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Josh Tenenbaum

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70

NeurIPS Conference 2025 Conference Paper

Learning Linear Attention in Polynomial Time

  • Morris Yau
  • Ekin Akyürek
  • Jiayuan Mao
  • Josh Tenenbaum
  • Stefanie Jegelka
  • Jacob Andreas

Previous research has explored the expressivity of Transformer models in simulating Boolean circuits or Turing machines. However, the efficient learnability of Transformers from data has remained an open question. Our study addresses this gap by providing the first polynomial-time learnability results (specifically strong, agnostic PAC learning) for single-layer Transformers with linear attention. We show that learning the optimal multi head linear attention can be recast as finding the optimal kernel predictor in a suitably defined RKHS. Moving to generalization, we construct an algorithm that, given a dataset, checks in polynomial time whether the set of best fit multi head linear attention networks on this data all perform an identical computation--a powerful notion for out of distribution generalization. We empirically validate our theoretical findings on several canonical tasks: learning random linear attention networks, key--value associations, and learning to execute finite automata. Our findings bridge a critical gap between theoretical expressivity and learnability of Transformer models.

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NeurIPS Conference 2023 Conference Paper

3D-IntPhys: Towards More Generalized 3D-grounded Visual Intuitive Physics under Challenging Scenes

  • Haotian Xue
  • Antonio Torralba
  • Josh Tenenbaum
  • Dan Yamins
  • Yunzhu Li
  • Hsiao-Yu Tung

Given a visual scene, humans have strong intuitions about how a scene can evolve over time under given actions. The intuition, often termed visual intuitive physics, is a critical ability that allows us to make effective plans to manipulate the scene to achieve desired outcomes without relying on extensive trial and error. In this paper, we present a framework capable of learning 3D-grounded visual intuitive physics models from videos of complex scenes with fluids. Our method is composed of a conditional Neural Radiance Field (NeRF)-style visual frontend and a 3D point-based dynamics prediction backend, using which we can impose strong relational and structural inductive bias to capture the structure of the underlying environment. Unlike existing intuitive point-based dynamics works that rely on the supervision of dense point trajectory from simulators, we relax the requirements and only assume access to multi-view RGB images and (imperfect) instance masks acquired using color prior. This enables the proposed model to handle scenarios where accurate point estimation and tracking are hard or impossible. We generate datasets including three challenging scenarios involving fluid, granular materials, and rigid objects in the simulation. The datasets do not include any dense particle information so most previous 3D-based intuitive physics pipelines can barely deal with that. We show our model can make long-horizon future predictions by learning from raw images and significantly outperforms models that do not employ an explicit 3D representation space. We also show that once trained, our model can achieve strong generalization in complex scenarios under extrapolate settings.

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NeurIPS Conference 2023 Conference Paper

Compositional Foundation Models for Hierarchical Planning

  • Anurag Ajay
  • Seungwook Han
  • Yilun Du
  • Shuang Li
  • Abhi Gupta
  • Tommi Jaakkola
  • Josh Tenenbaum
  • Leslie Kaelbling

To make effective decisions in novel environments with long-horizon goals, it is crucial to engage in hierarchical reasoning across spatial and temporal scales. This entails planning abstract subgoal sequences, visually reasoning about the underlying plans, and executing actions in accordance with the devised plan through visual-motor control. We propose Compositional Foundation Models for Hierarchical Planning (HiP), a foundation model which leverages multiple expert foundation model trained on language, vision and action data individually jointly together to solve long-horizon tasks. We use a large language model to construct symbolic plans that are grounded in the environment through a large video diffusion model. Generated video plans are then grounded to visual-motor control, through an inverse dynamics model that infers actions from generated videos. To enable effective reasoning within this hierarchy, we enforce consistency between the models via iterative refinement. We illustrate the efficacy and adaptability of our approach in three different long-horizon table-top manipulation tasks.

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NeurIPS Conference 2023 Conference Paper

DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models

  • Tsun-Hsuan Johnson Wang
  • Juntian Zheng
  • Pingchuan Ma
  • Yilun Du
  • Byungchul Kim
  • Andrew Spielberg
  • Josh Tenenbaum
  • Chuang Gan

Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in silico shows promise for applications in physical soft robotics and virtual character creation; such approaches, however, require developing new learning algorithms that can reason about function atop pure structure. In this paper, we present DiffuseBot, a physics-augmented diffusion model that generates soft robot morphologies capable of excelling in a wide spectrum of tasks. \name bridges the gap between virtually generated content and physical utility by (i) augmenting the diffusion process with a physical dynamical simulation which provides a certificate of performance, and (ii) introducing a co-design procedure that jointly optimizes physical design and control by leveraging information about physical sensitivities from differentiable simulation. We showcase a range of simulated and fabricated robots along with their capabilities. Check our website: https: //diffusebot. github. io/

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NeurIPS Conference 2023 Conference Paper

Diffusion with Forward Models: Solving Stochastic Inverse Problems Without Direct Supervision

  • Ayush Tewari
  • Tianwei Yin
  • George Cazenavette
  • Semon Rezchikov
  • Josh Tenenbaum
  • Fredo Durand
  • Bill Freeman
  • Vincent Sitzmann

Denoising diffusion models are a powerful type of generative models used to capture complex distributions of real-world signals. However, their applicability is limited to scenarios where training samples are readily available, which is not always the case in real-world applications. For example, in inverse graphics, the goal is to generate samples from a distribution of 3D scenes that align with a given image, but ground-truth 3D scenes are unavailable and only 2D images are accessible. To address this limitation, we propose a novel class of denoising diffusion probabilistic models that learn to sample from distributions of signals that are never directly observed. Instead, these signals are measured indirectly through a known differentiable forward model, which produces partial observations of the unknown signal. Our approach involves integrating the forward model directly into the denoising process. A key contribution of our work is the integration of a differentiable forward model into the denoising process. This integration effectively connects the generative modeling of observations with the generative modeling of the underlying signals, allowing for end-to-end training of a conditional generative model over signals. During inference, our approach enables sampling from the distribution of underlying signals that are consistent with a given partial observation. We demonstrate the effectiveness of our method on three challenging computer vision tasks. For instance, in the context of inverse graphics, our model enables direct sampling from the distribution of 3D scenes that align with a single 2D input image.

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NeurIPS Conference 2023 Conference Paper

Human spatiotemporal pattern learning as probabilistic program synthesis

  • Tracey Mills
  • Josh Tenenbaum
  • Samuel Cheyette

People are adept at learning a wide variety of structured patterns from small amounts of data, presenting a conundrum from the standpoint of the bias-variance tradeoff: what kinds of representations and algorithms support the joint flexibility and data-paucity of human learning? One possibility is that people "learn by programming": inducing probabilistic models to fit observed data. Here, we experimentally test human learning in the domain of structured 2-dimensional patterns, using a task in which participants repeatedly predicted where a dot would move based on its previous trajectory. We evaluate human performance against standard parametric and non-parametric time-series models, as well as two Bayesian program synthesis models whose hypotheses vary in their degree of structure: a compositional Gaussian Process model and a structured "Language of Thought" (LoT) model. We find that signatures of human pattern learning are best explained by the LoT model, supporting the idea that the flexibility and data-efficiency of human structure learning can be understood as probabilistic inference over an expressive space of programs.

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NeurIPS Conference 2023 Conference Paper

Inferring the Future by Imagining the Past

  • Kartik Chandra
  • Tony Chen
  • Tzu-Mao Li
  • Jonathan Ragan-Kelley
  • Josh Tenenbaum

A single panel of a comic book can say a lot: it can depict not only where the characters currently are, but also their motions, their motivations, their emotions, and what they might do next. More generally, humans routinely infer complex sequences of past and future events from a static snapshot of a dynamic scene, even in situations they have never seen before. In this paper, we model how humans make such rapid and flexible inferences. Building on a long line of work in cognitive science, we offer a Monte Carlo algorithm whose inferences correlate well with human intuitions in a wide variety of domains, while only using a small, cognitively-plausible number of samples. Our key technical insight is a surprising connection between our inference problem and Monte Carlo path tracing, which allows us to apply decades of ideas from the computer graphics community to this seemingly-unrelated theory of mind task.

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NeurIPS Conference 2023 Conference Paper

Learning Universal Policies via Text-Guided Video Generation

  • Yilun Du
  • Sherry Yang
  • Bo Dai
  • Hanjun Dai
  • Ofir Nachum
  • Josh Tenenbaum
  • Dale Schuurmans
  • Pieter Abbeel

A goal of artificial intelligence is to construct an agent that can solve a wide variety of tasks. Recent progress in text-guided image synthesis has yielded models with an impressive ability to generate complex novel images, exhibiting combinatorial generalization across domains. Motivated by this success, we investigate whether such tools can be used to construct more general-purpose agents. Specifically, we cast the sequential decision making problem as a text-conditioned video generation problem, where, given a text-encoded specification of a desired goal, a planner synthesizes a set of future frames depicting its planned actions in the future, after which control actions are extracted from the generated video. By leveraging text as the underlying goal specification, we are able to naturally and combinatorially generalize to novel goals. The proposed policy-as-video formulation can further represent environments with different state and action spaces in a unified space of images, which, for example, enables learning and generalization across a variety of robot manipulation tasks. Finally, by leveraging pretrained language embeddings and widely available videos from the internet, the approach enables knowledge transfer through predicting highly realistic video plans for real robots.

