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Continual learning (CL) provides a framework for training models in ever-evolving environments. Although re-occurrence of previously seen objects or tasks is common in real-world problems, the concept of repetition in the data stream is not often considered in standard benchmarks for CL. Unlike with the rehearsal mechanism in buffer-based strategies, where sample repetition is controlled by the strategy, repetition in the data stream naturally stems from the environment. This report provides a summary of the CLVision challenge at CVPR 2023, which focused on the topic of repetition in class-incremental learning. The report initially outlines the challenge objective and then describes three solutions proposed by finalist teams that aim to effectively exploit the repetition in the stream to learn continually. The experimental results from the challenge highlight the effectiveness of ensemble-based solutions that employ multiple versions of similar modules, each trained on different but overlapping subsets of classes. This report underscores the transformative potential of taking a different perspective in CL by employing repetition in the data stream to foster innovative strategy design., Comment: Preprint; Challenge Report of the 4th Workshop on Continual Learning in Computer Vision at CVPR

This book chapter delves into the dynamics of continual learning, which is the process of incrementally learning from a non-stationary stream of data. Although continual learning is a natural skill for the human brain, it is very challenging for artificial neural networks. An important reason is that, when learning something new, these networks tend to quickly and drastically forget what they had learned before, a phenomenon known as catastrophic forgetting. Especially in the last decade, continual learning has become an extensively studied topic in deep learning. This book chapter reviews the insights that this field has generated., Comment: Preprint of a book chapter; 21 pages, 4 figures

The ability of machine learning systems to learn continually is hindered by catastrophic forgetting, the tendency of neural networks to overwrite previously acquired knowledge when learning a new task. Existing methods mitigate this problem through regularization, parameter isolation, or rehearsal, but they are typically evaluated on benchmarks comprising only a handful of tasks. In contrast, humans are able to learn over long time horizons in dynamic, open-world environments, effortlessly memorizing unfamiliar objects and reliably recognizing them under various transformations. To make progress towards closing this gap, we introduce Infinite dSprites, a parsimonious tool for creating continual classification and disentanglement benchmarks of arbitrary length and with full control over generative factors. We show that over a sufficiently long time horizon, the performance of all major types of continual learning methods deteriorates on this simple benchmark. This result highlights an important and previously overlooked aspect of continual learning: given a finite modelling capacity and an arbitrarily long learning horizon, efficient learning requires memorizing class-specific information and accumulating knowledge about general mechanisms. In a simple setting with direct supervision on the generative factors, we show how learning class-agnostic transformations offers a way to circumvent catastrophic forgetting and improve classification accuracy over time. Our approach sets the stage for continual learning over hundreds of tasks with explicit control over memorization and forgetting, emphasizing open-set classification and one-shot generalization., Comment: 10 pages, 10 figures

Diffusion models are powerful generative models that achieve state-of-the-art performance in image synthesis. However, training them demands substantial amounts of data and computational resources. Continual learning would allow for incrementally learning new tasks and accumulating knowledge, thus enabling the reuse of trained models for further learning. One potentially suitable continual learning approach is generative replay, where a copy of a generative model trained on previous tasks produces synthetic data that are interleaved with data from the current task. However, standard generative replay applied to diffusion models results in a catastrophic loss in denoising capabilities. In this paper, we propose generative distillation, an approach that distils the entire reverse process of a diffusion model. We demonstrate that our approach substantially improves the continual learning performance of generative replay with only a modest increase in the computational costs., Comment: To appear in the Proceedings of the Third Conference on Lifelong Learning Agents (CoLLAs), 2024

Continual learning is a subfield of machine learning, which aims to allow machine learning models to continuously learn on new data, by accumulating knowledge without forgetting what was learned in the past. In this work, we take a step back, and ask: "Why should one care about continual learning in the first place?". We set the stage by examining recent continual learning papers published at four major machine learning conferences, and show that memory-constrained settings dominate the field. Then, we discuss five open problems in machine learning, and even though they might seem unrelated to continual learning at first sight, we show that continual learning will inevitably be part of their solution. These problems are model editing, personalization and specialization, on-device learning, faster (re-)training and reinforcement learning. Finally, by comparing the desiderata from these unsolved problems and the current assumptions in continual learning, we highlight and discuss four future directions for continual learning research. We hope that this work offers an interesting perspective on the future of continual learning, while displaying its potential value and the paths we have to pursue in order to make it successful. This work is the result of the many discussions the authors had at the Dagstuhl seminar on Deep Continual Learning, in March 2023.

