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Kate Saenko

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38 papers
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38

ICLR Conference 2025 Conference Paper

Is Large-scale Pretraining the Secret to Good Domain Generalization?

  • Piotr Teterwak
  • Kuniaki Saito
  • Theodoros Tsiligkaridis
  • Bryan A. Plummer
  • Kate Saenko

Multi-Source Domain Generalization (DG) is the task of training on multiple source domains and achieving high classification performance on unseen target domains. Recent methods combine robust features from web-scale pretrained backbones with new features learned from source data, and this has dramatically improved benchmark results. However, it remains unclear if DG finetuning methods are becoming better over time, or if improved benchmark performance is simply an artifact of stronger pre-training. Prior studies have shown that perceptual similarity to pre-training data correlates with zero-shot performance, but we find the effect limited in the DG setting. Instead, we posit that having perceptually similar data in pretraining is not enough; and that it is how well these data were learned that determines performance. This leads us to introduce the Alignment Hypothesis, which states that the final DG performance will be high if and only if alignment of image and class label text embeddings is high. Our experiments confirm the Alignment Hypothesis is true, and we use it as an analysis tool of existing DG methods evaluated on DomainBed datasets by splitting evaluation data into In-pretraining (IP) and Out-of-pretraining (OOP). We show that all evaluated DG methods struggle on DomainBed-OOP, while recent methods excel on DomainBed-IP. Put together, our findings highlight the need for DG methods which can generalize beyond pretraining alignment. We release DomainBed-OOP at https://huggingface.co/datasets/PTeterwak/DomainBed_OOP.

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ICLR Conference 2025 Conference Paper

KiVA: Kid-inspired Visual Analogies for Testing Large Multimodal Models

  • Eunice Yiu
  • Maan Qraitem
  • Anisa Noor Majhi
  • Charlie Wong
  • Yutong Bai
  • Shiry Ginosar
  • Alison Gopnik
  • Kate Saenko

This paper investigates visual analogical reasoning in large multimodal models (LMMs) compared to human adults and children. A “visual analogy” is an abstract rule inferred from one image and applied to another. While benchmarks exist for testing visual reasoning in LMMs, they require advanced skills and omit basic visual analogies that even young children can make. Inspired by developmental psychology, we propose a new benchmark of 4,300 visual transformations of everyday objects to test LMMs on visual analogical reasoning and compare them to children (ages three to five) and to adults. We structure the evaluation into three stages: identifying what changed (e.g., color, number, etc.), how it changed (e.g., added one object), and applying the rule to new scenarios. Our findings show that while GPT-o1, GPT-4V, LLaVA-1.5, and MANTIS identify the “what” effectively, they struggle with quantifying the “how” and extrapolating this rule to new objects. In contrast, children and adults exhibit much stronger analogical reasoning at all three stages. Additionally, the strongest tested model, GPT-o1, performs better in tasks involving simple surface-level visual attributes like color and size, correlating with quicker human adult response times. Conversely, more complex tasks such as number, rotation, and reflection, which necessitate extensive cognitive processing and understanding of extrinsic spatial properties in the physical world, present more significant challenges. Altogether, these findings highlight the limitations of training models on data that primarily consists of 2D images and text.

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NeurIPS Conference 2023 Conference Paper

Cola: A Benchmark for Compositional Text-to-image Retrieval

  • Arijit Ray
  • Filip Radenovic
  • Abhimanyu Dubey
  • Bryan Plummer
  • Ranjay Krishna
  • Kate Saenko

Compositional reasoning is a hallmark of human visual intelligence. Yet, despite the size of large vision-language models, they struggle to represent simple compositions by combining objects with their attributes. To measure this lack of compositional capability, we design Cola, a text-to-image retrieval benchmark to Compose Objects Localized with Attributes. To solve Cola, a model must retrieve images with the correct configuration of attributes and objects and avoid choosing a distractor image with the same objects and attributes but in the wrong configuration. Cola contains about 1. 2k composed queries of 168 objects and 197 attributes on around 30K images. Our human evaluation finds that Cola is 83. 33% accurate, similar to contemporary compositionality benchmarks. Using Cola as a testbed, we explore empirical modeling designs to adapt pre-trained vision-language models to reason compositionally. We explore 6 adaptation strategies on 2 seminal vision-language models, using compositionality-centric test benchmarks - Cola and CREPE. We find the optimal adaptation strategy is to train a multi-modal attention layer that jointly attends over the frozen pre-trained image and language features. Surprisingly, training multimodal layers on CLIP performs better than tuning a larger FLAVA model with already pre-trained multimodal layers. Furthermore, our adaptation strategy improves CLIP and FLAVA to comparable levels, suggesting that training multimodal layers using contrastive attribute-object data is key, as opposed to using them pre-trained. Lastly, we show that Cola is harder than a closely related contemporary benchmark, CREPE, since simpler fine-tuning strategies without multimodal layers suffice on CREPE, but not on Cola. However, we still see a significant gap between our best adaptation and human accuracy, suggesting considerable room for further research. Project page: https: //cs-people. bu. edu/array/research/cola/

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NeurIPS Conference 2022 Conference Paper

DualCoOp: Fast Adaptation to Multi-Label Recognition with Limited Annotations

  • Ximeng Sun
  • Ping Hu
  • Kate Saenko

Solving multi-label recognition (MLR) for images in the low-label regime is a challenging task with many real-world applications. Recent work learns an alignment between textual and visual spaces to compensate for insufficient image labels, but loses accuracy because of the limited amount of available MLR annotations. In this work, we utilize the strong alignment of textual and visual features pretrained with millions of auxiliary image-text pairs and propose \textit{Dual Context Optimization} (DualCoOp) as a unified framework for partial-label MLR and zero-shot MLR. \ours encodes positive and negative contexts with class names as part of the linguistic input (i. e. prompts). Since \ours only introduces a very light learnable overhead upon the pretrained vision-language framework, it can quickly adapt to multi-label recognition tasks that have limited annotations and even unseen classes. Experiments on standard multi-label recognition benchmarks across two challenging low-label settings demonstrate the advantages of our approach over state-of-the-art methods. Our code will be publicly available. Project page: https: //cs-people. bu. edu/sunxm/DualCoOp/project. html