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NeurIPS Conference 2023 Conference Paper

Physion++: Evaluating Physical Scene Understanding that Requires Online Inference of Different Physical Properties

  • Hsiao-Yu Tung
  • Mingyu Ding
  • Zhenfang Chen
  • Daniel Bear
  • Chuang Gan
  • Josh Tenenbaum
  • Dan Yamins
  • Judith Fan

General physical scene understanding requires more than simply localizing and recognizing objects -- it requires knowledge that objects can have different latent properties (e. g. , mass or elasticity), and that those properties affect the outcome of physical events. While there has been great progress in physical and video prediction models in recent years, benchmarks to test their performance typically do not require an understanding that objects have individual physical properties, or at best test only those properties that are directly observable (e. g. , size or color). This work proposes a novel dataset and benchmark, termed Physion++, that rigorously evaluates visual physical prediction in artificial systems under circumstances where those predictions rely on accurate estimates of the latent physical properties of objects in the scene. Specifically, we test scenarios where accurate prediction relies on estimates of properties such as mass, friction, elasticity, and deformability, and where the values of those properties can only be inferred by observing how objects move and interact with other objects or fluids. We evaluate the performance of a number of state-of-the-art prediction models that span a variety of levels of learning vs. built-in knowledge, and compare that performance to a set of human predictions. We find that models that have been trained using standard regimes and datasets do not spontaneously learn to make inferences about latent properties, but also that models that encode objectness and physical states tend to make better predictions. However, there is still a huge gap between all models and human performance, and all models' predictions correlate poorly with those made by humans, suggesting that no state-of-the-art model is learning to make physical predictions in a human-like way. These results show that current deep learning models that succeed in some settings nevertheless fail to achieve human-level physical prediction in other cases, especially those where latent property inference is required. Project page: https: //dingmyu. github. io/physion_v2/

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NeurIPS Conference 2023 Conference Paper

What Planning Problems Can A Relational Neural Network Solve?

  • Jiayuan Mao
  • Tomás Lozano-Pérez
  • Josh Tenenbaum
  • Leslie Kaelbling

Goal-conditioned policies are generally understood to be "feed-forward" circuits, in the form of neural networks that map from the current state and the goal specification to the next action to take. However, under what circumstances such a policy can be learned and how efficient the policy will be are not well understood. In this paper, we present a circuit complexity analysis for relational neural networks (such as graph neural networks and transformers) representing policies for planning problems, by drawing connections with serialized goal regression search (S-GRS). We show that there are three general classes of planning problems, in terms of the growth of circuit width and depth as a function of the number of objects and planning horizon, providing constructive proofs. We also illustrate the utility of this analysis for designing neural networks for policy learning.

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NeurIPS Conference 2023 Conference Paper

What’s Left? Concept Grounding with Logic-Enhanced Foundation Models

  • Joy Hsu
  • Jiayuan Mao
  • Josh Tenenbaum
  • Jiajun Wu

Recent works such as VisProg and ViperGPT have smartly composed foundation models for visual reasoning—using large language models (LLMs) to produce programs that can be executed by pre-trained vision-language models. However, they operate in limited domains, such as 2D images, not fully exploiting the generalization of language: abstract concepts like “ left ” can also be grounded in 3D, temporal, and action data, as in moving to your left. This limited generalization stems from these inference-only methods’ inability to learn or adapt pre-trained models to a new domain. We propose the L ogic- E nhanced F ounda T ion Model ( LEFT ), a unified framework that learns to ground and reason with concepts across domains with a differentiable, domain-independent, first-order logic-based program executor. LEFT has an LLM interpreter that outputs a program represented in a general, logic-based reasoning language, which is shared across all domains and tasks. LEFT’s executor then executes the program with trainable domain-specific grounding modules. We show that LEFT flexibly learns concepts in four domains: 2D images, 3D scenes, human motions, and robotic manipulation. It exhibits strong reasoning ability in a wide variety of tasks, including those that are complex and not seen during training, and can be easily applied to new domains.

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NeurIPS Conference 2022 Conference Paper

3D Concept Grounding on Neural Fields

  • Yining Hong
  • Yilun Du
  • Chunru Lin
  • Josh Tenenbaum
  • Chuang Gan

In this paper, we address the challenging problem of 3D concept grounding (i. e. , segmenting and learning visual concepts) by looking at RGBD images and reasoning about paired questions and answers. Existing visual reasoning approaches typically utilize supervised methods to extract 2D segmentation masks on which concepts are grounded. In contrast, humans are capable of grounding concepts on the underlying 3D representation of images. However, traditionally inferred 3D representations (e. g. , point clouds, voxelgrids and meshes) cannot capture continuous 3D features flexibly, thus making it challenging to ground concepts to 3D regions based on the language description of the object being referred to. To address both issues, we propose to leverage the continuous, differentiable nature of neural fields to segment and learn concepts. Specifically, each 3D coordinate in a scene is represented as a high dimensional descriptor. Concept grounding can then be performed by computing the similarity between the descriptor vector of a 3D coordinate and the vector embedding of a language concept, which enables segmentations and concept learning to be jointly learned on neural fields in a differentiable fashion. As a result, both 3D semantic and instance segmentations can emerge directly from question answering supervision using a set of defined neural operators on top of neural fields (e. g. , filtering and counting). Experimental results show that our proposed framework outperforms unsupervised / language-mediated segmentation models on semantic and instance segmentation tasks, as well as outperforms existing models on the challenging 3D aware visual reasoning tasks. Furthermore, our framework can generalize well to unseen shape categories and real scans.

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NeurIPS Conference 2022 Conference Paper

Communicating Natural Programs to Humans and Machines

  • Sam Acquaviva
  • Yewen Pu
  • Marta Kryven
  • Theodoros Sechopoulos
  • Catherine Wong
  • Gabrielle Ecanow
  • Maxwell Nye
  • Michael Tessler

The Abstraction and Reasoning Corpus (ARC) is a set of procedural tasks that tests an agent's ability to flexibly solve novel problems. While most ARC tasks are easy for humans, they are challenging for state-of-the-art AI. What makes building intelligent systems that can generalize to novel situations such as ARC difficult? We posit that the answer might be found by studying the difference of $\textit{language}$: While humans readily generate and interpret instructions in a general language, computer systems are shackled to a narrow domain-specific language that they can precisely execute. We present LARC, the $\textit{Language-complete ARC}$: a collection of natural language descriptions by a group of human participants who instruct each other on how to solve ARC tasks using language alone, which contains successful instructions for 88\% of the ARC tasks. We analyze the collected instructions as `natural programs', finding that while they resemble computer programs, they are distinct in two ways: First, they contain a wide range of primitives; Second, they frequently leverage communicative strategies beyond directly executable codes. We demonstrate that these two distinctions prevent current program synthesis techniques from leveraging LARC to its full potential, and give concrete suggestions on how to build the next-generation program synthesizers.

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NeurIPS Conference 2022 Conference Paper

Drawing out of Distribution with Neuro-Symbolic Generative Models

  • Yichao Liang
  • Josh Tenenbaum
  • Tuan Anh Le
  • Siddharth N

Learning general-purpose representations from perceptual inputs is a hallmark of human intelligence. For example, people can write out numbers or characters, or even draw doodles, by characterizing these tasks as different instantiations of the same generic underlying process---compositional arrangements of different forms of pen strokes. Crucially, learning to do one task, say writing, implies reasonable competence at another, say drawing, on account of this shared process. We present Drawing out of Distribution (DooD), a neuro-symbolic generative model of stroke-based drawing that can learn such general-purpose representations. In contrast to prior work, DooD operates directly on images, requires no supervision or expensive test-time inference, and performs unsupervised amortized inference with a symbolic stroke model that better enables both interpretability and generalization. We evaluate DooD on its ability to generalize across both data and tasks. We first perform zero-shot transfer from one dataset (e. g. MNIST) to another (e. g. Quickdraw), across five different datasets, and show that DooD clearly outperforms different baselines. An analysis of the learnt representations further highlights the benefits of adopting a symbolic stroke model. We then adopt a subset of the Omniglot challenge tasks, and evaluate its ability to generate new exemplars (both unconditionally and conditionally), and perform one-shot classification, showing that DooD matches the state of the art. Taken together, we demonstrate that DooD does indeed capture general-purpose representations across both data and task, and takes a further step towards building general and robust concept-learning systems.

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NeurIPS Conference 2022 Conference Paper

HandMeThat: Human-Robot Communication in Physical and Social Environments

  • Yanming Wan
  • Jiayuan Mao
  • Josh Tenenbaum

We introduce HandMeThat, a benchmark for a holistic evaluation of instruction understanding and following in physical and social environments. While previous datasets primarily focused on language grounding and planning, HandMeThat considers the resolution of human instructions with ambiguities based on the physical (object states and relations) and social (human actions and goals) information. HandMeThat contains 10, 000 episodes of human-robot interactions. In each episode, the robot first observes a trajectory of human actions towards her internal goal. Next, the robot receives a human instruction and should take actions to accomplish the subgoal set through the instruction. In this paper, we present a textual interface for our benchmark, where the robot interacts with a virtual environment through textual commands. We evaluate several baseline models on HandMeThat, and show that both offline and online reinforcement learning algorithms perform poorly on HandMeThat, suggesting significant room for future work on physical and social human-robot communications and interactions.

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NeurIPS Conference 2022 Conference Paper

Learning Neural Acoustic Fields

  • Andrew Luo
  • Yilun Du
  • Michael Tarr
  • Josh Tenenbaum
  • Antonio Torralba
  • Chuang Gan

Our environment is filled with rich and dynamic acoustic information. When we walk into a cathedral, the reverberations as much as appearance inform us of the sanctuary's wide open space. Similarly, as an object moves around us, we expect the sound emitted to also exhibit this movement. While recent advances in learned implicit functions have led to increasingly higher quality representations of the visual world, there have not been commensurate advances in learning spatial auditory representations. To address this gap, we introduce Neural Acoustic Fields (NAFs), an implicit representation that captures how sounds propagate in a physical scene. By modeling acoustic propagation in a scene as a linear time-invariant system, NAFs learn to continuously map all emitter and listener location pairs to a neural impulse response function that can then be applied to arbitrary sounds. We demonstrate NAFs on both synthetic and real data, and show that the continuous nature of NAFs enables us to render spatial acoustics for a listener at arbitrary locations. We further show that the representation learned by NAFs can help improve visual learning with sparse views. Finally we show that a representation informative of scene structure emerges during the learning of NAFs.