Recent years have seen considerable progress in the continual training of deep neural networks, predominantly thanks to approaches that add replay or regularization terms to the loss function to approximate the joint loss over all tasks so far. However, we show that even with a perfect approximation to the joint loss, these approaches still suffer from temporary but substantial forgetting when starting to train on a new task. Motivated by this 'stability gap', we propose that continual learning strategies should focus not only on the optimization objective, but also on the way this objective is optimized. While there is some continual learning work that alters the optimization trajectory (e.g., using gradient projection techniques), this line of research is positioned as alternative to improving the optimization objective, while we argue it should be complementary. In search of empirical support for our proposition, we perform a series of pre-registered experiments combining replay-approximated joint objectives with gradient projection-based optimization routines. However, this first experimental attempt fails to show clear and consistent benefits. Nevertheless, our conceptual arguments, as well as some of our empirical results, demonstrate the distinctive importance of the optimization trajectory in continual learning, thereby opening up a new direction for continual learning research., Comment: Full paper version of pre-registered report accepted at the 1st ContinualAI Unconference. The originally submitted pre-registered proposal can be found at arXiv:2311.04898v1

Class-incremental learning (CIL) is a particularly challenging variant of continual learning, where the goal is to learn to discriminate between all classes presented in an incremental fashion. Existing approaches often suffer from excessive forgetting and imbalance of the scores assigned to classes that have not been seen together during training. In this study, we introduce a novel approach, Prediction Error-based Classification (PEC), which differs from traditional discriminative and generative classification paradigms. PEC computes a class score by measuring the prediction error of a model trained to replicate the outputs of a frozen random neural network on data from that class. The method can be interpreted as approximating a classification rule based on Gaussian Process posterior variance. PEC offers several practical advantages, including sample efficiency, ease of tuning, and effectiveness even when data are presented one class at a time. Our empirical results show that PEC performs strongly in single-pass-through-data CIL, outperforming other rehearsal-free baselines in all cases and rehearsal-based methods with moderate replay buffer size in most cases across multiple benchmarks., Comment: ICLR 2024 camera ready

Continual learning research has shown that neural networks suffer from catastrophic forgetting "at the output level", but it is debated whether this is also the case at the level of learned representations. Multiple recent studies ascribe representations a certain level of innate robustness against forgetting -- that they only forget minimally in comparison with forgetting at the output level. We revisit and expand upon the experiments that revealed this difference in forgetting and illustrate the coexistence of two phenomena that affect the quality of continually learned representations: knowledge accumulation and feature forgetting. Taking both aspects into account, we show that, even though forgetting in the representation (i.e. feature forgetting) can be small in absolute terms, when measuring relative to how much was learned during a task, forgetting in the representation tends to be just as catastrophic as forgetting at the output level. Next we show that this feature forgetting is problematic as it substantially slows down the incremental learning of good general representations (i.e. knowledge accumulation). Finally, we study how feature forgetting and knowledge accumulation are affected by different types of continual learning methods., Comment: TMLR 2024

