Search

Denoising diffusion bridge models (DDBMs) are a powerful variant of diffusion models for interpolating between two arbitrary paired distributions given as endpoints. Despite their promising performance in tasks like image translation, DDBMs require a computationally intensive sampling process that involves the simulation of a (stochastic) differential equation through hundreds of network evaluations. In this work, we present diffusion bridge implicit models (DBIMs) for accelerated sampling of diffusion bridges without extra training. We generalize DDBMs via a class of non-Markovian diffusion bridges defined on the discretized timesteps concerning sampling, which share the same training objective as DDBMs. These generalized diffusion bridges give rise to generative processes ranging from stochastic to deterministic (i.e., an implicit probabilistic model) while being up to 25$\times$ faster than the vanilla sampler of DDBMs. Moreover, the deterministic sampling procedure yielded by DBIMs enables faithful encoding and reconstruction by a booting noise used in the initial sampling step, and allows us to perform semantically meaningful interpolation in image translation tasks by regarding the booting noise as the latent variable.

Diffusion models have been extensively used in data generation tasks and are recognized as one of the best generative models. However, their time-consuming deployment, long inference time, and requirements on large memory limit their application on mobile devices. In this paper, we propose a method based on the improved Straight-Through Estimator to improve the deployment efficiency of diffusion models. Specifically, we add sparse masks to the Convolution and Linear layers in a pre-trained diffusion model, then use design progressive sparsity for model training in the fine-tuning stage, and switch the inference mask on and off, which supports a flexible choice of sparsity during inference according to the FID and MACs requirements. Experiments on four datasets conducted on a state-of-the-art Transformer-based diffusion model demonstrate that our method reduces MACs by $50\%$ while increasing FID by only 1.5 on average. Under other MACs conditions, the FID is also lower than 1$\sim$137 compared to other methods.

Training large transformers is slow, but recent innovations on GPU architecture give us an advantage. NVIDIA Ampere GPUs can execute a fine-grained 2:4 sparse matrix multiplication twice as fast as its dense equivalent. In the light of this property, we comprehensively investigate the feasibility of accelerating feed-forward networks (FFNs) of transformers in pre-training. First, we define a ``flip rate'' to monitor the stability of a 2:4 training process. Utilizing this metric, we propose three techniques to preserve accuracy: to modify the sparse-refined straight-through estimator by applying the masked decay term on gradients, to determine a feasible decay factor in warm-up stage, and to enhance the model's quality by a dense fine-tuning procedure near the end of pre-training. Besides, we devise two techniques to practically accelerate training: to calculate transposable 2:4 masks by convolution, and to accelerate gated activation functions by reducing GPU L2 cache miss. Experiments show that our 2:4 sparse training algorithm achieves similar convergence to dense training algorithms on several transformer pre-training tasks, while actual acceleration can be observed on different shapes of transformer block apparently. Our toolkit is available at https://github.com/huyz2023/2by4-pretrain.

Pretraining transformers are generally time-consuming. Fully quantized training (FQT) is a promising approach to speed up pretraining. However, most FQT methods adopt a quantize-compute-dequantize procedure, which often leads to suboptimal speedup and significant performance degradation when used in transformers due to the high memory access overheads and low-precision computations. In this work, we propose Jetfire, an efficient and accurate INT8 training method specific to transformers. Our method features an INT8 data flow to optimize memory access and a per-block quantization method to maintain the accuracy of pretrained transformers. Extensive experiments demonstrate that our INT8 FQT method achieves comparable accuracy to the FP16 training baseline and outperforms the existing INT8 training works for transformers. Moreover, for a standard transformer block, our method offers an end-to-end training speedup of 1.42x and a 1.49x memory reduction compared to the FP16 baseline., Comment: 14 pages, 8 figures