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NeurIPS Conference 2022 Conference Paper

Learning Physical Dynamics with Subequivariant Graph Neural Networks

  • Jiaqi Han
  • Wenbing Huang
  • Hengbo Ma
  • Jiachen Li
  • Josh Tenenbaum
  • Chuang Gan

Graph Neural Networks (GNNs) have become a prevailing tool for learning physical dynamics. However, they still encounter several challenges: 1) Physical laws abide by symmetry, which is a vital inductive bias accounting for model generalization and should be incorporated into the model design. Existing simulators either consider insufficient symmetry, or enforce excessive equivariance in practice when symmetry is partially broken by gravity. 2) Objects in the physical world possess diverse shapes, sizes, and properties, which should be appropriately processed by the model. To tackle these difficulties, we propose a novel backbone, called Subequivariant Graph Neural Network, which 1) relaxes equivariance to subequivariance by considering external fields like gravity, where the universal approximation ability holds theoretically; 2) introduces a new subequivariant object-aware message passing for learning physical interactions between multiple objects of various shapes in particle-based representation; 3) operates in a hierarchical fashion, allowing for modeling long-range and complex interactions. Our model achieves on average over 3% enhancement in contact prediction accuracy across 8 scenarios on Physion and 2$\times$ lower rollout MSE on RigidFall compared with state-of-the-art GNN simulators, while exhibiting strong generalization and data efficiency.

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NeurIPS Conference 2022 Conference Paper

PDSketch: Integrated Domain Programming, Learning, and Planning

  • Jiayuan Mao
  • Tomás Lozano-Pérez
  • Josh Tenenbaum
  • Leslie Kaelbling

This paper studies a model learning and online planning approach towards building flexible and general robots. Specifically, we investigate how to exploit the locality and sparsity structures in the underlying environmental transition model to improve model generalization, data-efficiency, and runtime-efficiency. We present a new domain definition language, named PDSketch. It allows users to flexibly define high-level structures in the transition models, such as object and feature dependencies, in a way similar to how programmers use TensorFlow or PyTorch to specify kernel sizes and hidden dimensions of a convolutional neural network. The details of the transition model will be filled in by trainable neural networks. Based on the defined structures and learned parameters, PDSketch automatically generates domain-independent planning heuristics without additional training. The derived heuristics accelerate the performance-time planning for novel goals.

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NeurIPS Conference 2022 Conference Paper

When to Make Exceptions: Exploring Language Models as Accounts of Human Moral Judgment

  • Zhijing Jin
  • Sydney Levine
  • Fernando Gonzalez Adauto
  • Ojasv Kamal
  • Maarten Sap
  • Mrinmaya Sachan
  • Rada Mihalcea
  • Josh Tenenbaum

AI systems are becoming increasingly intertwined with human life. In order to effectively collaborate with humans and ensure safety, AI systems need to be able to understand, interpret and predict human moral judgments and decisions. Human moral judgments are often guided by rules, but not always. A central challenge for AI safety is capturing the flexibility of the human moral mind — the ability to determine when a rule should be broken, especially in novel or unusual situations. In this paper, we present a novel challenge set consisting of moral exception question answering (MoralExceptQA) of cases that involve potentially permissible moral exceptions – inspired by recent moral psychology studies. Using a state-of-the-art large language model (LLM) as a basis, we propose a novel moral chain of thought (MoralCoT) prompting strategy that combines the strengths of LLMs with theories of moral reasoning developed in cognitive science to predict human moral judgments. MoralCoT outperforms seven existing LLMs by 6. 2% F1, suggesting that modeling human reasoning might be necessary to capture the flexibility of the human moral mind. We also conduct a detailed error analysis to suggest directions for future work to improve AI safety using MoralExceptQA. Our data is open-sourced at https: //huggingface. co/datasets/feradauto/MoralExceptQA and code at https: //github. com/feradauto/MoralCoT.

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NeurIPS Conference 2021 Conference Paper

3DP3: 3D Scene Perception via Probabilistic Programming

  • Nishad Gothoskar
  • Marco Cusumano-Towner
  • Ben Zinberg
  • Matin Ghavamizadeh
  • Falk Pollok
  • Austin Garrett
  • Josh Tenenbaum
  • Dan Gutfreund

We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to decompose scenes into objects and the contacts between them, and (iii) depth image likelihoods based on real-time graphics. Given an observed RGB-D image, 3DP3's inference algorithm infers the underlying latent 3D scene, including the object poses and a parsimonious joint parametrization of these poses, using fast bottom-up pose proposals, novel involutive MCMC updates of the scene graph structure, and, optionally, neural object detectors and pose estimators. We show that 3DP3 enables scene understanding that is aware of 3D shape, occlusion, and contact structure. Our results demonstrate that 3DP3 is more accurate at 6DoF object pose estimation from real images than deep learning baselines and shows better generalization to challenging scenes with novel viewpoints, contact, and partial observability.

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NeurIPS Conference 2021 Conference Paper

A Bayesian-Symbolic Approach to Reasoning and Learning in Intuitive Physics

  • Kai Xu
  • Akash Srivastava
  • Dan Gutfreund
  • Felix Sosa
  • Tomer Ullman
  • Josh Tenenbaum
  • Charles Sutton

Humans can reason about intuitive physics in fully or partially observed environments even after being exposed to a very limited set of observations. This sample-efficient intuitive physical reasoning is considered a core domain of human common sense knowledge. One hypothesis to explain this remarkable capacity, posits that humans quickly learn approximations to the laws of physics that govern the dynamics of the environment. In this paper, we propose a Bayesian-symbolic framework (BSP) for physical reasoning and learning that is close to human-level sample-efficiency and accuracy. In BSP, the environment is represented by a top-down generative model of entities, which are assumed to interact with each other under unknown force laws over their latent and observed properties. BSP models each of these entities as random variables, and uses Bayesian inference to estimate their unknown properties. For learning the unknown forces, BSP leverages symbolic regression on a novel grammar of Newtonian physics in a bilevel optimization setup. These inference and regression steps are performed in an iterative manner using expectation-maximization, allowing BSP to simultaneously learn force laws while maintaining uncertainty over entity properties. We show that BSP is more sample-efficient compared to neural alternatives on controlled synthetic datasets, demonstrate BSP's applicability to real-world common sense scenes and study BSP's performance on tasks previously used to study human physical reasoning.

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NeurIPS Conference 2021 Conference Paper

Dynamic Visual Reasoning by Learning Differentiable Physics Models from Video and Language

  • Mingyu Ding
  • Zhenfang Chen
  • Tao Du
  • Ping Luo
  • Josh Tenenbaum
  • Chuang Gan

In this work, we propose a unified framework, called Visual Reasoning with Differ-entiable Physics (VRDP), that can jointly learn visual concepts and infer physics models of objects and their interactions from videos and language. This is achieved by seamlessly integrating three components: a visual perception module, a concept learner, and a differentiable physics engine. The visual perception module parses each video frame into object-centric trajectories and represents them as latent scene representations. The concept learner grounds visual concepts (e. g. , color, shape, and material) from these object-centric representations based on the language, thus providing prior knowledge for the physics engine. The differentiable physics model, implemented as an impulse-based differentiable rigid-body simulator, performs differentiable physical simulation based on the grounded concepts to infer physical properties, such as mass, restitution, and velocity, by fitting the simulated trajectories into the video observations. Consequently, these learned concepts and physical models can explain what we have seen and imagine what is about to happen in future and counterfactual scenarios. Integrating differentiable physics into the dynamic reasoning framework offers several appealing benefits. More accurate dynamics prediction in learned physics models enables state-of-the-art performance on both synthetic and real-world benchmarks while still maintaining high transparency and interpretability; most notably, VRDP improves the accuracy of predictive and counterfactual questions by 4. 5% and 11. 5% compared to its best counterpart. VRDP is also highly data-efficient: physical parameters can be optimized from very few videos, and even a single video can be sufficient. Finally, with all physical parameters inferred, VRDP can quickly learn new concepts from a few examples.

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NeurIPS Conference 2021 Conference Paper

Grammar-Based Grounded Lexicon Learning

  • Jiayuan Mao
  • Freda Shi
  • Jiajun Wu
  • Roger Levy
  • Josh Tenenbaum

We present Grammar-Based Grounded Language Learning (G2L2), a lexicalist approach toward learning a compositional and grounded meaning representation of language from grounded data, such as paired images and texts. At the core of G2L2 is a collection of lexicon entries, which map each word to a tuple of a syntactic type and a neuro-symbolic semantic program. For example, the word shiny has a syntactic type of adjective; its neuro-symbolic semantic program has the symbolic form $\lambda x. \textit{filter}(x, \textbf{SHINY})$, where the concept SHINY is associated with a neural network embedding, which will be used to classify shiny objects. Given an input sentence, G2L2 first looks up the lexicon entries associated with each token. It then derives the meaning of the sentence as an executable neuro-symbolic program by composing lexical meanings based on syntax. The recovered meaning programs can be executed on grounded inputs. To facilitate learning in an exponentially-growing compositional space, we introduce a joint parsing and expected execution algorithm, which does local marginalization over derivations to reduce the training time. We evaluate G2L2 on two domains: visual reasoning and language-driven navigation. Results show that G2L2 can generalize from small amounts of data to novel compositions of words.

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NeurIPS Conference 2021 Conference Paper

Improving Coherence and Consistency in Neural Sequence Models with Dual-System, Neuro-Symbolic Reasoning

  • Maxwell Nye
  • Michael Tessler
  • Josh Tenenbaum
  • Brenden M. Lake

Human reasoning can be understood as an interplay between two systems: the intuitive and associative ("System 1") and the deliberative and logical ("System 2"). Neural sequence models---which have been increasingly successful at performing complex, structured tasks---exhibit the advantages and failure modes of System 1: they are fast and learn patterns from data, but are often inconsistent and incoherent. In this work, we seek a lightweight, training-free means of improving existing System 1-like sequence models by adding System 2-inspired logical reasoning. We explore several variations on this theme in which candidate generations from a neural sequence model are examined for logical consistency by a symbolic reasoning module, which can either accept or reject the generations. Our approach uses neural inference to mediate between the neural System 1 and the logical System 2. Results in robust story generation and grounded instruction-following show that this approach can increase the coherence and accuracy of neurally-based generations.