Biological agents are known to learn many different tasks over the course of their lives, and to be able to revisit previous tasks and behaviors with little to no loss in performance. In contrast, artificial agents are prone to 'catastrophic forgetting' whereby performance on previous tasks deteriorates rapidly as new ones are acquired. This shortcoming has recently been addressed using methods that encourage parameters to stay close to those used for previous tasks. This can be done by (i) using specific parameter regularizers that map out suitable destinations in parameter space, or (ii) guiding the optimization journey by projecting gradients into subspaces that do not interfere with previous tasks. However, these methods often exhibit subpar performance in both feedforward and recurrent neural networks, with recurrent networks being of interest to the study of neural dynamics supporting biological continual learning. In this work, we propose Natural Continual Learning (NCL), a new method that unifies weight regularization and projected gradient descent. NCL uses Bayesian weight regularization to encourage good performance on all tasks at convergence and combines this with gradient projection using the prior precision, which prevents catastrophic forgetting during optimization. Our method outperforms both standard weight regularization techniques and projection based approaches when applied to continual learning problems in feedforward and recurrent networks. Finally, the trained networks evolve task-specific dynamics that are strongly preserved as new tasks are learned, similar to experimental findings in biological circuits., Comment: NeurIPS 2021 camera-ready version

Incrementally training deep neural networks to recognize new classes is a challenging problem. Most existing class-incremental learning methods store data or use generative replay, both of which have drawbacks, while 'rehearsal-free' alternatives such as parameter regularization or bias-correction methods do not consistently achieve high performance. Here, we put forward a new strategy for class-incremental learning: generative classification. Rather than directly learning the conditional distribution p(y|x), our proposal is to learn the joint distribution p(x,y), factorized as p(x|y)p(y), and to perform classification using Bayes' rule. As a proof-of-principle, here we implement this strategy by training a variational autoencoder for each class to be learned and by using importance sampling to estimate the likelihoods p(x|y). This simple approach performs very well on a diverse set of continual learning benchmarks, outperforming generative replay and other existing baselines that do not store data., Comment: To appear in the IEEE Conference on Computer Vision and Pattern Recognition Workshop (CVPR-W) on Continual Learning in Computer Vision (CLVision) 2021

We motivate Energy-Based Models (EBMs) as a promising model class for continual learning problems. Instead of tackling continual learning via the use of external memory, growing models, or regularization, EBMs change the underlying training objective to cause less interference with previously learned information. Our proposed version of EBMs for continual learning is simple, efficient, and outperforms baseline methods by a large margin on several benchmarks. Moreover, our proposed contrastive divergence-based training objective can be combined with other continual learning methods, resulting in substantial boosts in their performance. We further show that EBMs are adaptable to a more general continual learning setting where the data distribution changes without the notion of explicitly delineated tasks. These observations point towards EBMs as a useful building block for future continual learning methods., Comment: Project page: https://energy-based-model.github.io/Energy-Based-Models-for-Continual-Learning

In lifelong learning, data are used to improve performance not only on the present task, but also on past and future (unencountered) tasks. While typical transfer learning algorithms can improve performance on future tasks, their performance on prior tasks degrades upon learning new tasks (called forgetting). Many recent approaches for continual or lifelong learning have attempted to maintain performance on old tasks given new tasks. But striving to avoid forgetting sets the goal unnecessarily low. The goal of lifelong learning should be to use data to improve performance on both future tasks (forward transfer) and past tasks (backward transfer). In this paper, we show that a simple approach -- representation ensembling -- demonstrates both forward and backward transfer in a variety of simulated and benchmark data scenarios, including tabular, vision (CIFAR-100, 5-dataset, Split Mini-Imagenet, and Food1k), and speech (spoken digit), in contrast to various reference algorithms, which typically failed to transfer either forward or backward, or both. Moreover, our proposed approach can flexibly operate with or without a computational budget.

Standard artificial neural networks suffer from the well-known issue of catastrophic forgetting, making continual or lifelong learning difficult for machine learning. In recent years, numerous methods have been proposed for continual learning, but due to differences in evaluation protocols it is difficult to directly compare their performance. To enable more structured comparisons, we describe three continual learning scenarios based on whether at test time task identity is provided and--in case it is not--whether it must be inferred. Any sequence of well-defined tasks can be performed according to each scenario. Using the split and permuted MNIST task protocols, for each scenario we carry out an extensive comparison of recently proposed continual learning methods. We demonstrate substantial differences between the three scenarios in terms of difficulty and in terms of how efficient different methods are. In particular, when task identity must be inferred (i.e., class incremental learning), we find that regularization-based approaches (e.g., elastic weight consolidation) fail and that replaying representations of previous experiences seems required for solving this scenario., Comment: Extended version of work presented at the NeurIPS Continual Learning workshop (2018); 18 pages, 5 figures, 6 tables. Related to arXiv:1809.10635