Sampling-based algorithms, which eliminate ''unimportant'' computations during forward and/or back propagation (BP), offer potential solutions to accelerate neural network training. However, since sampling introduces approximations to training, such algorithms may not consistently maintain accuracy across various tasks. In this work, we introduce a variance-controlled adaptive sampling (VCAS) method designed to accelerate BP. VCAS computes an unbiased stochastic gradient with fine-grained layerwise importance sampling in data dimension for activation gradient calculation and leverage score sampling in token dimension for weight gradient calculation. To preserve accuracy, we control the additional variance by learning the sample ratio jointly with model parameters during training. We assessed VCAS on multiple fine-tuning and pre-training tasks in both vision and natural language domains. On all the tasks, VCAS can preserve the original training loss trajectory and validation accuracy with an up to 73.87% FLOPs reduction of BP and 49.58% FLOPs reduction of the whole training process. The implementation is available at https://github.com/thu-ml/VCAS ., Comment: ICLR 2024

Generative Adversarial Imitation Learning (GAIL) trains a generative policy to mimic a demonstrator. It uses on-policy Reinforcement Learning (RL) to optimize a reward signal derived from a GAN-like discriminator. A major drawback of GAIL is its training instability - it inherits the complex training dynamics of GANs, and the distribution shift introduced by RL. This can cause oscillations during training, harming its sample efficiency and final policy performance. Recent work has shown that control theory can help with the convergence of a GAN's training. This paper extends this line of work, conducting a control-theoretic analysis of GAIL and deriving a novel controller that not only pushes GAIL to the desired equilibrium but also achieves asymptotic stability in a 'one-step' setting. Based on this, we propose a practical algorithm 'Controlled-GAIL' (C-GAIL). On MuJoCo tasks, our controlled variant is able to speed up the rate of convergence, reduce the range of oscillation and match the expert's distribution more closely both for vanilla GAIL and GAIL-DAC.

Diffusion probabilistic models (DPMs) have exhibited excellent performance for high-fidelity image generation while suffering from inefficient sampling. Recent works accelerate the sampling procedure by proposing fast ODE solvers that leverage the specific ODE form of DPMs. However, they highly rely on specific parameterization during inference (such as noise/data prediction), which might not be the optimal choice. In this work, we propose a novel formulation towards the optimal parameterization during sampling that minimizes the first-order discretization error of the ODE solution. Based on such formulation, we propose DPM-Solver-v3, a new fast ODE solver for DPMs by introducing several coefficients efficiently computed on the pretrained model, which we call empirical model statistics. We further incorporate multistep methods and a predictor-corrector framework, and propose some techniques for improving sample quality at small numbers of function evaluations (NFE) or large guidance scales. Experiments show that DPM-Solver-v3 achieves consistently better or comparable performance in both unconditional and conditional sampling with both pixel-space and latent-space DPMs, especially in 5$\sim$10 NFEs. We achieve FIDs of 12.21 (5 NFE), 2.51 (10 NFE) on unconditional CIFAR10, and MSE of 0.55 (5 NFE, 7.5 guidance scale) on Stable Diffusion, bringing a speed-up of 15%$\sim$30% compared to previous state-of-the-art training-free methods. Code is available at https://github.com/thu-ml/DPM-Solver-v3., Comment: Accepted at NeurIPS 2023

Despite the significant progress made in practical applications of aligned language models (LMs), they tend to be overconfident in output answers compared to the corresponding pre-trained LMs. In this work, we systematically evaluate the impact of the alignment process on logit-based uncertainty calibration of LMs under the multiple-choice setting. We first conduct a thoughtful empirical study on how aligned LMs differ in calibration from their pre-trained counterparts. Experimental results reveal that there are two distinct uncertainties in LMs under the multiple-choice setting, which are responsible for the answer decision and the format preference of the LMs, respectively. Then, we investigate the role of these two uncertainties on aligned LM's calibration through fine-tuning in simple synthetic alignment schemes and conclude that one reason for aligned LMs' overconfidence is the conflation of these two types of uncertainty. Furthermore, we examine the utility of common post-hoc calibration methods for aligned LMs and propose an easy-to-implement and sample-efficient method to calibrate aligned LMs. We hope our findings could provide insights into the design of more reliable alignment processes for LMs.