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NeurIPS Conference 2021 Conference Paper

Learning Signal-Agnostic Manifolds of Neural Fields

  • Yilun Du
  • Katie Collins
  • Josh Tenenbaum
  • Vincent Sitzmann

Deep neural networks have been used widely to learn the latent structure of datasets, across modalities such as images, shapes, and audio signals. However, existing models are generally modality-dependent, requiring custom architectures and objectives to process different classes of signals. We leverage neural fields to capture the underlying structure in image, shape, audio and cross-modal audiovisual domains in a modality-independent manner. We cast our task as one of learning a manifold, where we aim to infer a low-dimensional, locally linear subspace in which our data resides. By enforcing coverage of the manifold, local linearity, and local isometry, our model -- dubbed GEM -- learns to capture the underlying structure of datasets across modalities. We can then travel along linear regions of our manifold to obtain perceptually consistent interpolations between samples, and can further use GEM to recover points on our manifold and glean not only diverse completions of input images, but cross-modal hallucinations of audio or image signals. Finally, we show that by walking across the underlying manifold of GEM, we may generate new samples in our signal domains.

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NeurIPS Conference 2021 Conference Paper

Learning to Compose Visual Relations

  • Nan Liu
  • Shuang Li
  • Yilun Du
  • Josh Tenenbaum
  • Antonio Torralba

The visual world around us can be described as a structured set of objects and their associated relations. An image of a room may be conjured given only the description of the underlying objects and their associated relations. While there has been significant work on designing deep neural networks which may compose individual objects together, less work has been done on composing the individual relations between objects. A principal difficulty is that while the placement of objects is mutually independent, their relations are entangled and dependent on each other. To circumvent this issue, existing works primarily compose relations by utilizing a holistic encoder, in the form of text or graphs. In this work, we instead propose to represent each relation as an unnormalized density (an energy-based model), enabling us to compose separate relations in a factorized manner. We show that such a factorized decomposition allows the model to both generate and edit scenes that have multiple sets of relations more faithfully. We further show that decomposition enables our model to effectively understand the underlying relational scene structure.

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NeurIPS Conference 2021 Conference Paper

Light Field Networks: Neural Scene Representations with Single-Evaluation Rendering

  • Vincent Sitzmann
  • Semon Rezchikov
  • Bill Freeman
  • Josh Tenenbaum
  • Fredo Durand

Inferring representations of 3D scenes from 2D observations is a fundamental problem of computer graphics, computer vision, and artificial intelligence. Emerging 3D-structured neural scene representations are a promising approach to 3D scene understanding. In this work, we propose a novel neural scene representation, Light Field Networks or LFNs, which represent both geometry and appearance of the underlying 3D scene in a 360-degree, four-dimensional light field parameterized via a neural implicit representation. Rendering a ray from an LFN requires only a single network evaluation, as opposed to hundreds of evaluations per ray for ray-marching or volumetric based renderers in 3D-structured neural scene representations. In the setting of simple scenes, we leverage meta-learning to learn a prior over LFNs that enables multi-view consistent light field reconstruction from as little as a single image observation. This results in dramatic reductions in time and memory complexity, and enables real-time rendering. The cost of storing a 360-degree light field via an LFN is two orders of magnitude lower than conventional methods such as the Lumigraph. Utilizing the analytical differentiability of neural implicit representations and a novel parameterization of light space, we further demonstrate the extraction of sparse depth maps from LFNs.

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NeurIPS Conference 2021 Conference Paper

Noether Networks: meta-learning useful conserved quantities

  • Ferran Alet
  • Dylan Doblar
  • Allan Zhou
  • Josh Tenenbaum
  • Kenji Kawaguchi
  • Chelsea Finn

Progress in machine learning (ML) stems from a combination of data availability, computational resources, and an appropriate encoding of inductive biases. Useful biases often exploit symmetries in the prediction problem, such as convolutional networks relying on translation equivariance. Automatically discovering these useful symmetries holds the potential to greatly improve the performance of ML systems, but still remains a challenge. In this work, we focus on sequential prediction problems and take inspiration from Noether's theorem to reduce the problem of finding inductive biases to meta-learning useful conserved quantities. We propose Noether Networks: a new type of architecture where a meta-learned conservation loss is optimized inside the prediction function. We show, theoretically and experimentally, that Noether Networks improve prediction quality, providing a general framework for discovering inductive biases in sequential problems.

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NeurIPS Conference 2021 Conference Paper

Physion: Evaluating Physical Prediction from Vision in Humans and Machines

  • Daniel Bear
  • Elias Wang
  • Damian Mrowca
  • Felix Binder
  • Hsiao-Yu Tung
  • Pramod RT
  • Cameron Holdaway
  • Sirui Tao

While current vision algorithms excel at many challenging tasks, it is unclear how well they understand the physical dynamics of real-world environments. Here we introduce Physion, a dataset and benchmark for rigorously evaluating the ability to predict how physical scenarios will evolve over time. Our dataset features realistic simulations of a wide range of physical phenomena, including rigid and soft- body collisions, stable multi-object configurations, rolling, sliding, and projectile motion, thus providing a more comprehensive challenge than previous bench- marks. We used Physion to benchmark a suite of models varying in their architecture, learning objective, input-output structure, and training data. In parallel, we obtained precise measurements of human prediction behavior on the same set of scenarios, allowing us to directly evaluate how well any model could approximate human behavior. We found that vision algorithms that learn object-centric representations generally outperform those that do not, yet still fall far short of human performance. On the other hand, graph neural networks with direct access to physical state information both perform substantially better and make predictions that are more similar to those made by humans. These results suggest that extracting physical representations of scenes is the main bottleneck to achieving human-level and human-like physical understanding in vision algorithms. We have publicly released all data and code to facilitate the use of Physion to benchmark additional models in a fully reproducible manner, enabling systematic evaluation of progress towards vision algorithms that understand physical environments as robustly as people do.

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NeurIPS Conference 2021 Conference Paper

PTR: A Benchmark for Part-based Conceptual, Relational, and Physical Reasoning

  • Yining Hong
  • Li Yi
  • Josh Tenenbaum
  • Antonio Torralba
  • Chuang Gan

A critical aspect of human visual perception is the ability to parse visual scenes into individual objects and further into object parts, forming part-whole hierarchies. Such composite structures could induce a rich set of semantic concepts and relations, thus playing an important role in the interpretation and organization of visual signals as well as for the generalization of visual perception and reasoning. However, existing visual reasoning benchmarks mostly focus on objects rather than parts. Visual reasoning based on the full part-whole hierarchy is much more challenging than object-centric reasoning due to finer-grained concepts, richer geometry relations, and more complex physics. Therefore, to better serve for part-based conceptual, relational and physical reasoning, we introduce a new large-scale diagnostic visual reasoning dataset named PTR. PTR contains around 80k RGBD synthetic images with ground truth object and part level annotations regarding semantic instance segmentation, color attributes, spatial and geometric relationships, and certain physical properties such as stability. These images are paired with 800k machine-generated questions covering various types of reasoning types, making them a good testbed for visual reasoning models. We examine several state-of-the-art visual reasoning models on this dataset and observe that they still make many surprising mistakes in situations where humans can easily infer the correct answer. We believe this dataset will open up new opportunities for part-based reasoning. PTR dataset and baseline models are publicly available.

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NeurIPS Conference 2021 Conference Paper

STAR: A Benchmark for Situated Reasoning in Real-World Videos

  • Bo Wu
  • Shoubin Yu
  • Zhenfang Chen
  • Josh Tenenbaum
  • Chuang Gan

Reasoning in the real world is not divorced from situations. How to capture the present knowledge from surrounding situations and perform reasoning accordingly is crucial and challenging for machine intelligence. This paper introduces a new benchmark that evaluates the situated reasoning ability via situation abstraction and logic-grounded question answering for real-world videos, called Situated Reasoning in Real-World Videos (STAR). This benchmark is built upon the real-world videos associated with human actions or interactions, which are naturally dynamic, compositional, and logical. The dataset includes four types of questions, including interaction, sequence, prediction, and feasibility. We represent the situations in real-world videos by hyper-graphs connecting extracted atomic entities and relations (e. g. , actions, persons, objects, and relationships). Besides visual perception, situated reasoning also requires structured situation comprehension and logical reasoning. Questions and answers are procedurally generated. The answering logic of each question is represented by a functional program based on a situation hyper-graph. We compare various existing video reasoning models and find that they all struggle on this challenging situated reasoning task. We further propose a diagnostic neuro-symbolic model that can disentangle visual perception, situation abstraction, language understanding, and functional reasoning to understand the challenges of this benchmark.

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NeurIPS Conference 2021 Conference Paper

ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation

  • Chuang Gan
  • Jeremy Schwartz
  • Seth Alter
  • Damian Mrowca
  • Martin Schrimpf
  • James Traer
  • Julian De Freitas
  • Jonas Kubilius

We introduce ThreeDWorld (TDW), a platform for interactive multi-modal physical simulation. TDW enables the simulation of high-fidelity sensory data and physical interactions between mobile agents and objects in rich 3D environments. Unique properties include real-time near-photo-realistic image rendering; a library of objects and environments, and routines for their customization; generative procedures for efficiently building classes of new environments; high-fidelity audio rendering; realistic physical interactions for a variety of material types, including cloths, liquid, and deformable objects; customizable ``avatars” that embody AI agents; and support for human interactions with VR devices. TDW’s API enables multiple agents to interact within a simulation and returns a range of sensor and physics data representing the state of the world. We present initial experiments enabled by TDW in emerging research directions in computer vision, machine learning, and cognitive science, including multi-modal physical scene understanding, physical dynamics predictions, multi-agent interactions, models that ‘learn like a child’, and attention studies in humans and neural networks.

