path": "images/f57ba4726f1c1e117e0db39a9cc3b844acf7efcb7603485ce6d03a9626157107.jpg", + "table_caption": [ + "Table 7: PolyLoss improves detection results on Waymo Open Dataset validation set. Two detection models: single-stage PointPillars (Lang et al., 2019) and two-stage SOTA RSN (Sun et al., 2021) are evaluated. Bird’s eye view (BEV) and 3D detection average precision (AP) and average precision with heading (APH) at Level 1 (L1) and Level 2 (L2) difficulties are reported. The IoU threshold is set to 0.7 for vehicle detection and 0.5 for pedestrian detection. " + ], + "table_footnote": [], + "table_body": "
LossBEV3D
AP/APHL1AP/APHL2AP/APHL1AP/APH L2
Vehicle (IoU=0.7)
PointPillars LFL(1-Pt)²log(Pt)82.5/81.573.9/72.963.3/62.755.2/54.7
PointPillars Lpoly--(1- Pt)² log(Pt)-(1- Pt)383.6/82.574.8/73.763.7/63.155.5/55.0
Improvement RSNLFL+1.1/+1.0+0.9/+0.8+0.4/+0.7+0.3/+0.3
RSN LE-1*(1-Pt)²log(Pt)91.3/90.882.6/82.278.4/78.169.5/69.1
Improvement-(1 - Pt)²log(Pt)-(1 - Pt)³−0.4(1 - Pt)491.5/90.982.7/82.1 +0.1/-0.178.9/78.469.9/69.5
+0.2/+0.1+0.5/+0.3+0.4/+0.4
Pedestrian (IoU=0.5)
PointPillars LFL-(1-Pt)²log(Pt)76.0/62.067.2/54.668.9/56.660.0/49.1
PointPillars Lply-1-(1- Pt)² log(Pt) -(1- Pt)377.1/62.967.7/55.169.6/57.160.2/49.3
Improvement+1.1/+0.9+0.5/+0.5+0.7/+0.5+0.2+0.2
RSN LFL-(1-Pt)²log(Pt)85.0/81.475.5/72.279.4/76.269.9/67.0
RSN Lp,1* Improvement-(1 - Pt)²log(Pt) -(1 - Pt)³ +0.2(1 − Pt)485.4/81.875.8/72.580.2/77.070.6/67.7
+0.4/+0.4+0.3/+0.3+0.8/+0.8+0.7/+0.7
", + "bbox": [ + 176, + 77, + 823, + 273 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "", + "bbox": [ + 174, + 363, + 825, + 411 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Advancing the state-of-the-art with RSN. RSN segments foreground points from the 3D point cloud in the first stage, and then applies sparse convolution to predict 3D bounding boxes from the selected foreground points. RSN uses the same focal loss as the PointPillars $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { F L } }$ , i.e., for $L _ { \\mathrm { { F L } } } = - ( 1 - P _ { t } ) ^ { 2 } \\log P _ { t }$ $\\epsilon _ { 1 } = - 1$ . Since the optimalequivalent to dropmulation for RSN and tune the new leading polynomial $( 1 - P _ { t } ) ^ { 4 }$ by defining $L _ { \\mathrm { P o l y - 1 } ^ { - } } ^ { \\mathrm { F L } } = - ( 1 - \\bar { P _ { t } } ) ^ { \\hat { 2 } } \\log ( P _ { t } ) -$ $( 1 - P _ { t } ) ^ { 3 } + \\epsilon _ { 2 } ( 1 - P _ { t } ) ^ { 4 }$ , shown in Figure 7. We follow the same training schedule optimized for focal loss described in Sun et al. (2021) without adjustment. Our results, in Table 7, show that tuning the new leading polynomial improves all metrics (except vehicle detection BEV APH L2) for the SOTA 3D detector. ", + "bbox": [ + 174, + 426, + 535, + 651 + ], + "page_idx": 8 + }, + { + "type": "image", + "img_path": "images/bd75a8c22a0c74806e0314c5cf5ab3dc0ad3f252a91549a72ac48e63f1dedaf7.jpg", + "image_caption": [ + "Figure 7: Visualizing $L _ { \\mathbf { P o l y } - 1 } ^ { F L }$ and $L _ { \\mathbf { P o l y } - \\mathbf { 1 } ^ { * } } ^ { F L }$ in the PolyLoss framework. " + ], + "image_footnote": [], + "bbox": [ + 550, + 417, + 821, + 611 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "6 CONCLUSION ", + "text_level": 1, + "bbox": [ + 174, + 662, + 320, + 679 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "In this paper, we propose the PolyLoss framework, which provides a unified view on common loss functions for classification problems. We recognize that, under polynomial expansion, focal loss is a horizontal shift of the polynomial coefficients compared to the cross-entropy loss. This new insight motivates us to explore an alternative dimension. i.e. vertically modify the polynomial coefficients. ", + "bbox": [ + 174, + 685, + 825, + 742 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "Our