Optimizer states are a major source of memory consumption for training neural networks, limiting the maximum trainable model within given memory budget. Compressing the optimizer states from 32-bit floating points to lower bitwidth is promising to reduce the training memory footprint, while the current lowest achievable bitwidth is 8-bit. In this work, we push optimizer states bitwidth down to 4-bit through a detailed empirical analysis of first and second moments. Specifically, we find that moments have complicated outlier patterns, that current block-wise quantization cannot accurately approximate. We use a smaller block size and propose to utilize both row-wise and column-wise information for better quantization. We further identify a zero point problem of quantizing the second moment, and solve this problem with a linear quantizer that excludes the zero point. Our 4-bit optimizers are evaluated on a wide variety of benchmarks including natural language understanding, machine translation, image classification, and instruction tuning. On all the tasks our optimizers can achieve comparable accuracy with their full-precision counterparts, while enjoying better memory efficiency., Comment: v3: camera ready revisions for NeurIPS 2023

Quantizing the activation, weight, and gradient to 4-bit is promising to accelerate neural network training. However, existing 4-bit training methods require custom numerical formats which are not supported by contemporary hardware. In this work, we propose a training method for transformers with all matrix multiplications implemented with the INT4 arithmetic. Training with an ultra-low INT4 precision is challenging. To achieve this, we carefully analyze the specific structures of activation and gradients in transformers to propose dedicated quantizers for them. For forward propagation, we identify the challenge of outliers and propose a Hadamard quantizer to suppress the outliers. For backpropagation, we leverage the structural sparsity of gradients by proposing bit splitting and leverage score sampling techniques to quantize gradients accurately. Our algorithm achieves competitive accuracy on a wide range of tasks including natural language understanding, machine translation, and image classification. Unlike previous 4-bit training methods, our algorithm can be implemented on the current generation of GPUs. Our prototypical linear operator implementation is up to 2.2 times faster than the FP16 counterparts and speeds up the training by up to 35.1%., Comment: 9 pages, 8 figures

The training process of generative adversarial networks (GANs) is unstable and does not converge globally. In this paper, we examine the stability of GANs from the perspective of control theory and propose a universal higher-order noise-based controller called Brownian Motion Controller (BMC). Starting with the prototypical case of Dirac-GANs, we design a BMC to retrieve precisely the same but reachable optimal equilibrium. We theoretically prove that the training process of DiracGANs-BMC is globally exponential stable and derive bounds on the rate of convergence. Then we extend our BMC to normal GANs and provide implementation instructions on GANs-BMC. Our experiments show that our GANs-BMC effectively stabilizes GANs' training under StyleGANv2-ada frameworks with a faster rate of convergence, a smaller range of oscillation, and better performance in terms of FID score.

Large pre-trained language models (PLMs) have demonstrated strong performance on natural language understanding (NLU) tasks through fine-tuning. However, fine-tuned models still suffer from overconfident predictions, especially in out-of-domain settings. In this paper, we tackle the problem of calibrating fine-tuned language models. We demonstrate that the PLMs are well-calibrated on the masked language modeling task with robust predictive confidence under domain shift, yet the fine-tuned models fail to retain such property due to catastrophic forgetting, which impacts the calibration on the downstream classification task. In light of these observations, we evaluate the calibration of several methods that preserve pre-trained features and show that preserving pre-trained features can improve the calibration of fine-tuned language models. Among these methods, our proposed method that encourages the fine-tuned model to learn generative representations with auxiliary language modeling objective achieves competitive accuracy and the lowest expected calibration error compared to several strong baselines under both in-domain and out-of-domain settings on three downstream NLU tasks., Comment: ICLR 2023