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NeurIPS Conference 2021 Conference Paper

Unsupervised Learning of Compositional Energy Concepts

  • Yilun Du
  • Shuang Li
  • Yash Sharma
  • Josh Tenenbaum
  • Igor Mordatch

Humans are able to rapidly understand scenes by utilizing concepts extracted from prior experience. Such concepts are diverse, and include global scene descriptors, such as the weather or lighting, as well as local scene descriptors, such as the color or size of a particular object. So far, unsupervised discovery of concepts has focused on either modeling the global scene-level or the local object-level factors of variation, but not both. In this work, we propose COMET, which discovers and represents concepts as separate energy functions, enabling us to represent both global concepts as well as objects under a unified framework. COMET discovers energy functions through recomposing the input image, which we find captures independent factors without additional supervision. Sample generation in COMET is formulated as an optimization process on underlying energy functions, enabling us to generate images with permuted and composed concepts. Finally, discovered visual concepts in COMET generalize well, enabling us to compose concepts between separate modalities of images as well as with other concepts discovered by a separate instance of COMET trained on a different dataset. Code and data available at https: //energy-based-model. github. io/comet/.

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AAAI Conference 2020 Conference Paper

Few-Shot Bayesian Imitation Learning with Logical Program Policies

  • Tom Silver
  • Kelsey R. Allen
  • Alex K. Lew
  • Leslie Pack Kaelbling
  • Josh Tenenbaum

Humans can learn many novel tasks from a very small number (1–5) of demonstrations, in stark contrast to the data requirements of nearly tabula rasa deep learning methods. We propose an expressive class of policies, a strong but general prior, and a learning algorithm that, together, can learn interesting policies from very few examples. We represent policies as logical combinations of programs drawn from a domainspecific language (DSL), define a prior over policies with a probabilistic grammar, and derive an approximate Bayesian inference algorithm to learn policies from demonstrations. In experiments, we study six strategy games played on a 2D grid with one shared DSL. After a few demonstrations of each game, the inferred policies generalize to new game instances that differ substantially from the demonstrations. Our policy learning is 20–1, 000x more data efficient than convolutional and fully convolutional policy learning and many orders of magnitude more computationally efficient than vanilla program induction. We argue that the proposed method is an apt choice for tasks that have scarce training data and feature significant, structured variation between task instances.

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NeurIPS Conference 2020 Conference Paper

Learning abstract structure for drawing by efficient motor program induction

  • Lucas Tian
  • Kevin Ellis
  • Marta Kryven
  • Josh Tenenbaum

Humans flexibly solve new problems that differ from those previously practiced. This ability to flexibly generalize is supported by learned concepts that represent useful structure common across different problems. Here we develop a naturalistic drawing task to study how humans rapidly acquire structured prior knowledge. The task requires drawing visual figures that share underlying structure, based on a set of composable geometric rules and simple objects. We show that people spontaneously learn abstract drawing procedures that support generalization, and propose a model of how learners can discover these reusable drawing procedures. Trained in the same setting as humans, and constrained to produce efficient motor actions, this model discovers new drawing program subroutines that generalize to test figures and resemble learned features of human behavior. These results suggest that two principles guiding motor program induction in the model - abstraction (programs can reflect high-level structure that ignores figure-specific details) and compositionality (new programs are discovered by recombining previously learned programs) - are key for explaining how humans learn structured internal representations that guide flexible reasoning and learning.

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NeurIPS Conference 2020 Conference Paper

Learning Compositional Rules via Neural Program Synthesis

  • Maxwell Nye
  • Armando Solar-Lezama
  • Josh Tenenbaum
  • Brenden M. Lake

Many aspects of human reasoning, including language, require learning rules from very little data. Humans can do this, often learning systematic rules from very few examples, and combining these rules to form compositional rule-based systems. Current neural architectures, on the other hand, often fail to generalize in a compositional manner, especially when evaluated in ways that vary systematically from training. In this work, we present a neuro-symbolic model which learns entire rule systems from a small set of examples. Instead of directly predicting outputs from inputs, we train our model to induce the explicit system of rules governing a set of previously seen examples, drawing upon techniques from the neural program synthesis literature. Our rule-synthesis approach outperforms neural meta-learning techniques in three domains: an artificial instruction-learning domain used to evaluate human learning, the SCAN challenge datasets, and learning rule-based translations of number words into integers for a wide range of human languages.

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NeurIPS Conference 2020 Conference Paper

Learning Physical Graph Representations from Visual Scenes

  • Daniel Bear
  • Chaofei Fan
  • Damian Mrowca
  • Yunzhu Li
  • Seth Alter
  • Aran Nayebi
  • Jeremy Schwartz
  • Li F. Fei-Fei

Convolutional Neural Networks (CNNs) have proved exceptional at learning representations for visual object categorization. However, CNNs do not explicitly encode objects, parts, and their physical properties, which has limited CNNs' success on tasks that require structured understanding of visual scenes. To overcome these limitations, we introduce the idea of ``Physical Scene Graphs'' (PSGs), which represent scenes as hierarchical graphs, with nodes in the hierarchy corresponding intuitively to object parts at different scales, and edges to physical connections between parts. Bound to each node is a vector of latent attributes that intuitively represent object properties such as surface shape and texture. We also describe PSGNet, a network architecture that learns to extract PSGs by reconstructing scenes through a PSG-structured bottleneck. PSGNet augments standard CNNs by including: recurrent feedback connections to combine low and high-level image information; graph pooling and vectorization operations that convert spatially-uniform feature maps into object-centric graph structures; and perceptual grouping principles to encourage the identification of meaningful scene elements. We show that PSGNet outperforms alternative self-supervised scene representation algorithms at scene segmentation tasks, especially on complex real-world images, and generalizes well to unseen object types and scene arrangements. PSGNet is also able learn from physical motion, enhancing scene estimates even for static images. We present a series of ablation studies illustrating the importance of each component of the PSGNet architecture, analyses showing that learned latent attributes capture intuitive scene properties, and illustrate the use of PSGs for compositional scene inference.

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NeurIPS Conference 2020 Conference Paper

Multi-Plane Program Induction with 3D Box Priors

  • Yikai Li
  • Jiayuan Mao
  • Xiuming Zhang
  • Bill Freeman
  • Josh Tenenbaum
  • Noah Snavely
  • Jiajun Wu

We consider two important aspects in understanding and editing images: modeling regular, program-like texture or patterns in 2D planes, and 3D posing of these planes in the scene. Unlike prior work on image-based program synthesis, which assumes the image contains a single visible 2D plane, we present Box Program Induction (BPI), which infers a program-like scene representation that simultaneously models repeated structure on multiple 2D planes, the 3D position and orientation of the planes, and camera parameters, all from a single image. Our model assumes a box prior, i. e. , that the image captures either an inner view or an outer view of a box in 3D. It uses neural networks to infer visual cues such as vanishing points, wireframe lines to guide a search-based algorithm to find the program that best explains the image. Such a holistic, structured scene representation enables 3D-aware interactive image editing operations such as inpainting missing pixels, changing camera parameters, and extrapolate the image contents.

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NeurIPS Conference 2020 Conference Paper

Online Bayesian Goal Inference for Boundedly Rational Planning Agents

  • Tan Zhi-Xuan
  • Jordyn Mann
  • Tom Silver
  • Josh Tenenbaum
  • Vikash Mansinghka

People routinely infer the goals of others by observing their actions over time. Remarkably, we can do so even when those actions lead to failure, enabling us to assist others when we detect that they might not achieve their goals. How might we endow machines with similar capabilities? Here we present an architecture capable of inferring an agent’s goals online from both optimal and non-optimal sequences of actions. Our architecture models agents as boundedly-rational planners that interleave search with execution by replanning, thereby accounting for sub-optimal behavior. These models are specified as probabilistic programs, allowing us to represent and perform efficient Bayesian inference over an agent's goals and internal planning processes. To perform such inference, we develop Sequential Inverse Plan Search (SIPS), a sequential Monte Carlo algorithm that exploits the online replanning assumption of these models, limiting computation by incrementally extending inferred plans as new actions are observed. We present experiments showing that this modeling and inference architecture outperforms Bayesian inverse reinforcement learning baselines, accurately inferring goals from both optimal and non-optimal trajectories involving failure and back-tracking, while generalizing across domains with compositional structure and sparse rewards.

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NeurIPS Conference 2020 Conference Paper

Program Synthesis with Pragmatic Communication

  • Yewen Pu
  • Kevin Ellis
  • Marta Kryven
  • Josh Tenenbaum
  • Armando Solar-Lezama

Program synthesis techniques construct or infer programs from user-provided specifications, such as input-output examples. Yet most specifications, especially those given by end-users, leave the synthesis problem radically ill-posed, because many programs may simultaneously satisfy the specification. Prior work resolves this ambiguity by using various inductive biases, such as a preference for simpler programs. This work introduces a new inductive bias derived by modeling the program synthesis task as rational communication, drawing insights from recursive reasoning models of pragmatics. Given a specification, we score a candidate program both on its consistency with the specification, and also whether a rational speaker would chose this particular specification to communicate that program. We develop efficient algorithms for such an approach when learning from input-output examples, and build a pragmatic program synthesizer over a simple grid-like layout domain. A user study finds that end-user participants communicate more effectively with the pragmatic program synthesizer over a non-pragmatic one.

