Deep supervised learning using local errors

Error backpropagation is a highly effective mechanism for learning high-quality hierarchical features in deep networks. Updating the features or weights in one layer, however, requires waiting for the propagation of error signals from higher layers. Learning using delayed and non-local errors makes it hard to reconcile backpropagation with the learning mechanisms observed in biological neural networks as it requires the neurons to maintain a memory of the input long enough until the higher-layer errors arrive. In this paper, we propose an alternative learning mechanism where errors are generated locally in each layer using fixed, random auxiliary classifiers. Lower layers could thus be trained independently of higher layers and training could either proceed layer by layer, or simultaneously in all layers using local error information. We address biological plausibility concerns such as weight symmetry requirements and show that the proposed learning mechanism based on fixed, broad, and random tuning of each neuron to the classification categories outperforms the biologically-motivated feedback alignment learning technique on the MNIST, CIFAR10, and SVHN datasets, approaching the performance of standard backpropagation. Our approach highlights a potential biological mechanism for the supervised, or task-dependent, learning of feature hierarchies. In addition, we show that it is well suited for learning deep networks in custom hardware where it can drastically reduce memory traffic and data communication overheads

End-to-End Navigation in Unknown Environments using Neural Networks

We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments populated with cul-de-sacs that represent convex local minima that the robot could fall into instead of finding a set of feasible actions that take it to the goal. Traditional methods rely on maintaining a global map to solve the problem of over coming a long cul-de-sac. However, due to errors induced from local and global drift, it is highly challenging to maintain such a map for long periods of time. One way to mitigate this problem is by using learning techniques that do not rely on hand engineered map representations and instead output appropriate control policies directly from their sensory input. We first demonstrate that such a problem cannot be solved directly by deep reinforcement learning due to the sparse reward structure of the environment. Further, we demonstrate that deep supervised learning also cannot be used directly to solve this problem. We then investigate network models that offer a combination of reinforcement learning and supervised learning and highlight the significance of adding fully differentiable memory units to such networks. We evaluate our networks on their ability to generalize to new environments and show that adding memory to such networks offers huge jumps in performanceComment: Workshop on Learning Perception and Control for Autonomous Flight: Safety, Memory and Efficiency, Robotics Science and Systems 201

A Semi-Supervised Two-Stage Approach to Learning from Noisy Labels

The recent success of deep neural networks is powered in part by large-scale well-labeled training data. However, it is a daunting task to laboriously annotate an ImageNet-like dateset. On the contrary, it is fairly convenient, fast, and cheap to collect training images from the Web along with their noisy labels. This signifies the need of alternative approaches to training deep neural networks using such noisy labels. Existing methods tackling this problem either try to identify and correct the wrong labels or reweigh the data terms in the loss function according to the inferred noisy rates. Both strategies inevitably incur errors for some of the data points. In this paper, we contend that it is actually better to ignore the labels of some of the data points than to keep them if the labels are incorrect, especially when the noisy rate is high. After all, the wrong labels could mislead a neural network to a bad local optimum. We suggest a two-stage framework for the learning from noisy labels. In the first stage, we identify a small portion of images from the noisy training set of which the labels are correct with a high probability. The noisy labels of the other images are ignored. In the second stage, we train a deep neural network in a semi-supervised manner. This framework effectively takes advantage of the whole training set and yet only a portion of its labels that are most likely correct. Experiments on three datasets verify the effectiveness of our approach especially when the noisy rate is high