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ICLR Conference 2022 Conference Paper

Extending the WILDS Benchmark for Unsupervised Adaptation

  • Shiori Sagawa
  • Pang Wei Koh
  • Tony Lee
  • Irena Gao
  • Sang Michael Xie
  • Kendrick Shen
  • Ananya Kumar
  • Weihua Hu

Machine learning systems deployed in the wild are often trained on a source distribution but deployed on a different target distribution. Unlabeled data can be a powerful point of leverage for mitigating these distribution shifts, as it is frequently much more available than labeled data and can often be obtained from distributions beyond the source distribution as well. However, existing distribution shift benchmarks with unlabeled data do not reflect the breadth of scenarios that arise in real-world applications. In this work, we present the WILDS 2.0 update, which extends 8 of the 10 datasets in the WILDS benchmark of distribution shifts to include curated unlabeled data that would be realistically obtainable in deployment. These datasets span a wide range of applications (from histology to wildlife conservation), tasks (classification, regression, and detection), and modalities (photos, satellite images, microscope slides, text, molecular graphs). The update maintains consistency with the original WILDS benchmark by using identical labeled training, validation, and test sets, as well as identical evaluation metrics. We systematically benchmark state-of-the-art methods that use unlabeled data, including domain-invariant, self-training, and self-supervised methods, and show that their success on WILDS is limited. To facilitate method development, we provide an open-source package that automates data loading and contains the model architectures and methods used in this paper. Code and leaderboards are available at https://wilds.stanford.edu.

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NeurIPS Conference 2022 Conference Paper

FETA: Towards Specializing Foundational Models for Expert Task Applications

  • Amit Alfassy
  • Assaf Arbelle
  • Oshri Halimi
  • Sivan Harary
  • Roei Herzig
  • Eli Schwartz
  • Rameswar Panda
  • Michele Dolfi

Foundational Models (FMs) have demonstrated unprecedented capabilities including zero-shot learning, high fidelity data synthesis, and out of domain generalization. However, the parameter capacity of FMs is still limited, leading to poor out-of-the-box performance of FMs on many expert tasks (e. g. retrieval of car manuals technical illustrations from language queries), data for which is either unseen or belonging to a long-tail part of the data distribution of the huge datasets used for FM pre-training. This underlines the necessity to explicitly evaluate and finetune FMs on such expert tasks, arguably ones that appear the most in practical real-world applications. In this paper, we propose a first of its kind FETA benchmark built around the task of teaching FMs to understand technical documentation, via learning to match their graphical illustrations to corresponding language descriptions. Our FETA benchmark focuses on text-to-image and image-to-text retrieval in public car manuals and sales catalogue brochures. FETA is equipped with a procedure for completely automatic annotation extraction (code would be released upon acceptance), allowing easy extension of FETA to more documentation types and application domains in the future. Our automatic annotation leads to an automated performance metric shown to be consistent with metrics computed on human-curated annotations (also released). We provide multiple baselines and analysis of popular FMs on FETA leading to several interesting findings that we believe would be very valuable to the FM community, paving the way towards real-world application of FMs for many practical expert tasks currently being `overlooked' by standard benchmarks focusing on common objects.

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NeurIPS Conference 2022 Conference Paper

Finding Differences Between Transformers and ConvNets Using Counterfactual Simulation Testing

  • Nataniel Ruiz
  • Sarah Bargal
  • Cihang Xie
  • Kate Saenko
  • Stan Sclaroff

Modern deep neural networks tend to be evaluated on static test sets. One shortcoming of this is the fact that these deep neural networks cannot be easily evaluated for robustness issues with respect to specific scene variations. For example, it is hard to study the robustness of these networks to variations of object scale, object pose, scene lighting and 3D occlusions. The main reason is that collecting real datasets with fine-grained naturalistic variations of sufficient scale can be extremely time-consuming and expensive. In this work, we present Counterfactual Simulation Testing, a counterfactual framework that allows us to study the robustness of neural networks with respect to some of these naturalistic variations by building realistic synthetic scenes that allow us to ask counterfactual questions to the models, ultimately providing answers to questions such as "Would your classification still be correct if the object were viewed from the top? " or "Would your classification still be correct if the object were partially occluded by another object? ". Our method allows for a fair comparison of the robustness of recently released, state-of-the-art Convolutional Neural Networks and Vision Transformers, with respect to these naturalistic variations. We find evidence that ConvNext is more robust to pose and scale variations than Swin, that ConvNext generalizes better to our simulated domain and that Swin handles partial occlusion better than ConvNext. We also find that robustness for all networks improves with network scale and with data scale and variety. We release the Naturalistic Variation Object Dataset (NVD), a large simulated dataset of 272k images of everyday objects with naturalistic variations such as object pose, scale, viewpoint, lighting and occlusions. Project page: https: //counterfactualsimulation. github. io

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NeurIPS Conference 2022 Conference Paper

How Transferable are Video Representations Based on Synthetic Data?