Diffusion models have exhibited excellent performance in various domains. The probability flow ordinary differential equation (ODE) of diffusion models (i.e., diffusion ODEs) is a particular case of continuous normalizing flows (CNFs), which enables deterministic inference and exact likelihood evaluation. However, the likelihood estimation results by diffusion ODEs are still far from those of the state-of-the-art likelihood-based generative models. In this work, we propose several improved techniques for maximum likelihood estimation for diffusion ODEs, including both training and evaluation perspectives. For training, we propose velocity parameterization and explore variance reduction techniques for faster convergence. We also derive an error-bounded high-order flow matching objective for finetuning, which improves the ODE likelihood and smooths its trajectory. For evaluation, we propose a novel training-free truncated-normal dequantization to fill the training-evaluation gap commonly existing in diffusion ODEs. Building upon these techniques, we achieve state-of-the-art likelihood estimation results on image datasets (2.56 on CIFAR-10, 3.43/3.69 on ImageNet-32) without variational dequantization or data augmentation, and 2.42 on CIFAR-10 with data augmentation. Code is available at \url{https://github.com/thu-ml/i-DODE}., Comment: Accepted in ICML2023

Guided sampling is a vital approach for applying diffusion models in real-world tasks that embeds human-defined guidance during the sampling procedure. This paper considers a general setting where the guidance is defined by an (unnormalized) energy function. The main challenge for this setting is that the intermediate guidance during the diffusion sampling procedure, which is jointly defined by the sampling distribution and the energy function, is unknown and is hard to estimate. To address this challenge, we propose an exact formulation of the intermediate guidance as well as a novel training objective named contrastive energy prediction (CEP) to learn the exact guidance. Our method is guaranteed to converge to the exact guidance under unlimited model capacity and data samples, while previous methods can not. We demonstrate the effectiveness of our method by applying it to offline reinforcement learning (RL). Extensive experiments on D4RL benchmarks demonstrate that our method outperforms existing state-of-the-art algorithms. We also provide some examples of applying CEP for image synthesis to demonstrate the scalability of CEP on high-dimensional data., Comment: Accepted at ICML 2023

Diffusion probabilistic models (DPMs) have achieved impressive success in high-resolution image synthesis, especially in recent large-scale text-to-image generation applications. An essential technique for improving the sample quality of DPMs is guided sampling, which usually needs a large guidance scale to obtain the best sample quality. The commonly-used fast sampler for guided sampling is DDIM, a first-order diffusion ODE solver that generally needs 100 to 250 steps for high-quality samples. Although recent works propose dedicated high-order solvers and achieve a further speedup for sampling without guidance, their effectiveness for guided sampling has not been well-tested before. In this work, we demonstrate that previous high-order fast samplers suffer from instability issues, and they even become slower than DDIM when the guidance scale grows large. To further speed up guided sampling, we propose DPM-Solver++, a high-order solver for the guided sampling of DPMs. DPM-Solver++ solves the diffusion ODE with the data prediction model and adopts thresholding methods to keep the solution matches training data distribution. We further propose a multistep variant of DPM-Solver++ to address the instability issue by reducing the effective step size. Experiments show that DPM-Solver++ can generate high-quality samples within only 15 to 20 steps for guided sampling by pixel-space and latent-space DPMs.

Training large neural network (NN) models requires extensive memory resources, and Activation Compressed Training (ACT) is a promising approach to reduce training memory footprint. This paper presents GACT, an ACT framework to support a broad range of machine learning tasks for generic NN architectures with limited domain knowledge. By analyzing a linearized version of ACT's approximate gradient, we prove the convergence of GACT without prior knowledge on operator type or model architecture. To make training stable, we propose an algorithm that decides the compression ratio for each tensor by estimating its impact on the gradient at run time. We implement GACT as a PyTorch library that readily applies to any NN architecture. GACT reduces the activation memory for convolutional NNs, transformers, and graph NNs by up to 8.1x, enabling training with a 4.2x to 24.7x larger batch size, with negligible accuracy loss. We implement GACT as a PyTorch library at https://github.com/LiuXiaoxuanPKU/GACT-ICML.