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NeurIPS Conference 2019 Conference Paper

Finding Friend and Foe in Multi-Agent Games

  • Jack Serrino
  • Max Kleiman-Weiner
  • David Parkes
  • Josh Tenenbaum

Recent breakthroughs in AI for multi-agent games like Go, Poker, and Dota, have seen great strides in recent years. Yet none of these games address the real-life challenge of cooperation in the presence of unknown and uncertain teammates. This challenge is a key game mechanism in hidden role games. Here we develop the DeepRole algorithm, a multi-agent reinforcement learning agent that we test on "The Resistance: Avalon", the most popular hidden role game. DeepRole combines counterfactual regret minimization (CFR) with deep value networks trained through self-play. Our algorithm integrates deductive reasoning into vector-form CFR to reason about joint beliefs and deduce partially observable actions. We augment deep value networks with constraints that yield interpretable representations of win probabilities. These innovations enable DeepRole to scale to the full Avalon game. Empirical game-theoretic methods show that DeepRole outperforms other hand-crafted and learned agents in five-player Avalon. DeepRole played with and against human players on the web in hybrid human-agent teams. We find that DeepRole outperforms human players as both a cooperator and a competitor.

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NeurIPS Conference 2019 Conference Paper

Modeling Expectation Violation in Intuitive Physics with Coarse Probabilistic Object Representations

  • Kevin Smith
  • Lingjie Mei
  • Shunyu Yao
  • Jiajun Wu
  • Elizabeth Spelke
  • Josh Tenenbaum
  • Tomer Ullman

From infancy, humans have expectations about how objects will move and interact. Even young children expect objects not to move through one another, teleport, or disappear. They are surprised by mismatches between physical expectations and perceptual observations, even in unfamiliar scenes with completely novel objects. A model that exhibits human-like understanding of physics should be similarly surprised, and adjust its beliefs accordingly. We propose ADEPT, a model that uses a coarse (approximate geometry) object-centric representation for dynamic 3D scene understanding. Inference integrates deep recognition networks, extended probabilistic physical simulation, and particle filtering for forming predictions and expectations across occlusion. We also present a new test set for measuring violations of physical expectations, using a range of scenarios derived from developmental psychology. We systematically compare ADEPT, baseline models, and human expectations on this test set. ADEPT outperforms standard network architectures in discriminating physically implausible scenes, and often performs this discrimination at the same level as people.

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NeurIPS Conference 2019 Conference Paper

ObjectNet: A large-scale bias-controlled dataset for pushing the limits of object recognition models

  • Andrei Barbu
  • David Mayo
  • Julian Alverio
  • William Luo
  • Christopher Wang
  • Dan Gutfreund
  • Josh Tenenbaum
  • Boris Katz

We collect a large real-world test set, ObjectNet, for object recognition with controls where object backgrounds, rotations, and imaging viewpoints are random. Most scientific experiments have controls, confounds which are removed from the data, to ensure that subjects cannot perform a task by exploiting trivial correlations in the data. Historically, large machine learning and computer vision datasets have lacked such controls. This has resulted in models that must be fine-tuned for new datasets and perform better on datasets than in real-world applications. When tested on ObjectNet, object detectors show a 40-45% drop in performance, with respect to their performance on other benchmarks, due to the controls for biases. Controls make ObjectNet robust to fine-tuning showing only small performance increases. We develop a highly automated platform that enables gathering datasets with controls by crowdsourcing image capturing and annotation. ObjectNet is the same size as the ImageNet test set (50, 000 images), and by design does not come paired with a training set in order to encourage generalization. The dataset is both easier than ImageNet (objects are largely centered and unoccluded) and harder (due to the controls). Although we focus on object recognition here, data with controls can be gathered at scale using automated tools throughout machine learning to generate datasets that exercise models in new ways thus providing valuable feedback to researchers. This work opens up new avenues for research in generalizable, robust, and more human-like computer vision and in creating datasets where results are predictive of real-world performance.

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NeurIPS Conference 2019 Conference Paper

Visual Concept-Metaconcept Learning

  • Chi Han
  • Jiayuan Mao
  • Chuang Gan
  • Josh Tenenbaum
  • Jiajun Wu

Humans reason with concepts and metaconcepts: we recognize red and blue from visual input; we also understand that they are colors, i. e. , red is an instance of color. In this paper, we propose the visual concept-metaconcept learner (VCML) for joint learning of concepts and metaconcepts from images and associated question-answer pairs. The key is to exploit the bidirectional connection between visual concepts and metaconcepts. Visual representations provide grounding cues for predicting relations between unseen pairs of concepts. Knowing that red and blue are instances of color, we generalize to the fact that green is also an instance of color since they all categorize the hue of objects. Meanwhile, knowledge about metaconcepts empowers visual concept learning from limited, noisy, and even biased data. From just a few examples of purple cubes we can understand a new color purple, which resembles the hue of the cubes instead of the shape of them. Evaluation on both synthetic and real-world datasets validates our claims.

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NeurIPS Conference 2019 Conference Paper

Write, Execute, Assess: Program Synthesis with a REPL

  • Kevin Ellis
  • Maxwell Nye
  • Yewen Pu
  • Felix Sosa
  • Josh Tenenbaum
  • Armando Solar-Lezama

We present a neural program synthesis approach integrating components which write, execute, and assess code to navigate the search space of possible programs. We equip the search process with an interpreter or a read-eval-print-loop (REPL), which immediately executes partially written programs, exposing their semantics. The REPL addresses a basic challenge of program synthesis: tiny changes in syntax can lead to huge changes in semantics. We train a pair of models, a policy that proposes the new piece of code to write, and a value function that assesses the prospects of the code written so-far. At test time we can combine these models with a Sequential Monte Carlo algorithm. We apply our approach to two domains: synthesizing text editing programs and inferring 2D and 3D graphics programs.

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NeurIPS Conference 2018 Conference Paper

3D-Aware Scene Manipulation via Inverse Graphics

  • Shunyu Yao
  • Tzu Ming Hsu
  • Jun-Yan Zhu
  • Jiajun Wu
  • Antonio Torralba
  • Bill Freeman
  • Josh Tenenbaum

We aim to obtain an interpretable, expressive, and disentangled scene representation that contains comprehensive structural and textural information for each object. Previous scene representations learned by neural networks are often uninterpretable, limited to a single object, or lacking 3D knowledge. In this work, we propose 3D scene de-rendering networks (3D-SDN) to address the above issues by integrating disentangled representations for semantics, geometry, and appearance into a deep generative model. Our scene encoder performs inverse graphics, translating a scene into a structured object-wise representation. Our decoder has two components: a differentiable shape renderer and a neural texture generator. The disentanglement of semantics, geometry, and appearance supports 3D-aware scene manipulation, e. g. , rotating and moving objects freely while keeping the consistent shape and texture, and changing the object appearance without affecting its shape. Experiments demonstrate that our editing scheme based on 3D-SDN is superior to its 2D counterpart.

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AAMAS Conference 2018 Conference Paper

Building Machines that Learn and Think Like People

  • Josh Tenenbaum

Recent successes in artificial intelligence and machine learning have been largely driven by methods for sophisticated pattern recognition, including deep neural networks and other data-intensive methods. But human intelligence is more than just pattern recognition. And no machine system yet built has anything like the flexible, general-purpose commonsense grasp of the world that we can see in even a one-year-old human infant. I will consider how we might capture the basic learning and thinking abilities humans possess from early childhood, as one route to building more human-like forms of machine learning and thinking. At the heart of human common sense is our ability to model the physical and social environment around us: to explain and understand what we see, to imagine things we could see but haven’t yet, to solve problems and plan actions to make these things real, and to build new models as we learn more about the world. I will focus on our recent work reverse-engineering these capacities using methods from probabilistic programming, program induction and program synthesis, which together with deep learning methods and video game simulation engines, provide a toolkit for the joint enterprise of modeling human intelligence and making AI systems smarter in more human-like ways.

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NeurIPS Conference 2018 Conference Paper

End-to-End Differentiable Physics for Learning and Control

  • Filipe de Avila Belbute-Peres
  • Kevin Smith
  • Kelsey Allen
  • Josh Tenenbaum
  • J. Zico Kolter

We present a differentiable physics engine that can be integrated as a module in deep neural networks for end-to-end learning. As a result, structured physics knowledge can be embedded into larger systems, allowing them, for example, to match observations by performing precise simulations, while achieves high sample efficiency. Specifically, in this paper we demonstrate how to perform backpropagation analytically through a physical simulator defined via a linear complementarity problem. Unlike traditional finite difference methods, such gradients can be computed analytically, which allows for greater flexibility of the engine. Through experiments in diverse domains, we highlight the system's ability to learn physical parameters from data, efficiently match and simulate observed visual behavior, and readily enable control via gradient-based planning methods. Code for the engine and experiments is included with the paper.

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NeurIPS Conference 2018 Conference Paper

Flexible neural representation for physics prediction

  • Damian Mrowca
  • Chengxu Zhuang
  • Elias Wang
  • Nick Haber
  • Li Fei-Fei
  • Josh Tenenbaum
  • Daniel Yamins

Humans have a remarkable capacity to understand the physical dynamics of objects in their environment, flexibly capturing complex structures and interactions at multiple levels of detail. Inspired by this ability, we propose a hierarchical particle-based object representation that covers a wide variety of types of three-dimensional objects, including both arbitrary rigid geometrical shapes and deformable materials. We then describe the Hierarchical Relation Network (HRN), an end-to-end differentiable neural network based on hierarchical graph convolution, that learns to predict physical dynamics in this representation. Compared to other neural network baselines, the HRN accurately handles complex collisions and nonrigid deformations, generating plausible dynamics predictions at long time scales in novel settings, and scaling to large scene configurations. These results demonstrate an architecture with the potential to form the basis of next-generation physics predictors for use in computer vision, robotics, and quantitative cognitive science.

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NeurIPS Conference 2018 Conference Paper

Learning Libraries of Subroutines for Neurally–Guided Bayesian Program Induction

  • Kevin Ellis
  • Lucas Morales
  • Mathias Sablé-Meyer
  • Armando Solar-Lezama
  • Josh Tenenbaum

Successful approaches to program induction require a hand-engineered domain-specific language (DSL), constraining the space of allowed programs and imparting prior knowledge of the domain. We contribute a program induction algorithm that learns a DSL while jointly training a neural network to efficiently search for programs in the learned DSL. We use our model to synthesize functions on lists, edit text, and solve symbolic regression problems, showing how the model learns a domain-specific library of program components for expressing solutions to problems in the domain.