  • Yo-whan Kim
  • Samarth Mishra
  • SouYoung Jin
  • Rameswar Panda
  • Hilde Kuehne
  • Leonid Karlinsky
  • Venkatesh Saligrama
  • Kate Saenko

Action recognition has improved dramatically with massive-scale video datasets. Yet, these datasets are accompanied with issues related to curation cost, privacy, ethics, bias, and copyright. Compared to that, only minor efforts have been devoted toward exploring the potential of synthetic video data. In this work, as a stepping stone towards addressing these shortcomings, we study the transferability of video representations learned solely from synthetically-generated video clips, instead of real data. We propose SynAPT, a novel benchmark for action recognition based on a combination of existing synthetic datasets, in which a model is pre-trained on synthetic videos rendered by various graphics simulators, and then transferred to a set of downstream action recognition datasets, containing different categories than the synthetic data. We provide an extensive baseline analysis on SynAPT revealing that the simulation-to-real gap is minor for datasets with low object and scene bias, where models pre-trained with synthetic data even outperform their real data counterparts. We posit that the gap between real and synthetic action representations can be attributed to contextual bias and static objects related to the action, instead of the temporal dynamics of the action itself. The SynAPT benchmark is available at https: //github. com/mintjohnkim/SynAPT.

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ICLR Conference 2022 Conference Paper

Multi-Critic Actor Learning: Teaching RL Policies to Act with Style

  • Siddharth Mysore
  • George Cheng
  • Yunqi Zhao
  • Kate Saenko
  • Meng Wu

Using a single value function (critic) shared over multiple tasks in Actor-Critic multi-task reinforcement learning (MTRL) can result in negative interference between tasks, which can compromise learning performance. Multi-Critic Actor Learning (MultiCriticAL) proposes instead maintaining separate critics for each task being trained while training a single multi-task actor. Explicitly distinguishing between tasks also eliminates the need for critics to learn to do so and mitigates interference between task-value estimates. MultiCriticAL is tested in the context of multi-style learning, a special case of MTRL where agents are trained to behave with different distinct behavior styles, and yields up to 56% performance gains over the single-critic baselines and even successfully learns behavior styles in cases where single-critic approaches may simply fail to learn. In a simulated real-world use case, MultiCriticAL enables learning policies that smoothly transition between multiple fighting styles on an experimental build of EA’s UFC game.

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ICLR Conference 2022 Conference Paper

Neural Parameter Allocation Search

  • Bryan A. Plummer
  • Nikoli Dryden
  • Julius Frost
  • Torsten Hoefler
  • Kate Saenko

Training neural networks requires increasing amounts of memory. Parameter sharing can reduce memory and communication costs, but existing methods assume networks have many identical layers and utilize hand-crafted sharing strategies that fail to generalize. We introduce Neural Parameter Allocation Search (NPAS), a novel task where the goal is to train a neural network given an arbitrary, fixed parameter budget. NPAS covers both low-budget regimes, which produce compact networks, as well as a novel high-budget regime, where additional capacity can be added to boost performance without increasing inference FLOPs. To address NPAS, we introduce Shapeshifter Networks (SSNs), which automatically learn where and how to share parameters in a network to support any parameter budget without requiring any changes to the architecture or loss function. NPAS and SSNs provide a complete framework for addressing generalized parameter sharing, and can also be combined with prior work for additional performance gains. We demonstrate the effectiveness of our approach using nine network architectures across four diverse tasks, including ImageNet classification and transformers.

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ICLR Conference 2021 Conference Paper

AdaFuse: Adaptive Temporal Fusion Network for Efficient Action Recognition

  • Yue Meng
  • Rameswar Panda
  • Chung-Ching Lin
  • Prasanna Sattigeri
  • Leonid Karlinsky
  • Kate Saenko
  • Aude Oliva
  • Rogério Feris

Temporal modelling is the key for efficient video action recognition. While understanding temporal information can improve recognition accuracy for dynamic actions, removing temporal redundancy and reusing past features can significantly save computation leading to efficient action recognition. In this paper, we introduce an adaptive temporal fusion network, called AdaFuse, that dynamically fuses channels from current and past feature maps for strong temporal modelling. Specifically, the necessary information from the historical convolution feature maps is fused with current pruned feature maps with the goal of improving both recognition accuracy and efficiency. In addition, we use a skipping operation to further reduce the computation cost of action recognition. Extensive experiments on SomethingV1 & V2, Jester and Mini-Kinetics show that our approach can achieve about 40% computation savings with comparable accuracy to state-of-the-art methods. The project page can be found at https://mengyuest.github.io/AdaFuse/

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NeurIPS Conference 2021 Conference Paper

Contrast and Mix: Temporal Contrastive Video Domain Adaptation with Background Mixing

  • Aadarsh Sahoo
  • Rutav Shah
  • Rameswar Panda
  • Kate Saenko
  • Abir Das

Unsupervised domain adaptation which aims to adapt models trained on a labeled source domain to a completely unlabeled target domain has attracted much attention in recent years. While many domain adaptation techniques have been proposed for images, the problem of unsupervised domain adaptation in videos remains largely underexplored. In this paper, we introduce Contrast and Mix (CoMix), a new contrastive learning framework that aims to learn discriminative invariant feature representations for unsupervised video domain adaptation. First, unlike existing methods that rely on adversarial learning for feature alignment, we utilize temporal contrastive learning to bridge the domain gap by maximizing the similarity between encoded representations of an unlabeled video at two different speeds as well as minimizing the similarity between different videos played at different speeds. Second, we propose a novel extension to the temporal contrastive loss by using background mixing that allows additional positives per anchor, thus adapting contrastive learning to leverage action semantics shared across both domains. Moreover, we also integrate a supervised contrastive learning objective using target pseudo-labels to enhance discriminability of the latent space for video domain adaptation. Extensive experiments on several benchmark datasets demonstrate the superiority of our proposed approach over state-of-the-art methods. Project page: https: //cvir. github. io/projects/comix.