By applying entropy codecs with learned data distributions, neural compressors have significantly outperformed traditional codecs in terms of compression ratio. However, the high inference latency of neural networks hinders the deployment of neural compressors in practical applications. In this work, we propose Integer-only Discrete Flows (IODF), an efficient neural compressor with integer-only arithmetic. Our work is built upon integer discrete flows, which consists of invertible transformations between discrete random variables. We propose efficient invertible transformations with integer-only arithmetic based on 8-bit quantization. Our invertible transformation is equipped with learnable binary gates to remove redundant filters during inference. We deploy IODF with TensorRT on GPUs, achieving 10x inference speedup compared to the fastest existing neural compressors, while retaining the high compression rates on ImageNet32 and ImageNet64., Comment: Accepted as a conference paper at International Conference on Machine Learning (ICML) 2022

Score-based generative models have excellent performance in terms of generation quality and likelihood. They model the data distribution by matching a parameterized score network with first-order data score functions. The score network can be used to define an ODE ("score-based diffusion ODE") for exact likelihood evaluation. However, the relationship between the likelihood of the ODE and the score matching objective is unclear. In this work, we prove that matching the first-order score is not sufficient to maximize the likelihood of the ODE, by showing a gap between the maximum likelihood and score matching objectives. To fill up this gap, we show that the negative likelihood of the ODE can be bounded by controlling the first, second, and third-order score matching errors; and we further present a novel high-order denoising score matching method to enable maximum likelihood training of score-based diffusion ODEs. Our algorithm guarantees that the higher-order matching error is bounded by the training error and the lower-order errors. We empirically observe that by high-order score matching, score-based diffusion ODEs achieve better likelihood on both synthetic data and CIFAR-10, while retaining the high generation quality., Comment: Accepted in ICML 2022

Diffusion probabilistic models (DPMs) are emerging powerful generative models. Despite their high-quality generation performance, DPMs still suffer from their slow sampling as they generally need hundreds or thousands of sequential function evaluations (steps) of large neural networks to draw a sample. Sampling from DPMs can be viewed alternatively as solving the corresponding diffusion ordinary differential equations (ODEs). In this work, we propose an exact formulation of the solution of diffusion ODEs. The formulation analytically computes the linear part of the solution, rather than leaving all terms to black-box ODE solvers as adopted in previous works. By applying change-of-variable, the solution can be equivalently simplified to an exponentially weighted integral of the neural network. Based on our formulation, we propose DPM-Solver, a fast dedicated high-order solver for diffusion ODEs with the convergence order guarantee. DPM-Solver is suitable for both discrete-time and continuous-time DPMs without any further training. Experimental results show that DPM-Solver can generate high-quality samples in only 10 to 20 function evaluations on various datasets. We achieve 4.70 FID in 10 function evaluations and 2.87 FID in 20 function evaluations on the CIFAR10 dataset, and a $4\sim 16\times$ speedup compared with previous state-of-the-art training-free samplers on various datasets., Comment: Accepted in Neurips 2022

Deep Ensemble (DE) is an effective alternative to Bayesian neural networks for uncertainty quantification in deep learning. The uncertainty of DE is usually conveyed by the functional inconsistency among the ensemble members, say, the disagreement among their predictions. Yet, the functional inconsistency stems from unmanageable randomness and may easily collapse in specific cases. To render the uncertainty of DE reliable, we propose a refinement of DE where the functional inconsistency is explicitly characterized, and further tuned w.r.t. the training data and certain priori beliefs. Specifically, we describe the functional inconsistency with the empirical covariance of the functions dictated by ensemble members, which, along with the mean, define a Gaussian process (GP). Then, with specific priori uncertainty imposed, we maximize functional evidence lower bound to make the GP specified by DE approximate the Bayesian posterior. In this way, we relate DE to Bayesian inference to enjoy reliable Bayesian uncertainty. Moreover, we provide strategies to make the training efficient. Our approach consumes only marginally added training cost than the standard DE, but achieves better uncertainty quantification than DE and its variants across diverse scenarios.