PolyLoss framework provides flexible ways of changing the loss function shape by adjusting the polynomial coefficients. In this framework, we propose a simple and effective Poly-1 formulation. By simply adjusting the coefficient of the leading polynomial coefficient with just one extra hyperparameter $\\epsilon _ { 1 }$ , we show our simple Poly-1 improves a variety of models across multiple tasks and datasets. We hope Poly-1 formulation’s simplicity (one extra line of code) and effectiveness will lead to adoption in more applications of classification than the ones we have managed to explore. ", + "bbox": [ + 174, + 748, + 825, + 833 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "More importantly, our work highlights the limitation of common loss functions, and simple modification could lead to improvements even on well established state-of-the-art models. We hope these findings will encourage exploring and rethinking the loss function design beyond the commonly used cross-entropy and focal loss, as well as the simplest Poly-1 loss proposed in this work. ", + "bbox": [ + 174, + 839, + 823, + 895 + ], + "page_idx": 8 + }, + { + "type": "text", + "text": "ACKNOWLEDGEMENTS ", + "text_level": 1, + "bbox": [ + 176, + 103, + 367, + 118 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "We thank James Philbin, Doug Eck, Tsung-Yi Lin and the rest of Waymo Research and Google Brain teams for valuable feedback. ", + "bbox": [ + 174, + 133, + 823, + 161 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "REPRODUCIBILITY STATEMENT ", + "text_level": 1, + "bbox": [ + 176, + 183, + 434, + 198 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "Our experiments are based on public datasets and open source code repositories, shown in footnote 3-6. We do not tune any default training hyperparameters and only modify the loss functions, which are shown in Table 2-7. The proposed final formulation $L _ { \\mathrm { P o l y - 1 } }$ requires one line of code change. Example code for $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { C E } }$ with softmax activation is shown below. ", + "bbox": [ + 173, + 213, + 825, + 272 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "def poly1_cross_entropy(logits, labels, epsilon): # epsilon $> = - 1$ . # pt, CE, and Poly1 have shape [batch]. pt $=$ tf.reduce_sum(labels $\\star$ tf.nn.softmax(logits), axis $: = - 1$ ) CE $=$ tf.nn.softmax_cross_entropy_with_logits(labels, logits) Poly1 $=$ CE $^ +$ epsilon $^ { \\star }$ (1 - pt) return Poly1 ", + "bbox": [ + 174, + 280, + 736, + 372 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "Example code for $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { C E } }$ with $\\alpha$ label smoothing is shown below. ", + "bbox": [ + 173, + 388, + 611, + 405 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "def poly1_cross_entropy(logits, labels, epsilon, alpha = 0.1): # epsilon $> = - 1$ . # one minus pt, CE, and Poly1 have shape [batch]. num_classes $=$ labels.get_shape().as_list()[-1] smooth labels $\\cdot$ labels $^ { \\star }$ (1-alpha) $^ +$ alpha/num classes one_minus_pt $=$ tf.reduce_sum( smooth labels $\\star$ (1 - tf.nn.softmax(logits)), axis $\\mathrel { \\mathop : } = - 1$ ) CE_loss $=$ tf.keras.losses.CategoricalCrossentropy( from_logits $=$ True, label_smoothing $=$ alpha, reduction $= \\prime$ none’) CE $=$ CE_loss(labels, logits) Poly1 $=$ CE $^ +$ epsilon $^ { \\star }$ one minus pt return Poly1 ", + "bbox": [ + 174, + 412, + 756, + 566 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "Example code for $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { F L } }$ with sigmoid activation is shown below. ", + "bbox": [ + 173, + 583, + 602, + 601 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "def poly1_focal_loss(logits, labels, epsilon, gamma=2.0): # epsilon $> = - 1$ . # p, pt, FL, and Poly1 have shape [batch, num of classes]. $\\mathrm { ~ p ~ } =$ tf.math.sigmoid(logits) pt $=$ labels \\* p + (1 - labels) $\\star$ (1 - p) FL $=$ focal_loss(pt, gamma) Poly1 $=$ FL $^ +$ epsilon $^ { \\star }$ tf.math.pow(1 - pt, gamma + 1) return Poly1 ", + "bbox": [ + 174, + 607, + 720, + 710 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "Example code for $L _ { \\mathrm { P o l y - 1 } } ^ { \\mathrm { F L } }$ with $\\cdot$ balance is shown below. ", + "bbox": [ + 174, + 728, + 550, + 746 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "def poly1_focal_loss(logits, labels, epsilon, gamma=2.0, alpha=0.25): # epsilon $> = - 1$ . # p, pt, FL, weight, and Poly1 have shape [batch, num of classes]. $\\mathrm { ~ p ~ } =$ tf.math.sigmoid(logits) pt $=$ labels \\* p + (1 - labels) $\\star$ (1 - p) FL $=$ focal_loss(pt, gamma, alpha) weight $=$ labels \\* alpha $\\cdot$ (1 - labels) \\* (1 - alpha) Poly1 $=$ FL $^ +$ epsilon $^ { \\star }$ tf.math.pow(1 - pt, gamma + 1) $^ { \\star }$ weight return Poly1 ", + "bbox": [ + 176, + 752, + 790, + 868 + ], + "page_idx": 9 + }, + { + "type": "text", + "text": "SUPPLEMENTARY MATERIAL ", + "text_level": 1, + "bbox": [ + 176, + 102, + 413, + 118 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "7 PROOF OF THEOREM 1 ", + "text_level": 1, + "bbox": [ + 176, + 128, + 392, + 145 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "Theorem 1. For any small $\\zeta > 0$ $\\mid , \\delta > 0 i f N > \\log _ { 1 - \\delta } \\left( \\zeta \\cdot \\delta \\right)$ , then for any $p \\in [ \\delta , 1 ]$ , we have $| R _ { N } ( p ) | < \\zeta$ and $| R _ { N } ^ { \\prime } ( p ) | < \\zeta$ . ", + "bbox": [ + 174, + 147, + 821, + 178 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "Proof. ", + "bbox": [ + 173, + 191, + 217, + 205 + ], + "page_idx": 10 + }, + { + "type": "equation", + "img_path": "images/8b9fe08ec63cfbbdab51275b4baf4119b1683d1663b5f216d2a2bdf76fcdf55c.jpg", + "text": "$$\n\\begin{array} { l } { \\displaystyle | R _ { N } ( p ) | = \\sum _ { j = N + 1 } ^ { \\infty } 1 / j ( 1 - p ) ^ { j } \\le \\sum _ { j = N + 1 } ^ { \\infty } ( 1 - p ) ^ { j } = \\frac { ( 1 - p ) ^ { N + 1 } } { p } \\le \\frac { ( 1 - \\delta ) ^ { N + 1 } } { \\delta } \\le \\frac { ( 1 - \\delta ) ^ { N } } { \\delta } \\le \\frac { ( 1 - \\delta ) ^ { N } } { \\delta } } \\\\ { \\displaystyle | R _ { N } ^ { \\prime } ( p ) | = \\sum _ { j = N } ^ { \\infty } ( 1 - p ) ^ { j } = \\frac { ( 1 - p ) ^ { N } } { p } \\le \\frac { ( 1 - \\delta ) ^ { N } } { \\delta } } \\end{array}\n$$", + "text_format": "latex", + "bbox": [ + 187, + 209, + 810, + 300 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "8 ADJUSTING OTHER TRAINING HYPERPARAMETERS LEADS TO HIGHERGAIN.", + "text_level": 1, + "bbox": [ + 169, + 314, + 782, + 347 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "All the experiments shown in the main text are based on hyperparameters optimized for the baseline loss function, which actually puts PolyLoss at a disadvantage. Here we use weight decay rate for ResNet50 as an example. The default weight decay (1e-4) is optimized for cross-entropy loss. Adjusting the decay rate may reduce the model performance of cross-entropy loss but leads to much higher gain for PolyLoss $( + 0 . 8 \\% )$ , which is better than the best accuracy $( 7 6 . 3 \\% )$ trained using cross-entropy loss $( + 0 . 8 \\% )$ . ", + "bbox": [ + 173, + 362, + 826, + 445 + ], + "page_idx": 10 + }, + { + "type": "table", + "img_path": "images/9043ee25db5b7fdb1fd59c5df48e06fc7373d5329d2039fcfe4545d70aae1f5b.jpg", + "table_caption": [ + "Table 8: ResNet50 performances on ImageNet-1K using different weight decays. †The default weight decay value is 1e-4. " + ], + "table_footnote": [], + "table_body": "
