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The goal of the AlgoPerf: Training Algorithms competition is to evaluate practical speed-ups in neural network training achieved solely by improving the underlying training algorithms. In the external tuning ruleset, submissions must provide workload-agnostic hyperparameter search spaces, while in the self-tuning ruleset they must be completely hyperparameter-free. In both rulesets, submissions are compared on time-to-result across multiple deep learning workloads, training on fixed hardware. This paper presents the inaugural AlgoPerf competition's results, which drew 18 diverse submissions from 10 teams. Our investigation reveals several key findings: (1) The winning submission in the external tuning ruleset, using Distributed Shampoo, demonstrates the effectiveness of non-diagonal preconditioning over popular methods like Adam, even when compared on wall-clock runtime. (2) The winning submission in the self-tuning ruleset, based on the Schedule Free AdamW algorithm, demonstrates a new level of effectiveness for completely hyperparameter-free training algorithms. (3) The top-scoring submissions were surprisingly robust to workload changes. We also discuss the engineering challenges encountered in ensuring a fair comparison between different training algorithms. These results highlight both the significant progress so far, and the considerable room for further improvements., Comment: ICLR 2025; 23 pages, 5 figures, 8 tables

Efficiently learning a sequence of related tasks, such as in continual learning, poses a significant challenge for neural nets due to the delicate trade-off between catastrophic forgetting and loss of plasticity. We address this challenge with a grounded framework for sequentially learning related tasks based on Bayesian inference. Specifically, we treat the model's parameters as a nonlinear Gaussian state-space model and perform efficient inference using Gaussian filtering and smoothing. This general formalism subsumes existing continual learning approaches, while also offering a clearer conceptual understanding of its components. Leveraging Laplace approximations during filtering, we construct Gaussian posterior measures on the weight space of a neural network for each task. We use it as an efficient regularizer by exploiting the structure of the generalized Gauss-Newton matrix (GGN) to construct diagonal plus low-rank approximations. The dynamics model allows targeted control of the learning process and the incorporation of domain-specific knowledge, such as modeling the type of shift between tasks. Additionally, using Bayesian approximate smoothing can enhance the performance of task-specific models without needing to re-access any data., Comment: 20 pages, 8 figures

The core components of many modern neural network architectures, such as transformers, convolutional, or graph neural networks, can be expressed as linear layers with $\textit{weight-sharing}$. Kronecker-Factored Approximate Curvature (K-FAC), a second-order optimisation method, has shown promise to speed up neural network training and thereby reduce computational costs. However, there is currently no framework to apply it to generic architectures, specifically ones with linear weight-sharing layers. In this work, we identify two different settings of linear weight-sharing layers which motivate two flavours of K-FAC -- $\textit{expand}$ and $\textit{reduce}$. We show that they are exact for deep linear networks with weight-sharing in their respective setting. Notably, K-FAC-reduce is generally faster than K-FAC-expand, which we leverage to speed up automatic hyperparameter selection via optimising the marginal likelihood for a Wide ResNet. Finally, we observe little difference between these two K-FAC variations when using them to train both a graph neural network and a vision transformer. However, both variations are able to reach a fixed validation metric target in $50$-$75\%$ of the number of steps of a first-order reference run, which translates into a comparable improvement in wall-clock time. This highlights the potential of applying K-FAC to modern neural network architectures., Comment: NeurIPS 2023

Bayesian Generalized Linear Models (GLMs) define a flexible probabilistic framework to model categorical, ordinal and continuous data, and are widely used in practice. However, exact inference in GLMs is prohibitively expensive for large datasets, thus requiring approximations in practice. The resulting approximation error adversely impacts the reliability of the model and is not accounted for in the uncertainty of the prediction. In this work, we introduce a family of iterative methods that explicitly model this error. They are uniquely suited to parallel modern computing hardware, efficiently recycle computations, and compress information to reduce both the time and memory requirements for GLMs. As we demonstrate on a realistically large classification problem, our method significantly accelerates training compared to competitive baselines by trading off reduced computation for increased uncertainty., Comment: Main text: 11 pages, 6 figures; Supplements: 13 pages, 2 figures

Training algorithms, broadly construed, are an essential part of every deep learning pipeline. Training algorithm improvements that speed up training across a wide variety of workloads (e.g., better update rules, tuning protocols, learning rate schedules, or data selection schemes) could save time, save computational resources, and lead to better, more accurate, models. Unfortunately, as a community, we are currently unable to reliably identify training algorithm improvements, or even determine the state-of-the-art training algorithm. In this work, using concrete experiments, we argue that real progress in speeding up training requires new benchmarks that resolve three basic challenges faced by empirical comparisons of training algorithms: (1) how to decide when training is complete and precisely measure training time, (2) how to handle the sensitivity of measurements to exact workload details, and (3) how to fairly compare algorithms that require hyperparameter tuning. In order to address these challenges, we introduce a new, competitive, time-to-result benchmark using multiple workloads running on fixed hardware, the AlgoPerf: Training Algorithms benchmark. Our benchmark includes a set of workload variants that make it possible to detect benchmark submissions that are more robust to workload changes than current widely-used methods. Finally, we evaluate baseline submissions constructed using various optimizers that represent current practice, as well as other optimizers that have recently received attention in the literature. These baseline results collectively demonstrate the feasibility of our benchmark, show that non-trivial gaps between methods exist, and set a provisional state-of-the-art for future benchmark submissions to try and surpass., Comment: 102 pages, 8 figures, 41 tables