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NeurIPS Conference 2021 Conference Paper

Look at What I’m Doing: Self-Supervised Spatial Grounding of Narrations in Instructional Videos

  • Reuben Tan
  • Bryan Plummer
  • Kate Saenko
  • Hailin Jin
  • Bryan Russell

We introduce the task of spatially localizing narrated interactions in videos. Key to our approach is the ability to learn to spatially localize interactions with self-supervision on a large corpus of videos with accompanying transcribed narrations. To achieve this goal, we propose a multilayer cross-modal attention network that enables effective optimization of a contrastive loss during training. We introduce a divided strategy that alternates between computing inter- and intra-modal attention across the visual and natural language modalities, which allows effective training via directly contrasting the two modalities' representations. We demonstrate the effectiveness of our approach by self-training on the HowTo100M instructional video dataset and evaluating on a newly collected dataset of localized described interactions in the YouCook2 dataset. We show that our approach outperforms alternative baselines, including shallow co-attention and full cross-modal attention. We also apply our approach to grounding phrases in images with weak supervision on Flickr30K and show that stacking multiple attention layers is effective and, when combined with a word-to-region loss, achieves state of the art on recall-at-one and pointing hand accuracies.

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NeurIPS Conference 2021 Conference Paper

OpenMatch: Open-Set Semi-supervised Learning with Open-set Consistency Regularization

  • Kuniaki Saito
  • Donghyun Kim
  • Kate Saenko

Semi-supervised learning (SSL) is an effective means to leverage unlabeled data to improve a model’s performance. Typical SSL methods like FixMatch assume that labeled and unlabeled data share the same label space. However, in practice, unlabeled data can contain categories unseen in the labeled set, i. e. , outliers, which can significantly harm the performance of SSL algorithms. To address this problem, we propose a novel Open-set Semi-Supervised Learning (OSSL) approach called OpenMatch. Learning representations of inliers while rejecting outliers is essential for the success of OSSL. To this end, OpenMatch unifies FixMatch with novelty detection based on one-vs-all (OVA) classifiers. The OVA-classifier outputs the confidence score of a sample being an inlier, providing a threshold to detect outliers. Another key contribution is an open-set soft-consistency regularization loss, which enhances the smoothness of the OVA-classifier with respect to input transformations and greatly improves outlier detection. \ours achieves state-of-the-art performance on three datasets, and even outperforms a fully supervised model in detecting outliers unseen in unlabeled data on CIFAR10. The code is available at \url{https: //github. com/VisionLearningGroup/OP_Match}.

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ICRA Conference 2021 Conference Paper

Regularizing Action Policies for Smooth Control with Reinforcement Learning

  • Siddharth Mysore
  • Bassel El Mabsout
  • Renato Mancuso 0001
  • Kate Saenko

A critical problem with the practical utility of controllers trained with deep Reinforcement Learning (RL) is the notable lack of smoothness in the actions learned by the RL policies. This trend often presents itself in the form of control signal oscillation and can result in poor control, high power consumption, and undue system wear. We introduce Conditioning for Action Policy Smoothness (CAPS), an effective yet intuitive regularization on action policies, which offers consistent improvement in the smoothness of the learned state-to-action mappings of neural network controllers, reflected in the elimination of high-frequency components in the control signal. Tested on a real system, improvements in controller smoothness on a quadrotor drone resulted in an almost 80% reduction in power consumption while consistently training flight-worthy controllers. Project website: http://ai.bu.edu/caps

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ICLR Conference 2021 Conference Paper

VA-RED2: Video Adaptive Redundancy Reduction

  • Bowen Pan
  • Rameswar Panda
  • Camilo Luciano Fosco
  • Chung-Ching Lin
  • Alex J. Andonian
  • Yue Meng
  • Kate Saenko
  • Aude Oliva

Performing inference on deep learning models for videos remains a challenge due to the large amount of computational resources required to achieve robust recognition. An inherent property of real-world videos is the high correlation of information across frames which can translate into redundancy in either temporal or spatial feature maps of the models, or both. The type of redundant features depends on the dynamics and type of events in the video: static videos have more temporal redundancy while videos focusing on objects tend to have more channel redundancy. Here we present a redundancy reduction framework, termed VA-RED$^2$, which is input-dependent. Specifically, our VA-RED$^2$ framework uses an input-dependent policy to decide how many features need to be computed for temporal and channel dimensions. To keep the capacity of the original model, after fully computing the necessary features, we reconstruct the remaining redundant features from those using cheap linear operations. We learn the adaptive policy jointly with the network weights in a differentiable way with a shared-weight mechanism, making it highly efficient. Extensive experiments on multiple video datasets and different visual tasks show that our framework achieves $20\% - 40\%$ reduction in computation (FLOPs) when compared to state-of-the-art methods without any performance loss. Project page: http://people.csail.mit.edu/bpan/va-red/.

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NeurIPS Conference 2020 Conference Paper

AdaShare: Learning What To Share For Efficient Deep Multi-Task Learning

  • Ximeng Sun
  • Rameswar Panda
  • Rogerio Feris
  • Kate Saenko

Multi-task learning is an open and challenging problem in computer vision. The typical way of conducting multi-task learning with deep neural networks is either through handcrafted schemes that share all initial layers and branch out at an adhoc point, or through separate task-specific networks with an additional feature sharing/fusion mechanism. Unlike existing methods, we propose an adaptive sharing approach, calledAdaShare, that decides what to share across which tasks to achieve the best recognition accuracy, while taking resource efficiency into account. Specifically, our main idea is to learn the sharing pattern through a task-specific policy that selectively chooses which layers to execute for a given task in the multi-task network. We efficiently optimize the task-specific policy jointly with the network weights, using standard back-propagation. Experiments on several challenging and diverse benchmark datasets with a variable number of tasks well demonstrate the efficacy of our approach over state-of-the-art methods. Project page: https: //cs-people. bu. edu/sunxm/AdaShare/project. html