Weight decay1e-4t2e-49e-5
Cross-entropy76.376.376.1
PolyLoss76.777.176.7
Improv. @ the same weight decay+0.4+0.8+0.6
Improv. compared to the best LcE (76.3%)+0.4+0.8+0.4
", + "bbox": [ + 305, + 458, + 691, + 531 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "Here, we add additional ablation studies on COCO detection using RetinaNet. The optimal $\\gamma$ and $\\alpha$ balance values for Focal loss are (2.0, 0.25) (Lin et al., 2017). Since all the hyperparameters are optimized with respect to the optimal $( \\gamma , \\alpha )$ values, we observe no improvement when tuning the leading polynomial term. We suspect the detection AP is at a ’local maximum’ of hyperparameters. By adjusting $( \\gamma , \\alpha )$ values, we show PolyLoss consistently outperforms the best Focal Loss AP (33.4), i.e., adjusting only $\\gamma$ value (column 3, 4) or both $\\gamma$ and $\\alpha$ values (column 5, 6). ", + "bbox": [ + 173, + 585, + 825, + 671 + ], + "page_idx": 10 + }, + { + "type": "table", + "img_path": "images/53be1f4429b481b8f7f216cb4a5e6dd712b12eb5fd511555378db62bc1b822f2.jpg", + "table_caption": [ + "Table 9: RetinaNet (ResNet50 backbone) performances on COCO using different Focal loss $( \\gamma , \\alpha )$ . †The default $( \\gamma , \\alpha )$ used in Focal loss is (2.0, 0.25). " + ], + "table_footnote": [], + "table_body": "
Focal loss (γ,α)(2.0,0.25)+(1.5,0.25)(2.5,0.25)(1.5, 0.3)(2.5, 0.15)
Focal loss33.433.433.233.232.9
PolyLoss33.433.633.733.833.8
Improv.@ same (γ,α)0+0.2+0.5+0.6+0.9
Improv. compared to the best LFL (33.4)0+0.2+0.3+0.4+0.4
", + "bbox": [ + 176, + 683, + 820, + 760 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "9 $L _ { \\mathrm { D R O P } }$ WITH MORE HYPERPARAMETER TUNING ", + "text_level": 1, + "bbox": [ + 173, + 809, + 589, + 825 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "For $L _ { \\mathrm { D r o p } } \\ ( \\mathrm { N } = 2 )$ , besides adjusting the learning rate, we further tune the coefficient $( \\alpha )$ of the second polynomial, similar to a prior work (Gonzalez & Miikkulainen, 2020b), and weight decay. ", + "bbox": [ + 173, + 839, + 823, + 868 + ], + "page_idx": 10 + }, + { + "type": "equation", + "img_path": "images/f6bfe68924d2890c7fb08136f0378439deb0c83b79f884e911ae0c8abf4573e0.jpg", + "text": "$$\nL _ { \\mathrm { D r o p } ^ { * } } = ( 1 - P _ { t } ) + \\alpha ( 1 - P _ { t } ) ^ { 2 }\n$$", + "text_format": "latex", + "bbox": [ + 388, + 872, + 607, + 890 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "Unlike Feng et al. (2020), where $\\alpha = 0 . 5$ after dropping all higher-order polynomial, we find the optimal $\\alpha = 8$ , while the optimal learning rate is the same as the default setting (0.1). This alone ", + "bbox": [ + 174, + 895, + 825, + 924 + ], + "page_idx": 10 + }, + { + "type": "text", + "text": "increases the accuracy to 70.9, which shows simply dropping polynomial terms is not enough and adjusting the polynomial coefficients is critical. Further tuning weight decay leads to less than $0 . 1 \\%$ model quality improvement. ", + "bbox": [ + 176, + 103, + 823, + 146 + ], + "page_idx": 11 + }, + { + "type": "table", + "img_path": "images/73237cdeda10884b696b83fe2758160177f34fbfa58b5dfacbe59413cde58db9.jpg", + "table_caption": [ + "Comparing to prior works (Gonzalez & Miikkulainen, 2020b; Feng et al., 2020), Poly-1 is more effective and only contains one hyperparameter. Tuning weight decay of Poly-1 further increases the accuracy while having less hyperparameters compared to $L _ { \\mathrm { D r o p } ^ { * } }$ , shown in Table 10. ", + "Table 10: Poly-1 outperforms $L _ { \\mathbf { D r o p } ^ { * } }$ with hyperparameter tuning. Accuracy of ResNet50 on ImageNet-1K is reported. " + ], + "table_footnote": [], + "table_body": "
Cross-entropyPoly-1Poly-1 (weight decay)LDrop*
Accuracy76.376.777.170.9