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NeurIPS Conference 2018 Conference Paper

Learning to Exploit Stability for 3D Scene Parsing

  • Yilun Du
  • Zhijian Liu
  • Hector Basevi
  • Ales Leonardis
  • Bill Freeman
  • Josh Tenenbaum
  • Jiajun Wu

Human scene understanding uses a variety of visual and non-visual cues to perform inference on object types, poses, and relations. Physics is a rich and universal cue which we exploit to enhance scene understanding. We integrate the physical cue of stability into the learning process using a REINFORCE approach coupled to a physics engine, and apply this to the problem of producing the 3D bounding boxes and poses of objects in a scene. We first show that applying physics supervision to an existing scene understanding model increases performance, produces more stable predictions, and allows training to an equivalent performance level with fewer annotated training examples. We then present a novel architecture for 3D scene parsing named Prim R-CNN, learning to predict bounding boxes as well as their 3D size, translation, and rotation. With physics supervision, Prim R-CNN outperforms existing scene understanding approaches on this problem. Finally, we show that applying physics supervision on unlabeled real images improves real domain transfer of models training on synthetic data.

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NeurIPS Conference 2018 Conference Paper

Learning to Infer Graphics Programs from Hand-Drawn Images

  • Kevin Ellis
  • Daniel Ritchie
  • Armando Solar-Lezama
  • Josh Tenenbaum

We introduce a model that learns to convert simple hand drawings into graphics programs written in a subset of \LaTeX. ~The model combines techniques from deep learning and program synthesis. We learn a convolutional neural network that proposes plausible drawing primitives that explain an image. These drawing primitives are a specification (spec) of what the graphics program needs to draw. We learn a model that uses program synthesis techniques to recover a graphics program from that spec. These programs have constructs like variable bindings, iterative loops, or simple kinds of conditionals. With a graphics program in hand, we can correct errors made by the deep network and extrapolate drawings.

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NeurIPS Conference 2018 Conference Paper

Learning to Reconstruct Shapes from Unseen Classes

  • Xiuming Zhang
  • Zhoutong Zhang
  • Chengkai Zhang
  • Josh Tenenbaum
  • Bill Freeman
  • Jiajun Wu

From a single image, humans are able to perceive the full 3D shape of an object by exploiting learned shape priors from everyday life. Contemporary single-image 3D reconstruction algorithms aim to solve this task in a similar fashion, but often end up with priors that are highly biased by training classes. Here we present an algorithm, Generalizable Reconstruction (GenRe), designed to capture more generic, class-agnostic shape priors. We achieve this with an inference network and training procedure that combine 2. 5D representations of visible surfaces (depth and silhouette), spherical shape representations of both visible and non-visible surfaces, and 3D voxel-based representations, in a principled manner that exploits the causal structure of how 3D shapes give rise to 2D images. Experiments demonstrate that GenRe performs well on single-view shape reconstruction, and generalizes to diverse novel objects from categories not seen during training.

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NeurIPS Conference 2018 Conference Paper

Learning to Share and Hide Intentions using Information Regularization

  • DJ Strouse
  • Max Kleiman-Weiner
  • Josh Tenenbaum
  • Matt Botvinick
  • David Schwab

Learning to cooperate with friends and compete with foes is a key component of multi-agent reinforcement learning. Typically to do so, one requires access to either a model of or interaction with the other agent(s). Here we show how to learn effective strategies for cooperation and competition in an asymmetric information game with no such model or interaction. Our approach is to encourage an agent to reveal or hide their intentions using an information-theoretic regularizer. We consider both the mutual information between goal and action given state, as well as the mutual information between goal and state. We show how to stochastically optimize these regularizers in a way that is easy to integrate with policy gradient reinforcement learning. Finally, we demonstrate that cooperative (competitive) policies learned with our approach lead to more (less) reward for a second agent in two simple asymmetric information games.

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NeurIPS Conference 2018 Conference Paper

Neural-Symbolic VQA: Disentangling Reasoning from Vision and Language Understanding

  • Kexin Yi
  • Jiajun Wu
  • Chuang Gan
  • Antonio Torralba
  • Pushmeet Kohli
  • Josh Tenenbaum

We marry two powerful ideas: deep representation learning for visual recognition and language understanding, and symbolic program execution for reasoning. Our neural-symbolic visual question answering (NS-VQA) system first recovers a structural scene representation from the image and a program trace from the question. It then executes the program on the scene representation to obtain an answer. Incorporating symbolic structure as prior knowledge offers three unique advantages. First, executing programs on a symbolic space is more robust to long program traces; our model can solve complex reasoning tasks better, achieving an accuracy of 99. 8% on the CLEVR dataset. Second, the model is more data- and memory-efficient: it performs well after learning on a small number of training data; it can also encode an image into a compact representation, requiring less storage than existing methods for offline question answering. Third, symbolic program execution offers full transparency to the reasoning process; we are thus able to interpret and diagnose each execution step.

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NeurIPS Conference 2018 Conference Paper

Visual Object Networks: Image Generation with Disentangled 3D Representations

  • Jun-Yan Zhu
  • Zhoutong Zhang
  • Chengkai Zhang
  • Jiajun Wu
  • Antonio Torralba
  • Josh Tenenbaum
  • Bill Freeman

Recent progress in deep generative models has led to tremendous breakthroughs in image generation. While being able to synthesize photorealistic images, existing models lack an understanding of our underlying 3D world. Different from previous works built on 2D datasets and models, we present a new generative model, Visual Object Networks (VONs), synthesizing natural images of objects with a disentangled 3D representation. Inspired by classic graphics rendering pipelines, we unravel the image formation process into three conditionally independent factors---shape, viewpoint, and texture---and present an end-to-end adversarial learning framework that jointly models 3D shape and 2D texture. Our model first learns to synthesize 3D shapes that are indistinguishable from real shapes. It then renders the object's 2. 5D sketches (i. e. , silhouette and depth map) from its shape under a sampled viewpoint. Finally, it learns to add realistic textures to these 2. 5D sketches to generate realistic images. The VON not only generates images that are more realistic than the state-of-the-art 2D image synthesis methods but also enables many 3D operations such as changing the viewpoint of a generated image, shape and texture editing, linear interpolation in texture and shape space, and transferring appearance across different objects and viewpoints.

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NeurIPS Conference 2017 Conference Paper

Learning to See Physics via Visual De-animation

  • Jiajun Wu
  • Erika Lu
  • Pushmeet Kohli
  • Bill Freeman
  • Josh Tenenbaum

We introduce a paradigm for understanding physical scenes without human annotations. At the core of our system is a physical world representation that is first recovered by a perception module and then utilized by physics and graphics engines. During training, the perception module and the generative models learn by visual de-animation --- interpreting and reconstructing the visual information stream. During testing, the system first recovers the physical world state, and then uses the generative models for reasoning and future prediction. Even more so than forward simulation, inverting a physics or graphics engine is a computationally hard problem; we overcome this challenge by using a convolutional inversion network. Our system quickly recognizes the physical world state from appearance and motion cues, and has the flexibility to incorporate both differentiable and non-differentiable physics and graphics engines. We evaluate our system on both synthetic and real datasets involving multiple physical scenes, and demonstrate that our system performs well on both physical state estimation and reasoning problems. We further show that the knowledge learned on the synthetic dataset generalizes to constrained real images.

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NeurIPS Conference 2017 Conference Paper

MarrNet: 3D Shape Reconstruction via 2.5D Sketches

  • Jiajun Wu
  • Yifan Wang
  • Tianfan Xue
  • Xingyuan Sun
  • Bill Freeman
  • Josh Tenenbaum

3D object reconstruction from a single image is a highly under-determined problem, requiring strong prior knowledge of plausible 3D shapes. This introduces challenge for learning-based approaches, as 3D object annotations in real images are scarce. Previous work chose to train on synthetic data with ground truth 3D information, but suffered from the domain adaptation issue when tested on real data. In this work, we propose an end-to-end trainable framework, sequentially estimating 2. 5D sketches and 3D object shapes. Our disentangled, two-step formulation has three advantages. First, compared to full 3D shape, 2. 5D sketches are much easier to be recovered from a 2D image, and to transfer from synthetic to real data. Second, for 3D reconstruction from the 2. 5D sketches, we can easily transfer the learned model on synthetic data to real images, as rendered 2. 5D sketches are invariant to object appearance variations in real images, including lighting, texture, etc. This further relieves the domain adaptation problem. Third, we derive differentiable projective functions from 3D shape to 2. 5D sketches, making the framework end-to-end trainable on real images, requiring no real-image annotations. Our framework achieves state-of-the-art performance on 3D shape reconstruction.

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NeurIPS Conference 2017 Conference Paper

Self-Supervised Intrinsic Image Decomposition

  • Michael Janner
  • Jiajun Wu
  • Tejas Kulkarni
  • Ilker Yildirim
  • Josh Tenenbaum

Intrinsic decomposition from a single image is a highly challenging task, due to its inherent ambiguity and the scarcity of training data. In contrast to traditional fully supervised learning approaches, in this paper we propose learning intrinsic image decomposition by explaining the input image. Our model, the Rendered Intrinsics Network (RIN), joins together an image decomposition pipeline, which predicts reflectance, shape, and lighting conditions given a single image, with a recombination function, a learned shading model used to recompose the original input based off of intrinsic image predictions. Our network can then use unsupervised reconstruction error as an additional signal to improve its intermediate representations. This allows large-scale unlabeled data to be useful during training, and also enables transferring learned knowledge to images of unseen object categories, lighting conditions, and shapes. Extensive experiments demonstrate that our method performs well on both intrinsic image decomposition and knowledge transfer.