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NeurIPS Conference 2020 Conference Paper

Auxiliary Task Reweighting for Minimum-data Learning

  • Baifeng Shi
  • Judy Hoffman
  • Kate Saenko
  • Trevor Darrell
  • Huijuan Xu

Supervised learning requires a large amount of training data, limiting its application where labeled data is scarce. To compensate for data scarcity, one possible method is to utilize auxiliary tasks to provide additional supervision for the main task. Assigning and optimizing the importance weights for different auxiliary tasks remains an crucial and largely understudied research question. In this work, we propose a method to automatically reweight auxiliary tasks in order to reduce the data requirement on the main task. Specifically, we formulate the weighted likelihood function of auxiliary tasks as a surrogate prior for the main task. By adjusting the auxiliary task weights to minimize the divergence between the surrogate prior and the true prior of the main task, we obtain a more accurate prior estimation, achieving the goal of minimizing the required amount of training data for the main task and avoiding a costly grid search. In multiple experimental settings (e. g. semi-supervised learning, multi-label classification), we demonstrate that our algorithm can effectively utilize limited labeled data of the main task with the benefit of auxiliary tasks compared with previous task reweighting methods. We also show that under extreme cases with only a few extra examples (e. g. few-shot domain adaptation), our algorithm results in significant improvement over the baseline. Our code and video is available at https: //sites. google. com/view/auxiliary-task-reweighting.

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ICLR Conference 2020 Conference Paper

Federated Adversarial Domain Adaptation

  • Xingchao Peng
  • Zijun Huang
  • Yizhe Zhu
  • Kate Saenko

Federated learning improves data privacy and efficiency in machine learning performed over networks of distributed devices, such as mobile phones, IoT and wearable devices, etc. Yet models trained with federated learning can still fail to generalize to new devices due to the problem of domain shift. Domain shift occurs when the labeled data collected by source nodes statistically differs from the target node's unlabeled data. In this work, we present a principled approach to the problem of federated domain adaptation, which aims to align the representations learned among the different nodes with the data distribution of the target node. Our approach extends adversarial adaptation techniques to the constraints of the federated setting. In addition, we devise a dynamic attention mechanism and leverage feature disentanglement to enhance knowledge transfer. Empirically, we perform extensive experiments on several image and text classification tasks and show promising results under unsupervised federated domain adaptation setting.

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NeurIPS Conference 2020 Conference Paper

Log-Likelihood Ratio Minimizing Flows: Towards Robust and Quantifiable Neural Distribution Alignment

  • Ben Usman
  • Avneesh Sud
  • Nick Dufour
  • Kate Saenko

Distribution alignment has many applications in deep learning, including domain adaptation and unsupervised image-to-image translation. Most prior work on unsupervised distribution alignment relies either on minimizing simple non-parametric statistical distances such as maximum mean discrepancy or on adversarial alignment. However, the former fails to capture the structure of complex real-world distributions, while the latter is difficult to train and does not provide any universal convergence guarantees or automatic quantitative validation procedures. In this paper, we propose a new distribution alignment method based on a log-likelihood ratio statistic and normalizing flows. We show that, under certain assumptions, this combination yields a deep neural likelihood-based minimization objective that attains a known lower bound upon convergence. We experimentally verify that minimizing the resulting objective results in domain alignment that preserves the local structure of input domains.

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AAAI Conference 2020 Conference Paper

MULE: Multimodal Universal Language Embedding

  • Donghyun Kim
  • Kuniaki Saito
  • Kate Saenko
  • Stan Sclaroff
  • Bryan Plummer

Existing vision-language methods typically support two languages at a time at most. In this paper, we present a modular approach which can easily be incorporated into existing vision-language methods in order to support many languages. We accomplish this by learning a single shared Multimodal Universal Language Embedding (MULE) which has been visually-semantically aligned across all languages. Then we learn to relate MULE to visual data as if it were a single language. Our method is not architecture specific, unlike prior work which typically learned separate branches for each language, enabling our approach to easily be adapted to many vision-language methods and tasks. Since MULE learns a single language branch in the multimodal model, we can also scale to support many languages, and languages with fewer annotations can take advantage of the good representation learned from other (more abundant) language data. We demonstrate the effectiveness of our embeddings on the bidirectional image-sentence retrieval task, supporting up to four languages in a single model. In addition, we show that Machine Translation can be used for data augmentation in multilingual learning, which, combined with MULE, improves mean recall by up to 20. 2% on a single language compared to prior work, with the most significant gains seen on languages with relatively few annotations. Our code is publicly available1.

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NeurIPS Conference 2020 Conference Paper

Uncertainty-Aware Learning for Zero-Shot Semantic Segmentation

  • Ping Hu
  • Stan Sclaroff
  • Kate Saenko

Zero-shot semantic segmentation (ZSS) aims to classify pixels of novel classes without training examples available. Recently, most ZSS methods focus on learning the visual-semantic correspondence to transfer knowledge from seen classes to unseen classes at the pixel level. Yet, few works study the adverse effects caused by the noisy and outlying training samples in the seen classes. In this paper, we identify this challenge and address it with a novel framework that learns to discriminate noisy samples based on Bayesian uncertainty estimation. Specifically, we model the network outputs with Gaussian and Laplacian distributions, with the variances accounting for the observation noise as well as the uncertainty of input samples. Learning objectives are then derived with the estimated variances playing as adaptive attenuation for individual samples in training. Consequently, our model learns more attentively from representative samples of seen classes while suffering less from noisy and outlying ones, thus providing better reliability and generalization toward unseen categories. We demonstrate the effectiveness of our framework through comprehensive experiments on multiple challenging benchmarks, and show that our method achieves significant accuracy improvement over previous approaches for large open-set segmentation.