Num. of parameters1123
", + "bbox": [ + 240, + 208, + 756, + 263 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "10 COLLECTIVELY TUNING MULTIPLE POLYNOMIAL COEFFICIENTS ", + "text_level": 1, + "bbox": [ + 173, + 330, + 745, + 347 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "Besides adjusting individual polynomial coefficients, in this section, we explore collectively tuning multiple polynomial coefficients in the PolyLoss framwork. In particular, we change the coefficients in the original cross-entropy loss from $1 / j$ (Equation 1) to exponential decay. Here, we define ", + "bbox": [ + 173, + 361, + 825, + 405 + ], + "page_idx": 11 + }, + { + "type": "equation", + "img_path": "images/db1af501845b4a8397963974a33aced81705add3e1dd995d4efed919504e8121.jpg", + "text": "$$\nL _ { \\exp } = \\sum _ { j = 1 } ^ { 2 N } e ^ { - ( j - 1 ) / N } ( 1 - P _ { t } ) ^ { j }\n$$", + "text_format": "latex", + "bbox": [ + 392, + 411, + 604, + 457 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "where we cut off the infinite sum at twice the decay factor $N$ . We performed 2D grid search on $N \\in \\{ 5 , 2 0 , 8 0 , 3 2 0 \\}$ and learning rate $\\in \\ \\{ 0 . 1 , 0 . 4 , 1 . 6 , 6 . 4 \\}$ . The best accuracy is 72.3, where $N = 8 0$ and learning rate $= 1 . 6$ , shown in Table 11. ", + "bbox": [ + 174, + 463, + 825, + 505 + ], + "page_idx": 11 + }, + { + "type": "table", + "img_path": "images/10e68696fa01b7f93d1c0bb287373964fd55e718e34a3c49f68f84b98e02c25d.jpg", + "table_caption": [ + "Table 11: Comparing Poly-1 with exponential decay coefficients. Accuracy of ResNet50 on ImageNet-1K is reported. " + ], + "table_footnote": [], + "table_body": "
Cross-entropyPoly-1Lexp
Accuracy76.376.772.3
Num. of parameters112
", + "bbox": [ + 305, + 517, + 692, + 577 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "Though Poly-1 is better than using $L _ { \\mathrm { e x p } }$ , there are a lot more possibilities besides using exponential decay. We believe understanding how collectively tuning multiple coefficients affects the training is an important topic. ", + "bbox": [ + 174, + 638, + 825, + 681 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "11 COMPARING TO OTHER TRAINING TECHNIQUES ", + "text_level": 1, + "bbox": [ + 174, + 702, + 611, + 718 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "As shown in recent works (He et al., 2019; Bello et al., 2021; Wightman et al., 2021), though independent novel training techniques often lead to sub $1 \\%$ improvement, combining them could lead to significant overall improvements. To put things into perspective, Poly-1 achieves similar improvements as other commonly used training techniques, such as label smoothing and dropout on FC, shown in Table 12. ", + "bbox": [ + 174, + 732, + 825, + 803 + ], + "page_idx": 11 + }, + { + "type": "table", + "img_path": "images/65a17a7d19f3d2f5130ef230146f6ccbd0d6f2f2ddb326a361f2e3116dfee06a.jpg", + "table_caption": [ + "Table 12: Comparing Poly-1 with common training techniques. Accuracy of ResNet50 on ImageNet-1K is reported. " + ], + "table_footnote": [], + "table_body": "
Cross-entropyPoly-1Label smoothingDropout on FC
Accuracy76.376.776.776.4
Num. of parameters1111
", + "bbox": [ + 209, + 815, + 789, + 873 + ], + "page_idx": 11 + }, + { + "type": "text", + "text": "Focal loss was first developed for single-stage detector RetinaNet to address strong class imbalance presented in object detection (Lin et al., 2017). Here, we provide an additional ablation study on how to systemically discover focal loss in the PolyLoss framework and investigate how the leading terms affect training in the presence of class imbalance. ", + "bbox": [ + 174, + 133, + 549, + 231 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "Rediscovering the concept of focal loss from crossentropy loss. Here, we take a