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NeurIPS Conference 2017 Conference Paper

Shape and Material from Sound

  • Zhoutong Zhang
  • Qiujia Li
  • Zhengjia Huang
  • Jiajun Wu
  • Josh Tenenbaum
  • Bill Freeman

Hearing an object falling onto the ground, humans can recover rich information including its rough shape, material, and falling height. In this paper, we build machines to approximate such competency. We first mimic human knowledge of the physical world by building an efficient, physics-based simulation engine. Then, we present an analysis-by-synthesis approach to infer properties of the falling object. We further accelerate the process by learning a mapping from a sound wave to object properties, and using the predicted values to initialize the inference. This mapping can be viewed as an approximation of human commonsense learned from past experience. Our model performs well on both synthetic audio clips and real recordings without requiring any annotated data. We conduct behavior studies to compare human responses with ours on estimating object shape, material, and falling height from sound. Our model achieves near-human performance.

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NeurIPS Conference 2016 Conference Paper

Hierarchical Deep Reinforcement Learning: Integrating Temporal Abstraction and Intrinsic Motivation

  • Tejas Kulkarni
  • Karthik Narasimhan
  • Ardavan Saeedi
  • Josh Tenenbaum

Learning goal-directed behavior in environments with sparse feedback is a major challenge for reinforcement learning algorithms. One of the key difficulties is insufficient exploration, resulting in an agent being unable to learn robust policies. Intrinsically motivated agents can explore new behavior for their own sake rather than to directly solve external goals. Such intrinsic behaviors could eventually help the agent solve tasks posed by the environment. We present hierarchical-DQN (h-DQN), a framework to integrate hierarchical action-value functions, operating at different temporal scales, with goal-driven intrinsically motivated deep reinforcement learning. A top-level q-value function learns a policy over intrinsic goals, while a lower-level function learns a policy over atomic actions to satisfy the given goals. h-DQN allows for flexible goal specifications, such as functions over entities and relations. This provides an efficient space for exploration in complicated environments. We demonstrate the strength of our approach on two problems with very sparse and delayed feedback: (1) a complex discrete stochastic decision process with stochastic transitions, and (2) the classic ATARI game -- `Montezuma's Revenge'.

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NeurIPS Conference 2016 Conference Paper

Learning a Probabilistic Latent Space of Object Shapes via 3D Generative-Adversarial Modeling

  • Jiajun Wu
  • Chengkai Zhang
  • Tianfan Xue
  • Bill Freeman
  • Josh Tenenbaum

We study the problem of 3D object generation. We propose a novel framework, namely 3D Generative Adversarial Network (3D-GAN), which generates 3D objects from a probabilistic space by leveraging recent advances in volumetric convolutional networks and generative adversarial nets. The benefits of our model are three-fold: first, the use of an adversarial criterion, instead of traditional heuristic criteria, enables the generator to capture object structure implicitly and to synthesize high-quality 3D objects; second, the generator establishes a mapping from a low-dimensional probabilistic space to the space of 3D objects, so that we can sample objects without a reference image or CAD models, and explore the 3D object manifold; third, the adversarial discriminator provides a powerful 3D shape descriptor which, learned without supervision, has wide applications in 3D object recognition. Experiments demonstrate that our method generates high-quality 3D objects, and our unsupervisedly learned features achieve impressive performance on 3D object recognition, comparable with those of supervised learning methods.

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NeurIPS Conference 2016 Conference Paper

Probing the Compositionality of Intuitive Functions

  • Eric Schulz
  • Josh Tenenbaum
  • David Duvenaud
  • Maarten Speekenbrink
  • Samuel Gershman

How do people learn about complex functional structure? Taking inspiration from other areas of cognitive science, we propose that this is accomplished by harnessing compositionality: complex structure is decomposed into simpler building blocks. We formalize this idea within the framework of Bayesian regression using a grammar over Gaussian process kernels. We show that participants prefer compositional over non-compositional function extrapolations, that samples from the human prior over functions are best described by a compositional model, and that people perceive compositional functions as more predictable than their non-compositional but otherwise similar counterparts. We argue that the compositional nature of intuitive functions is consistent with broad principles of human cognition.

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NeurIPS Conference 2016 Conference Paper

Sampling for Bayesian Program Learning

  • Kevin Ellis
  • Armando Solar-Lezama
  • Josh Tenenbaum

Towards learning programs from data, we introduce the problem of sampling programs from posterior distributions conditioned on that data. Within this setting, we propose an algorithm that uses a symbolic solver to efficiently sample programs. The proposal combines constraint-based program synthesis with sampling via random parity constraints. We give theoretical guarantees on how well the samples approximate the true posterior, and have empirical results showing the algorithm is efficient in practice, evaluating our approach on 22 program learning problems in the domains of text editing and computer-aided programming.

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NeurIPS Conference 2015 Conference Paper

Deep Convolutional Inverse Graphics Network

  • Tejas Kulkarni
  • William Whitney
  • Pushmeet Kohli
  • Josh Tenenbaum

This paper presents the Deep Convolution Inverse Graphics Network (DC-IGN), a model that aims to learn an interpretable representation of images, disentangled with respect to three-dimensional scene structure and viewing transformations such as depth rotations and lighting variations. The DC-IGN model is composed of multiple layers of convolution and de-convolution operators and is trained using the Stochastic Gradient Variational Bayes (SGVB) algorithm. We propose a training procedure to encourage neurons in the graphics code layer to represent a specific transformation (e. g. pose or light). Given a single input image, our model can generate new images of the same object with variations in pose and lighting. We present qualitative and quantitative tests of the model's efficacy at learning a 3D rendering engine for varied object classes including faces and chairs.

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NeurIPS Conference 2015 Conference Paper

Galileo: Perceiving Physical Object Properties by Integrating a Physics Engine with Deep Learning

  • Jiajun Wu
  • Ilker Yildirim
  • Joseph Lim
  • Bill Freeman
  • Josh Tenenbaum

Humans demonstrate remarkable abilities to predict physical events in dynamic scenes, and to infer the physical properties of objects from static images. We propose a generative model for solving these problems of physical scene understanding from real-world videos and images. At the core of our generative model is a 3D physics engine, operating on an object-based representation of physical properties, including mass, position, 3D shape, and friction. We can infer these latent properties using relatively brief runs of MCMC, which drive simulations in the physics engine to fit key features of visual observations. We further explore directly mapping visual inputs to physical properties, inverting a part of the generative process using deep learning. We name our model Galileo, and evaluate it on a video dataset with simple yet physically rich scenarios. Results show that Galileo is able to infer the physical properties of objects and predict the outcome of a variety of physical events, with an accuracy comparable to human subjects. Our study points towards an account of human vision with generative physical knowledge at its core, and various recognition models as helpers leading to efficient inference.

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NeurIPS Conference 2015 Conference Paper

Softstar: Heuristic-Guided Probabilistic Inference

  • Mathew Monfort
  • Brenden Lake
  • Brian Ziebart
  • Patrick Lucey
  • Josh Tenenbaum

Recent machine learning methods for sequential behavior prediction estimate the motives of behavior rather than the behavior itself. This higher-level abstraction improves generalization in different prediction settings, but computing predictions often becomes intractable in large decision spaces. We propose the Softstar algorithm, a softened heuristic-guided search technique for the maximum entropy inverse optimal control model of sequential behavior. This approach supports probabilistic search with bounded approximation error at a significantly reduced computational cost when compared to sampling based methods. We present the algorithm, analyze approximation guarantees, and compare performance with simulation-based inference on two distinct complex decision tasks.

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NeurIPS Conference 2015 Conference Paper

Unsupervised Learning by Program Synthesis

  • Kevin Ellis
  • Armando Solar-Lezama
  • Josh Tenenbaum

We introduce an unsupervised learning algorithmthat combines probabilistic modeling with solver-based techniques for program synthesis. We apply our techniques to both a visual learning domain and a language learning problem, showing that our algorithm can learn many visual concepts from only a few examplesand that it can recover some English inflectional morphology. Taken together, these results give both a new approach to unsupervised learning of symbolic compositional structures, and a technique for applying program synthesis tools to noisy data.

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NeurIPS Conference 2013 Conference Paper

Approximate Bayesian Image Interpretation using Generative Probabilistic Graphics Programs

  • Vikash Mansinghka
  • Tejas Kulkarni
  • Yura Perov
  • Josh Tenenbaum

The idea of computer vision as the Bayesian inverse problem to computer graphics has a long history and an appealing elegance, but it has proved difficult to directly implement. Instead, most vision tasks are approached via complex bottom-up processing pipelines. Here we show that it is possible to write short, simple probabilistic graphics programs that define flexible generative models and to automatically invert them to interpret real-world images. Generative probabilistic graphics programs consist of a stochastic scene generator, a renderer based on graphics software, a stochastic likelihood model linking the renderer's output and the data, and latent variables that adjust the fidelity of the renderer and the tolerance of the likelihood model. Representations and algorithms from computer graphics, originally designed to produce high-quality images, are instead used as the deterministic backbone for highly approximate and stochastic generative models. This formulation combines probabilistic programming, computer graphics, and approximate Bayesian computation, and depends only on general-purpose, automatic inference techniques. We describe two applications: reading sequences of degraded and adversarially obscured alphanumeric characters, and inferring 3D road models from vehicle-mounted camera images. Each of the probabilistic graphics programs we present relies on under 20 lines of probabilistic code, and supports accurate, approximately Bayesian inferences about ambiguous real-world images.

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NeurIPS Conference 2013 Conference Paper

One-shot learning by inverting a compositional causal process

  • Brenden Lake
  • Russ Salakhutdinov
  • Josh Tenenbaum

People can learn a new visual class from just one example, yet machine learning algorithms typically require hundreds or thousands of examples to tackle the same problems. Here we present a Hierarchical Bayesian model based on compositionality and causality that can learn a wide range of natural (although simple) visual concepts, generalizing in human-like ways from just one image. We evaluated performance on a challenging one-shot classification task, where our model achieved a human-level error rate while substantially outperforming two deep learning models. We also used a visual Turing test" to show that our model produces human-like performance on other conceptual tasks, including generating new examples and parsing. "

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