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NeurIPS Conference 2020 Conference Paper

Universal Domain Adaptation through Self Supervision

  • Kuniaki Saito
  • Donghyun Kim
  • Stan Sclaroff
  • Kate Saenko

Unsupervised domain adaptation methods traditionally assume that all source categories are present in the target domain. In practice, little may be known about the category overlap between the two domains. While some methods address target settings with either partial or open-set categories, they assume that the particular setting is known a priori. We propose a more universally applicable domain adaptation approach that can handle arbitrary category shift, called Domain Adaptative Neighborhood Clustering via Entropy optimization (DANCE). Our approach combines two novel ideas: First, as we cannot fully rely on source categories to learn features discriminative for the target, we propose a novel neighborhood clustering technique to learn the structure of the target domain in a self-supervised way. Second, we use entropy-based feature alignment and rejection to align target features with the source, or reject them as unknown categories based on their entropy. We show through extensive experiments that DANCE outperforms baselines across open-set, open-partial and partial domain adaptation settings.

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NeurIPS Conference 2019 Conference Paper

Adversarial Self-Defense for Cycle-Consistent GANs

  • Dina Bashkirova
  • Ben Usman
  • Kate Saenko

The goal of unsupervised image-to-image translation is to map images from one domain to another without the ground truth correspondence between the two domains. State-of-art methods learn the correspondence using large numbers of unpaired examples from both domains and are based on generative adversarial networks. In order to preserve the semantics of the input image, the adversarial objective is usually combined with a cycle-consistency loss that penalizes incorrect reconstruction of the input image from the translated one. However, if the target mapping is many-to-one, e. g. aerial photos to maps, such a restriction forces the generator to hide information in low-amplitude structured noise that is undetectable by human eye or by the discriminator. In this paper, we show how such self-attacking behavior of unsupervised translation methods affects their performance and provide two defense techniques. We perform a quantitative evaluation of the proposed techniques and show that making the translation model more robust to the self-adversarial attack increases its generation quality and reconstruction reliability and makes the model less sensitive to low-amplitude perturbations. Our project page can be found at ai. bu. edu/selfadv.

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ICML Conference 2019 Conference Paper

Domain Agnostic Learning with Disentangled Representations

  • Xingchao Peng
  • Zijun Huang
  • Ximeng Sun
  • Kate Saenko

Unsupervised model transfer has the potential to greatly improve the generalizability of deep models to novel domains. Yet the current literature assumes that the separation of target data into distinct domains is known a priori. In this paper, we propose the task of Domain-Agnostic Learning (DAL): How to transfer knowledge from a labeled source domain to unlabeled data from arbitrary target domains? To tackle this problem, we devise a novel Deep Adversarial Disentangled Autoencoder (DADA) capable of disentangling domain-specific features from class identity. We demonstrate experimentally that when the target domain labels are unknown, DADA leads to state-of-the-art performance on several image classification datasets.

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AAAI Conference 2019 Conference Paper

Multilevel Language and Vision Integration for Text-to-Clip Retrieval

  • Huijuan Xu
  • Kun He
  • Bryan A. Plummer
  • Leonid Sigal
  • Stan Sclaroff
  • Kate Saenko

We address the problem of text-based activity retrieval in video. Given a sentence describing an activity, our task is to retrieve matching clips from an untrimmed video. To capture the inherent structures present in both text and video, we introduce a multilevel model that integrates vision and language features earlier and more tightly than prior work. First, we inject text features early on when generating clip proposals, to help eliminate unlikely clips and thus speed up processing and boost performance. Second, to learn a fine-grained similarity metric for retrieval, we use visual features to modulate the processing of query sentences at the word level in a recurrent neural network. A multi-task loss is also employed by adding query re-generation as an auxiliary task. Our approach significantly outperforms prior work on two challenging benchmarks: Charades-STA and ActivityNet Captions.

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ICML Conference 2018 Conference Paper

CyCADA: Cycle-Consistent Adversarial Domain Adaptation

  • Judy Hoffman
  • Eric Tzeng
  • Taesung Park
  • Jun-Yan Zhu
  • Phillip Isola
  • Kate Saenko
  • Alexei A. Efros
  • Trevor Darrell

Domain adaptation is critical for success in new, unseen environments. Adversarial adaptation models have shown tremendous progress towards adapting to new environments by focusing either on discovering domain invariant representations or by mapping between unpaired image domains. While feature space methods are difficult to interpret and sometimes fail to capture pixel-level and low-level domain shifts, image space methods sometimes fail to incorporate high level semantic knowledge relevant for the end task. We propose a model which adapts between domains using both generative image space alignment and latent representation space alignment. Our approach, Cycle-Consistent Adversarial Domain Adaptation (CyCADA), guides transfer between domains according to a specific discriminatively trained task and avoids divergence by enforcing consistency of the relevant semantics before and after adaptation. We evaluate our method on a variety of visual recognition and prediction settings, including digit classification and semantic segmentation of road scenes, advancing state-of-the-art performance for unsupervised adaptation from synthetic to real world driving domains.