Despite the success, the process of fine-tuning large-scale PLMs brings prohibitive adaptation costs. In fact, fine-tuning all the parameters of a colossal model and retaining separate instances for different tasks are practically infeasible. This necessitates a new branch of research focusing on the parameter-efficient adaptation of PLMs, dubbed as delta tuning in this paper. In contrast with the standard fine-tuning, delta tuning only fine-tunes a small portion of the model parameters while keeping the rest untouched, largely reducing both the computation and storage costs. Recent studies have demonstrated that a series of delta tuning methods with distinct tuned parameter selection could achieve performance on a par with full-parameter fine-tuning, suggesting a new promising way of stimulating large-scale PLMs. In this paper, we first formally describe the problem of delta tuning and then comprehensively review recent delta tuning approaches. We also propose a unified categorization criterion that divide existing delta tuning methods into three groups: addition-based, specification-based, and reparameterization-based methods. Though initially proposed as an efficient method to steer large models, we believe that some of the fascinating evidence discovered along with delta tuning could help further reveal the mechanisms of PLMs and even deep neural networks. To this end, we discuss the theoretical principles underlying the effectiveness of delta tuning and propose frameworks to interpret delta tuning from the perspective of optimization and optimal control, respectively. Furthermore, we provide a holistic empirical study of representative methods, where results on over 100 NLP tasks demonstrate a comprehensive performance comparison of different approaches. The experimental results also cover the analysis of combinatorial, scaling and transferable properties of delta tuning., Comment: 49 pages

The increasing size of neural network models has been critical for improvements in their accuracy, but device memory is not growing at the same rate. This creates fundamental challenges for training neural networks within limited memory environments. In this work, we propose ActNN, a memory-efficient training framework that stores randomly quantized activations for back propagation. We prove the convergence of ActNN for general network architectures, and we characterize the impact of quantization on the convergence via an exact expression for the gradient variance. Using our theory, we propose novel mixed-precision quantization strategies that exploit the activation's heterogeneity across feature dimensions, samples, and layers. These techniques can be readily applied to existing dynamic graph frameworks, such as PyTorch, simply by substituting the layers. We evaluate ActNN on mainstream computer vision models for classification, detection, and segmentation tasks. On all these tasks, ActNN compresses the activation to 2 bits on average, with negligible accuracy loss. ActNN reduces the memory footprint of the activation by 12x, and it enables training with a 6.6x to 14x larger batch size., Comment: to be published in ICML 2021

Normalizing flows define a probability distribution by an explicit invertible transformation $\boldsymbol{\mathbf{z}}=f(\boldsymbol{\mathbf{x}})$. In this work, we present implicit normalizing flows (ImpFlows), which generalize normalizing flows by allowing the mapping to be implicitly defined by the roots of an equation $F(\boldsymbol{\mathbf{z}}, \boldsymbol{\mathbf{x}})= \boldsymbol{\mathbf{0}}$. ImpFlows build on residual flows (ResFlows) with a proper balance between expressiveness and tractability. Through theoretical analysis, we show that the function space of ImpFlow is strictly richer than that of ResFlows. Furthermore, for any ResFlow with a fixed number of blocks, there exists some function that ResFlow has a non-negligible approximation error. However, the function is exactly representable by a single-block ImpFlow. We propose a scalable algorithm to train and draw samples from ImpFlows. Empirically, we evaluate ImpFlow on several classification and density modeling tasks, and ImpFlow outperforms ResFlow with a comparable amount of parameters on all the benchmarks.

