We introduce Adam, an algorithm for first-order gradient-based optimization of stochastic objective functions, based on adaptive estimates of lower-order moments. The method is straightforward to implement, is computationally efficient, has little memory requirements, is invariant to diagonal rescaling of the gradients, and is well suited for problems that are large in terms of data and/or parameters. The method is also appropriate for non-stationary objectives and problems with very noisy and/or sparse gradients. The hyper-parameters have intuitive interpretations and typically require little tuning. Some connections to related algorithms, on which Adam was inspired, are discussed. We also analyze the theoretical convergence properties of the algorithm and provide a regret bound on the convergence rate that is comparable to the best known results under the online convex optimization framework. Empirical results demonstrate that Adam works well in practice and compares favorably to other stochastic optimization methods. Finally, we discuss AdaMax, a variant of Adam based on the infinity norm.

Adam: A Method for Stochastic Optimization

We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0% which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully-connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overriding in the fully-connected layers we employed a recently-developed regularization method called "dropout" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

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ImageNet Classification with Deep Convolutional Neural Networks

In this work we investigate the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting. Our main contribution is a thorough evaluation of networks of increasing depth using an architecture with very small (3x3) convolution filters, which shows that a significant improvement on the prior-art configurations can be achieved by pushing the depth to 16-19 weight layers. These findings were the basis of our ImageNet Challenge 2014 submission, where our team secured the first and the second places in the localisation and classification tracks respectively. We also show that our representations generalise well to other datasets, where they achieve state-of-the-art results. We have made our two best-performing ConvNet models publicly available to facilitate further research on the use of deep visual representations in computer vision.

Very Deep Convolutional Networks for Large-Scale Image Recognition

We propose a deep convolutional neural network architecture codenamed Inception that achieves the new state of the art for classification and detection in the ImageNet Large-Scale Visual Recognition Challenge 2014 (ILSVRC14). The main hallmark of this architecture is the improved utilization of the computing resources inside the network. By a carefully crafted design, we increased the depth and width of the network while keeping the computational budget constant. To optimize quality, the architectural decisions were based on the Hebbian principle and the intuition of multi-scale processing. One particular incarnation used in our submission for ILSVRC14 is called GoogLeNet, a 22 layers deep network, the quality of which is assessed in the context of classification and detection.

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Going deeper with convolutions

Energy disaggregation is the task of taking a whole-home energy signal and separating it into its component appliances. Studies have shown that having device-level energy information can cause users to conserve significant amounts of energy, but current electricity meters only report whole-home data. Thus, developing algorithmic methods for disaggregation presents a key technical challenge in the effort to maximize energy conservation. In this paper, we examine a large scale energy disaggregation task, and apply a novel extension of sparse coding to this problem. In particular, we develop a method, based upon structured prediction, for discriminatively training sparse coding algorithms specifically to maximize disaggregation performance. We show that this significantly improves the performance of sparse coding algorithms on the energy task and illustrate how these disaggregation results can provide useful information about energy usage.

/pdf/energy-disaggregation-via-discriminative-sparse-coding-1l5u4gwfy4.pdf

Energy Disaggregation via Discriminative Sparse Coding

Recent work on deep neural networks as acoustic models for automatic speech recognition (ASR) have demonstrated substantial performance improvements. We introduce a model which uses a deep recurrent auto encoder neural network to denoise input features for robust ASR. The model is trained on stereo (noisy and clean) audio features to predict clean features given noisy input. The model makes no assumptions about how noise affects the signal, nor the existence of distinct noise environments. Instead, the model can learn to model any type of distortion or additive noise given sufficient training data. We demonstrate the model is competitive with existing feature denoising approaches on the Aurora2 task, and outperforms a tandem approach where deep networks are used to predict phoneme posteriors directly.

/pdf/recurrent-neural-networks-for-noise-reduction-in-robust-asr-4dkz20q2oh.pdf

Recurrent Neural Networks for Noise Reduction in Robust ASR

Independent Components Analysis (ICA) and its variants have been successfully used for unsupervised feature learning. However, standard ICA requires an orthonoramlity constraint to be enforced, which makes it difficult to learn overcomplete features. In addition, ICA is sensitive to whitening. These properties make it challenging to scale ICA to high dimensional data. In this paper, we propose a robust soft reconstruction cost for ICA that allows us to learn highly overcomplete sparse features even on unwhitened data. Our formulation reveals formal connections between ICA and sparse autoencoders, which have previously been observed only empirically. Our algorithm can be used in conjunction with off-the-shelf fast unconstrained optimizers. We show that the soft reconstruction cost can also be used to prevent replicated features in tiled convolutional neural networks. Using our method to learn highly overcomplete sparse features and tiled convolutional neural networks, we obtain competitive performances on a wide variety of object recognition tasks. We achieve state-of-the-art test accuracies on the STL-10 and Hollywood2 datasets.

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ICA with Reconstruction Cost for Efficient Overcomplete Feature Learning

This paper describes a question answering system that is designed to capitalize on the tremendous amount of data that is now available online. Most question answering systems use a wide variety of linguistic resources. We focus instead on the redundancy available in large corpora as an important resource. We use this redundancy to simplify the query rewrites that we need to use, and to support answer mining from returned snippets. Our system performs quite well given the simplicity of the techniques being utilized. Experimental results show that question answering accuracy can be greatly improved by analyzing more and more matching passages. Simple passage ranking and n-gram extraction techniques work well in our system making it efficient to use with many backend retrieval engines.

/pdf/web-question-answering-is-more-always-better-572i5kd255.pdf

Web question answering: is more always better?

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We then use the model to learn to hover in place, and to fly a number of maneuvers taken from an RC helicopter competition.

/pdf/autonomous-helicopter-flight-via-reinforcement-learning-21axomoip8.pdf

Andrew Y. Ng

Papers

Energy Disaggregation via Discriminative Sparse Coding

Recurrent Neural Networks for Noise Reduction in Robust ASR

ICA with Reconstruction Cost for Efficient Overcomplete Feature Learning

Web question answering: is more always better?

Autonomous Helicopter Flight via Reinforcement Learning