Deeper neural networks are more difficult to train. We present a residual learning framework to ease the training of networks that are substantially deeper than those used previously. We explicitly reformulate the layers as learning residual functions with reference to the layer inputs, instead of learning unreferenced functions. We provide comprehensive empirical evidence showing that these residual networks are easier to optimize, and can gain accuracy from considerably increased depth. On the ImageNet dataset we evaluate residual nets with a depth of up to 152 layers—8× deeper than VGG nets [40] but still having lower complexity. An ensemble of these residual nets achieves 3.57% error on the ImageNet test set. This result won the 1st place on the ILSVRC 2015 classification task. We also present analysis on CIFAR-10 with 100 and 1000 layers. The depth of representations is of central importance for many visual recognition tasks. Solely due to our extremely deep representations, we obtain a 28% relative improvement on the COCO object detection dataset. Deep residual nets are foundations of our submissions to ILSVRC & COCO 2015 competitions1, where we also won the 1st places on the tasks of ImageNet detection, ImageNet localization, COCO detection, and COCO segmentation.

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Deep Residual Learning for Image Recognition

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 deal with the \textit{selective classification} problem (supervised-learning problem with a rejection option), where we want to achieve the best performance at a certain level of coverage of the data. We transform the original $m$-class classification problem to $(m+1)$-class where the $(m+1)$-th class represents the model abstaining from making a prediction due to disconfidence. Inspired by portfolio theory, we propose a loss function for the selective classification problem based on the doubling rate of gambling. Minimizing this loss function corresponds naturally to maximizing the return of a \textit{horse race}, where a player aims to balance between betting on an outcome (making a prediction) when confident and reserving one's winnings (abstaining) when not confident. This loss function allows us to train neural networks and characterize the disconfidence of prediction in an end-to-end fashion. In comparison with previous methods, our method requires almost no modification to the model inference algorithm or model architecture. Experiments show that our method can identify uncertainty in data points, and achieves strong results on SVHN and CIFAR10 at various coverages of the data.

Deep Gamblers: Learning to Abstain with Portfolio Theory

A standard method for improving the robustness of neural networks is adversarial training, where the network is trained on adversarial examples that are close to the training inputs. This produces classifiers that are robust, but it often decreases clean accuracy. Prior work even posits that the tradeoff between robustness and accuracy may be inevitable. We investigate this tradeoff in more depth through the lens of local Lipschitzness. In many image datasets, the classes are separated in the sense that images with different labels are not extremely close in $\ell_\infty$ distance. Using this separation as a starting point, we argue that it is possible to achieve both accuracy and robustness by encouraging the classifier to be locally smooth around the data. More precisely, we consider classifiers that are obtained by rounding locally Lipschitz functions. Theoretically, we show that such classifiers exist for any dataset such that there is a positive distance between the support of different classes. Empirically, we compare the local Lipschitzness of classifiers trained by several methods. Our results show that having a small Lipschitz constant correlates with achieving high clean and robust accuracy, and therefore, the smoothness of the classifier is an important property to consider in the context of adversarial examples. Code available at this https URL .

Adversarial Robustness Through Local Lipschitzness

Many problems in NLP require aggregating information from multiple mentions of the same entity which may be far apart in the text. Existing Recurrent Neural Network (RNN) layers are biased towards short-term dependencies and hence not suited to such tasks. We present a recurrent layer which is instead biased towards coreferent dependencies. The layer uses coreference annotations extracted from an external system to connect entity mentions belonging to the same cluster. Incorporating this layer into a state-of-the-art reading comprehension model improves performance on three datasets -- Wikihop, LAMBADA and the bAbi AI tasks -- with large gains when training data is scarce.

Neural Models for Reasoning over Multiple Mentions using Coreference

In this paper, we propose a generic and simple strategy for utilizing stochastic gradient information in optimization. The technique essentially contains two consecutive steps in each iteration: 1) computing and normalizing each block (layer) of the mini-batch stochastic gradient; 2) selecting appropriate step size to update the decision variable (parameter) towards the negative of the block-normalized gradient. We conduct extensive empirical studies on various non-convex neural network optimization problems, including multi-layer perceptron, convolution neural networks and recurrent neural networks. The results indicate the block-normalized gradient can help accelerate the training of neural networks. In particular, we observe that the normalized gradient methods having constant step size with occasionally decay, such as SGD with momentum, have better performance in the deep convolution neural networks, while those with adaptive step sizes, such as Adam, perform better in recurrent neural networks. Besides, we also observe this line of methods can lead to solutions with better generalization properties, which is confirmed by the performance improvement over strong baselines.

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Block-Normalized Gradient Method: An Empirical Study for Training Deep Neural Network

There has been an increased interest in multimodal language processing including multimodal dialog, question answering, sentiment analysis, and speech recognition. However, naturally occurring multimodal data is often imperfect as a result of imperfect modalities, missing entries or noise corruption. To address these concerns, we present a regularization method based on tensor rank minimization. Our method is based on the observation that high-dimensional multimodal time series data often exhibit correlations across time and modalities which leads to low-rank tensor representations. However, the presence of noise or incomplete values breaks these correlations and results in tensor representations of higher rank. We design a model to learn such tensor representations and effectively regularize their rank. Experiments on multimodal language data show that our model achieves good results across various levels of imperfection.

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Ruslan Salakhutdinov

Papers

Deep Gamblers: Learning to Abstain with Portfolio Theory

Adversarial Robustness Through Local Lipschitzness

Neural Models for Reasoning over Multiple Mentions using Coreference

Block-Normalized Gradient Method: An Empirical Study for Training Deep Neural Network

Learning Representations from Imperfect Time Series Data via Tensor Rank Regularization