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NeurIPS Conference 2018 Conference Paper

Speaker-Follower Models for Vision-and-Language Navigation

  • Daniel Fried
  • Ronghang Hu
  • Volkan Cirik
  • Anna Rohrbach
  • Jacob Andreas
  • Louis-Philippe Morency
  • Taylor Berg-Kirkpatrick
  • Kate Saenko

Navigation guided by natural language instructions presents a challenging reasoning problem for instruction followers. Natural language instructions typically identify only a few high-level decisions and landmarks rather than complete low-level motor behaviors; much of the missing information must be inferred based on perceptual context. In machine learning settings, this is doubly challenging: it is difficult to collect enough annotated data to enable learning of this reasoning process from scratch, and also difficult to implement the reasoning process using generic sequence models. Here we describe an approach to vision-and-language navigation that addresses both these issues with an embedded speaker model. We use this speaker model to (1) synthesize new instructions for data augmentation and to (2) implement pragmatic reasoning, which evaluates how well candidate action sequences explain an instruction. Both steps are supported by a panoramic action space that reflects the granularity of human-generated instructions. Experiments show that all three components of this approach---speaker-driven data augmentation, pragmatic reasoning and panoramic action space---dramatically improve the performance of a baseline instruction follower, more than doubling the success rate over the best existing approach on a standard benchmark.

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IROS Conference 2016 Conference Paper

High precision grasp pose detection in dense clutter

  • Marcus Gualtieri
  • Andreas ten Pas
  • Kate Saenko
  • Robert Platt 0001

This paper considers the problem of grasp pose detection in point clouds. We follow a general algorithmic structure that first generates a large set of 6-DOF grasp candidates and then classifies each of them as a good or a bad grasp. Our focus in this paper is on improving the second step by using depth sensor scans from large online datasets to train a convolutional neural network. We propose two new representations of grasp candidates, and we quantify the effect of using prior knowledge of two forms: instance or category knowledge of the object to be grasped, and pretraining the network on simulated depth data obtained from idealized CAD models. Our analysis shows that a more informative grasp candidate representation as well as pretraining and prior knowledge significantly improve grasp detection. We evaluate our approach on a Baxter Research Robot and demonstrate an average grasp success rate of 93% in dense clutter. This is a 20% improvement compared to our prior work.

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JMLR Journal 2016 Journal Article

Large Scale Visual Recognition through Adaptation using Joint Representation and Multiple Instance Learning

  • Judy Hoffman
  • Deepak Pathak
  • Eric Tzeng
  • Jonathan Long
  • Sergio Guadarrama
  • Trevor Darrell
  • Kate Saenko

A major barrier towards scaling visual recognition systems is the difficulty of obtaining labeled images for large numbers of categories. Recently, deep convolutional neural networks (CNNs) trained used 1.2M+ labeled images have emerged as clear winners on object classification benchmarks. Unfortunately, only a small fraction of those labels are available with bounding box localization for training the detection task and even fewer pixel level annotations are available for semantic segmentation. It is much cheaper and easier to collect large quantities of image-level labels from search engines than it is to collect scene-centric images with precisely localized labels. We develop methods for learning large scale recognition models which exploit joint training over both weak (image-level) and strong (bounding box) labels and which transfer learned perceptual representations from strongly-labeled auxiliary tasks. We provide a novel formulation of a joint multiple instance learning method that includes examples from object-centric data with image-level labels when available, and also performs domain transfer learning to improve the underlying detector representation. We then show how to use our large scale detectors to produce pixel level annotations. Using our method, we produce a $>$7.6K category detector and release code and models at lsda.berkeley vision.org. [abs] [ pdf ][ bib ] &copy JMLR 2016. ( edit, beta )

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AAAI Conference 2016 Conference Paper

Return of Frustratingly Easy Domain Adaptation

  • Baochen Sun
  • Jiashi Feng
  • Kate Saenko

Unlike human learning, machine learning often fails to handle changes between training (source) and test (target) input distributions. Such domain shifts, common in practical scenarios, severely damage the performance of conventional machine learning methods. Supervised domain adaptation methods have been proposed for the case when the target data have labels, including some that perform very well despite being “frustratingly easy” to implement. However, in practice, the target domain is often unlabeled, requiring unsupervised adaptation. We propose a simple, effective, and efficient method for unsupervised domain adaptation called CORrelation ALignment (CORAL). CORAL minimizes domain shift by aligning the second-order statistics of source and target distributions, without requiring any target labels. Even though it is extraordinarily simple–it can be implemented in four lines of Matlab code–CORAL performs remarkably well in extensive evaluations on standard benchmark datasets. “Everything should be made as simple as possible, but not simpler. ” Albert Einstein

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ICRA Conference 2014 Conference Paper

Interactive adaptation of real-time object detectors

  • Daniel Goehring
  • Judy Hoffman
  • Erik Rodner
  • Kate Saenko
  • Trevor Darrell

In the following paper, we present a framework for quickly training 2D object detectors for robotic perception. Our method can be used by robotics practitioners to quickly (under 30 seconds per object) build a large-scale real-time perception system. In particular, we show how to create new detectors on the fly using large-scale internet image databases, thus allowing a user to choose among thousands of available categories to build a detection system suitable for the particular robotic application. Furthermore, we show how to adapt these models to the current environment with just a few in-situ images. Experiments on existing 2D benchmarks evaluate the speed, accuracy, and flexibility of our system.