Binary Neural Networks (BNNs) have received significant attention due to their promising efficiency. Currently, most BNN studies directly adopt widely-used CNN architectures, which can be suboptimal for BNNs. This paper proposes a novel Binary ARchitecture Search (BARS) flow to discover superior binary architecture in a large design space. Specifically, we analyze the information bottlenecks that are related to both the topology and layout architecture design choices. And we propose to automatically search for the optimal information flow. To achieve that, we design a two-level (Macro & Micro) search space tailored for BNNs and apply a differentiable neural architecture search (NAS) to explore this search space efficiently. The macro-level search space includes width and depth decisions, which is required for better balancing the model performance and complexity. We also design the micro-level search space to strengthen the information flow for BNN. %A notable challenge of BNN architecture search lies in that binary operations exacerbate the "collapse" problem of differentiable NAS, for which we incorporate various search and derive strategies to stabilize the search process. On CIFAR-10, BARS achieves 1.5% higher accuracy with 2/3 binary operations and 1/10 floating-point operations comparing with existing BNN NAS studies. On ImageNet, with similar resource consumption, BARS-discovered architecture achieves a 6% accuracy gain than hand-crafted binary ResNet-18 architectures and outperforms other binary architectures while fully binarizing the architecture backbone.

Fully quantized training (FQT), which uses low-bitwidth hardware by quantizing the activations, weights, and gradients of a neural network model, is a promising approach to accelerate the training of deep neural networks. One major challenge with FQT is the lack of theoretical understanding, in particular of how gradient quantization impacts convergence properties. In this paper, we address this problem by presenting a statistical framework for analyzing FQT algorithms. We view the quantized gradient of FQT as a stochastic estimator of its full precision counterpart, a procedure known as quantization-aware training (QAT). We show that the FQT gradient is an unbiased estimator of the QAT gradient, and we discuss the impact of gradient quantization on its variance. Inspired by these theoretical results, we develop two novel gradient quantizers, and we show that these have smaller variance than the existing per-tensor quantizer. For training ResNet-50 on ImageNet, our 5-bit block Householder quantizer achieves only 0.5% validation accuracy loss relative to QAT, comparable to the existing INT8 baseline., Comment: 24 pages

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic segmentation, a task that predicts pixel-wise semantic segmentation in BEV from side RGB images. This task is made possible by simulators such as Carla, which allow for cheap data collection, arbitrary camera placements, and supervision in ways otherwise not possible in the real world. There are two main challenges to this task: the view transformation from side view to bird's eye view, as well as transfer learning to unseen domains. Existing work transforms between views through fully connected layers and transfer learns via GANs. This suffers from a lack of depth reasoning and performance degradation across domains. Our novel 2-staged perception pipeline explicitly predicts pixel depths and combines them with pixel semantics in an efficient manner, allowing the model to leverage depth information to infer objects' spatial locations in the BEV. In addition, we transfer learning by abstracting high-level geometric features and predicting an intermediate representation that is common across different domains. We publish a new dataset called BEVSEG-Carla and show that our approach improves state-of-the-art by 24% mIoU and performs well when transferred to a new domain., Comment: Accepted into CVPR 2020 Workshop Scalability in Autonomous Driving by Waymo

Generative flows are promising tractable models for density modeling that define probabilistic distributions with invertible transformations. However, tractability imposes architectural constraints on generative flows, making them less expressive than other types of generative models. In this work, we study a previously overlooked constraint that all the intermediate representations must have the same dimensionality with the original data due to invertibility, limiting the width of the network. We tackle this constraint by augmenting the data with some extra dimensions and jointly learning a generative flow for augmented data as well as the distribution of augmented dimensions under a variational inference framework. Our approach, VFlow, is a generalization of generative flows and therefore always performs better. Combining with existing generative flows, VFlow achieves a new state-of-the-art 2.98 bits per dimension on the CIFAR-10 dataset and is more compact than previous models to reach similar modeling quality.