step back and attempt to systematically rediscover the concept of focal loss via our PolyLoss framework. Focal loss is commonly used for training detection models. Coming up with such an insight to address the class imbalance issue in detection requires strong domain expertise. We start with the PolyLoss representation of crossentropy loss and improve it from the PolyLoss gradient perspective. ", + "bbox": [ + 173, + 246, + 549, + 301 + ], + "page_idx": 12 + }, + { + "type": "image", + "img_path": "images/255ffcbd40b4e5ea49ec9827e51a33beced0c990b233f64775f813264878a1f4.jpg", + "image_caption": [ + "Figure 8: Dropping leading polynomial terms can improve RetinaNet. " + ], + "image_footnote": [], + "bbox": [ + 575, + 148, + 808, + 233 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "", + "bbox": [ + 176, + 303, + 825, + 344 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "We start with the cross-entropy loss and define PolyLoss $N$ \n$\\begin{array} { r } { L _ { \\mathrm { D r o p - f r o n t } } ^ { \\bf { \\bar { \\alpha } } } = \\sum _ { j = N + 1 } ^ { \\infty } { 1 } / { j ( 1 - P _ { t } ) ^ { j } } = { L _ { \\mathrm { C E } } } ^ { \\bf { \\bar { \\alpha } } } = } \\end{array}$ $\\textstyle \\sum _ { j = 1 } ^ { N } 1 / j ( 1 - P _ { t } ) ^ { j }$ \nterms $( 1 - P _ { t } )$ significantly improves both the detection AP and AR, see Figure 8. Dropping the first two polynomials ( $N = 2$ ) leads to the best RetinaNet performance, which is similar to setting $\\gamma = 2$ in focal loss, i.e. focal loss $\\gamma = 2$ pushes all the polynomial coefficients to the right by 2, shown in Figure 1 right, which is similar to truncating the first two polynomial terms. ", + "bbox": [ + 174, + 352, + 542, + 511 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "Leading polynomials cause overfitting to the majority class. In the PolyLoss framework, the leading polynomial of cross-entropy loss is a constant, shown in Equation 3. For binary classification, the leading gradient for each class is simply $N _ { b a c k g r o u n d } - N _ { o b j e c t }$ , where $N _ { b a c k g r o u n d }$ and $N _ { o b j e c t }$ are the counts of background and object instances in the training mini-batch. When the class counts are extremely imbalanced, the majority class will dominate the gradient which will lead to significant bias towards optimizing the majority class. ", + "bbox": [ + 174, + 527, + 542, + 666 + ], + "page_idx": 12 + }, + { + "type": "image", + "img_path": "images/032018303712609c9a17d5e9f51f4bd486e47ec728836a97b8e92f9b785b1126.jpg", + "image_caption": [ + "Figure 9: Dropping leading polynomials reduces overfitting to the majority class. $P _ { t }$ during RetinaNet training are plotted. Top: overall. Bottom left: background. Bottom right: foreground object. Dark blue curves represents $P _ { t }$ for cross-entropy loss. Blue curves represents dropping the first polynomial in the cross-entropy loss. Light blue curves represents dropping both the first and second polynomials in the cross-entropy loss. " + ], + "image_footnote": [], + "bbox": [ + 562, + 356, + 818, + 527 + ], + "page_idx": 12 + }, + { + "type": "text", + "text": "Dropping polynomials reduces the extremely confident prediction $P _ { t }$ , see Figure 9. To examine the composition of the overall prediction confidence, we also plot the $P _ { t }$ for background only and $P _ { t }$ for object only. Due to the extreme imbalance between the background and the object class, the overall $P _ { t }$ is dominated by the background only $P _ { t }$ . So reducing the overall $P _ { t }$ decreases the background $P _ { t }$ . On the other hand, reducing overfitting to the majority background class leads to more confident prediction $P _ { t }$ on the object class. 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