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NeurIPS Conference 2014 Conference Paper

LSDA: Large Scale Detection through Adaptation

  • Judy Hoffman
  • Sergio Guadarrama
  • Eric Tzeng
  • Ronghang Hu
  • Jeff Donahue
  • Ross Girshick
  • Trevor Darrell
  • Kate Saenko

A major challenge in scaling object detection is the difficulty of obtaining labeled images for large numbers of categories. Recently, deep convolutional neural networks (CNNs) have emerged as clear winners on object classification benchmarks, in part due to training with 1. 2M+ labeled classification images. Unfortunately, only a small fraction of those labels are available for the detection task. It is much cheaper and easier to collect large quantities of image-level labels from search engines than it is to collect detection data and label it with precise bounding boxes. In this paper, we propose Large Scale Detection through Adaptation (LSDA), an algorithm which learns the difference between the two tasks and transfers this knowledge to classifiers for categories without bounding box annotated data, turning them into detectors. Our method has the potential to enable detection for the tens of thousands of categories that lack bounding box annotations, yet have plenty of classification data. Evaluation on the ImageNet LSVRC-2013 detection challenge demonstrates the efficacy of our approach. This algorithm enables us to produce a >7. 6K detector by using available classification data from leaf nodes in the ImageNet tree. We additionally demonstrate how to modify our architecture to produce a fast detector (running at 2fps for the 7. 6K detector). Models and software are available at

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AAAI Conference 2013 Conference Paper

Generating Natural-Language Video Descriptions Using Text-Mined Knowledge

  • Niveda Krishnamoorthy
  • Girish Malkarnenkar
  • Raymond Mooney
  • Kate Saenko
  • Sergio Guadarrama

We present a holistic data-driven technique that generates natural-language descriptions for videos. We combine the output of state-of-the-art object and activity detectors with “real-world” knowledge to select the most probable subject-verb-object triplet for describing a video. We show that this knowledge, automatically mined from web-scale text corpora, enhances the triplet selection algorithm by providing it contextual information and leads to a four-fold increase in activity identification. Unlike previous methods, our approach can annotate arbitrary videos without requiring the expensive collection and annotation of a similar training video corpus. We evaluate our technique against a baseline that does not use text-mined knowledge and show that humans prefer our descriptions 61% of the time.

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IROS Conference 2011 Conference Paper

Practical 3-D object detection using category and instance-level appearance models

  • Kate Saenko
  • Sergey Karayev
  • Yangqing Jia
  • Alex Shyr
  • Allison Janoch
  • Jonathan Long
  • Mario Fritz
  • Trevor Darrell

Bipedal walking in human environments is made difficult by the unevenness of the terrain and by external disturbances. Most approaches to bipedal walking in such environments either rely upon a precise model of the surface or special hardware designed for uneven terrain. In this paper, we present an alternative approach to stabilize the walking of an inexpensive, commercially-available, position-controlled humanoid robot in difficult environments. We use electrically compliant swing foot dynamics and onboard sensors to estimate the inclination of the local surface, and use a online learning algorithm to learn an adaptive surface model. Perturbations due to external disturbances or model errors are rejected by a hierarchical push recovery controller, which modulates three biomechanically motivated push recovery controllers according to the current estimated state. We use a physically realistic simulation with an articulated robot model and reinforcement learning algorithm to train the push recovery controller, and implement the learned controller on a commercial DARwIn-OP small humanoid robot. Experimental results show that this combined approach enables the robot to walk over unknown, uneven surfaces without falling down.

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NeurIPS Conference 2010 Conference Paper

Size Matters: Metric Visual Search Constraints from Monocular Metadata

  • Mario Fritz
  • Kate Saenko
  • Trevor Darrell

Metric constraints are known to be highly discriminative for many objects, but if training is limited to data captured from a particular 3-D sensor the quantity of training data may be severly limited. In this paper, we show how a crucial aspect of 3-D information–object and feature absolute size–can be added to models learned from commonly available online imagery, without use of any 3-D sensing or re- construction at training time. Such models can be utilized at test time together with explicit 3-D sensing to perform robust search. Our model uses a “2. 1D” local feature, which combines traditional appearance gradient statistics with an estimate of average absolute depth within the local window. We show how category size information can be obtained from online images by exploiting relatively unbiquitous metadata fields specifying camera intrinstics. We develop an efficient metric branch-and-bound algorithm for our search task, imposing 3-D size constraints as part of an optimal search for a set of features which indicate the presence of a category. Experiments on test scenes captured with a traditional stereo rig are shown, exploiting training data from from purely monocular sources with associated EXIF metadata.

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NeurIPS Conference 2009 Conference Paper

Filtering Abstract Senses From Image Search Results

  • Kate Saenko
  • Trevor Darrell

We propose an unsupervised method that, given a word, automatically selects non-abstract senses of that word from an online ontology and generates images depicting the corresponding entities. When faced with the task of learning a visual model based only on the name of an object, a common approach is to find images on the web that are associated with the object name, and then train a visual classifier from the search result. As words are generally polysemous, this approach can lead to relatively noisy models if many examples due to outlier senses are added to the model. We argue that images associated with an abstract word sense should be excluded when training a visual classifier to learn a model of a physical object. While image clustering can group together visually coherent sets of returned images, it can be difficult to distinguish whether an image cluster relates to a desired object or to an abstract sense of the word. We propose a method that uses both image features and the text associated with the images to relate latent topics to particular senses. Our model does not require any human supervision, and takes as input only the name of an object category. We show results of retrieving concrete-sense images in two available multimodal, multi-sense databases, as well as experiment with object classifiers trained on concrete-sense images returned by our method for a set of ten common office objects.

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NeurIPS Conference 2008 Conference Paper

Unsupervised Learning of Visual Sense Models for Polysemous Words

  • Kate Saenko
  • Trevor Darrell

Polysemy is a problem for methods that exploit image search engines to build object category models. Existing unsupervised approaches do not take word sense into consideration. We propose a new method that uses a dictionary to learn models of visual word sense from a large collection of unlabeled web data. The use of LDA to discover a latent sense space makes the model robust despite the very limited nature of dictionary definitions. The definitions are used to learn a distribution in the latent space that best represents a sense. The algorithm then uses the text surrounding image links to retrieve images with high probability of a particular dictionary sense. An object classifier is trained on the resulting sense-specific images. We evaluate our method on a dataset obtained by searching the web for polysemous words. Category classification experiments show that our dictionary-based approach outperforms baseline methods.

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