When engineers train deep learning models, they are very much 'flying blind'. Commonly used methods for real-time training diagnostics, such as monitoring the train/test loss, are limited. Assessing a network's training process solely through these performance indicators is akin to debugging software without access to internal states through a debugger. To address this, we present Cockpit, a collection of instruments that enable a closer look into the inner workings of a learning machine, and a more informative and meaningful status report for practitioners. It facilitates the identification of learning phases and failure modes, like ill-chosen hyperparameters. These instruments leverage novel higher-order information about the gradient distribution and curvature, which has only recently become efficiently accessible. We believe that such a debugging tool, which we open-source for PyTorch, is a valuable help in troubleshooting the training process. By revealing new insights, it also more generally contributes to explainability and interpretability of deep nets., Comment: (NeurIPS 2021) Main text: 13 pages, 6 figures, 1 table; Supplements: 23 pages, 13 figures, 1 table, 1 listing

Since May 2020, several COVID-19 outbreaks have occurred in the German meat industry despite various protective measures, and temperature and ventilation conditions were considered as possible high-risk factors. This cross-sectional study examined meat and poultry plants to examine possible risk factors. Companies completed a self-administered questionnaire on the work environment and protective measures taken to prevent SARS-CoV-2 infection. Multivariable logistic regression analysis adjusted for the possibility to distance at least 1.5 meters, break rules, and employment status was performed to identify risk factors associated with COVID-19 cases. Twenty-two meat and poultry plants with 19,072 employees participated. The prevalence of COVID-19 in the seven plants with more than 10 cases was 12.1% and was highest in the deboning and meat cutting area with 16.1%. A subsample analysis where information on maximal ventilation rate per employee was available revealed an effect for ventilation rate (adjusted odds ratio (AOR) 0.996, 95% CI 0.993-0.999). When including temperature as an interaction term in the working area, the effect of the ventilation rate did not change. Increasing room temperatures resulted in a lower chance of obtaining a positive COVID-19 test result (AOR 0.90 95% CI 0.82-0.99), and a 0.1% greater chance of a positive COVID-19 test for the interaction term (AOR 1.001, 95% CI 1.000-1.003). Our results further indicate that climate conditions and low outdoor air flow are factors that can promote the spread of SARS-CoV-2 aerosols. A possible requirement for pandemic mitigation strategies in industrial workplace settings is to increase the ventilation rate., Comment: 28 pages, 0 figures

Choosing the optimizer is considered to be among the most crucial design decisions in deep learning, and it is not an easy one. The growing literature now lists hundreds of optimization methods. In the absence of clear theoretical guidance and conclusive empirical evidence, the decision is often made based on anecdotes. In this work, we aim to replace these anecdotes, if not with a conclusive ranking, then at least with evidence-backed heuristics. To do so, we perform an extensive, standardized benchmark of fifteen particularly popular deep learning optimizers while giving a concise overview of the wide range of possible choices. Analyzing more than $50,000$ individual runs, we contribute the following three points: (i) Optimizer performance varies greatly across tasks. (ii) We observe that evaluating multiple optimizers with default parameters works approximately as well as tuning the hyperparameters of a single, fixed optimizer. (iii) While we cannot discern an optimization method clearly dominating across all tested tasks, we identify a significantly reduced subset of specific optimizers and parameter choices that generally lead to competitive results in our experiments: Adam remains a strong contender, with newer methods failing to significantly and consistently outperform it. Our open-sourced results are available as challenging and well-tuned baselines for more meaningful evaluations of novel optimization methods without requiring any further computational efforts., Comment: Raw results: https://github.com/SirRob1997/Crowded-Valley---Results

Aim of this paper is to provide a review of the state of the art in Search and Rescue (SAR) robotics. Suitable robotic applications in the SAR domain are described, and SAR-specific demands and requirements on the various components of a robotic system are pictured. Current research and development in SAR robotics is outlined, and an overview of robotic systems and sub-systems currently in use in SAR and disaster response scenarios is given. Finally we show a number of possible research directions for SAR robots, which might change the overall design and operation of SAR robotics in the longer-term future. All this is meant to support our main idea of taking SAR applications as an applied benchmark for the Field Robotics (FR) domain.

Because the choice and tuning of the optimizer affects the speed, and ultimately the performance of deep learning, there is significant past and recent research in this area. Yet, perhaps surprisingly, there is no generally agreed-upon protocol for the quantitative and reproducible evaluation of optimization strategies for deep learning. We suggest routines and benchmarks for stochastic optimization, with special focus on the unique aspects of deep learning, such as stochasticity, tunability and generalization. As the primary contribution, we present DeepOBS, a Python package of deep learning optimization benchmarks. The package addresses key challenges in the quantitative assessment of stochastic optimizers, and automates most steps of benchmarking. The library includes a wide and extensible set of ready-to-use realistic optimization problems, such as training Residual Networks for image classification on ImageNet or character-level language prediction models, as well as popular classics like MNIST and CIFAR-10. The package also provides realistic baseline results for the most popular optimizers on these test problems, ensuring a fair comparison to the competition when benchmarking new optimizers, and without having to run costly experiments. It comes with output back-ends that directly produce LaTeX code for inclusion in academic publications. It supports TensorFlow and is available open source., Comment: Accepted at ICLR 2019. 9 pages, 3 figures, 2 tables