Motivated by a wide variety of applications, this paper introduces a general class of networks of stochastic loss systems in which congestion renders lost revenue due to customers or jobs being permanently removed from the system. We seek to balance the trade-off between mitigating congestion by increasing service capacity and maintaining low costs for the service capacity provided. Given the lack of analytical results and the computational burden of simulation-based methods, we propose a hybrid functional-form approach for finding the optimal resource allocation in general networks of stochastic loss systems that combines the speed of an analytical approach with the accuracy of simulation-based optimisation. The key insight is a core iterative algorithm that replaces the computationally expensive gradient estimation in simulation optimisation with a closed-form analytical approximation that is calibrated using a simple simulation run. Extensive computational experiments on complex networks show that our approach renders near-optimal solutions with objective function values that are comparable to those obtained using stochastic approximation, surrogate optimisation and Bayesian optimisation methods while requiring significantly less computational effort.

A major obstacle to developing artificial intelligence applications capable of true lifelong learning is that artificial neural networks quickly or catastrophically forget previously learned tasks when trained on a new one. Numerous methods for alleviating catastrophic forgetting are currently being proposed, but differences in evaluation protocols make it difficult to directly compare their performance. To enable more meaningful comparisons, here we identified three distinct scenarios for continual learning based on whether task identity is known and, if it is not, whether it needs to be inferred. Performing the split and permuted MNIST task protocols according to each of these scenarios, we found that regularization-based approaches (e.g., elastic weight consolidation) failed when task identity needed to be inferred. In contrast, generative replay combined with distillation (i.e., using class probabilities as "soft targets") achieved superior performance in all three scenarios. Addressing the issue of efficiency, we reduced the computational cost of generative replay by integrating the generative model into the main model by equipping it with generative feedback or backward connections. This Replay-through-Feedback approach substantially shortened training time with no or negligible loss in performance. We believe this to be an important first step towards making the powerful technique of generative replay scalable to real-world continual learning applications., Comment: 17 pages, 8 figures, 4 tables

Motivated by the increasing use of online appointment booking platforms, we study how to offer appointment slots to customers in order to maximize the total number of slots booked. We develop two models, non-sequential offering and sequential offering, to capture different types of interactions between customers and the scheduling system. In these two models, the scheduler offers either a single set of appointment slots for the arriving customer to choose from, or multiple sets in sequence, respectively. For the non-sequential model, we identify a static randomized policy which is asymptotically optimal when the system demand and capacity increase simultaneously, and we further show that offering all available slots at all times has a constant factor of 2 performance guarantee. For the sequential model, we derive a closed-form optimal policy for a large class of instances and develop a simple, effective heuristic for those instances without an explicit optimal policy. By comparing these two models, our study generates useful operational insights for improving the current appointment booking processes. In particular, our analysis reveals an interesting equivalence between the sequential offering model and the non-sequential offering model with perfect customer preference information. This equivalence allows us to apply sequential offering in a wide range of interactive scheduling contexts. Our extensive numerical study shows that sequential offering can significantly improve the slot fill rate (6-8% on average and up to 18% in our testing cases) compared to non-sequential offering.

Wireless sensor networks are composed of distributed sensors that can be used for signal detection or classification. The likelihood functions of the hypotheses are often not known in advance, and decision rules have to be learned via supervised learning. A specific such algorithm is Fisher discriminant analysis (FDA), the classification accuracy of which has been previously studied in the context of wireless sensor networks. Previous work, however, does not take into account the communication protocol or battery lifetime of the sensor networks; in this paper we extend the existing studies by proposing a model that captures the relationship between battery lifetime and classification accuracy. In order to do so we combine the FDA with a model that captures the dynamics of the Carrier-Sense Multiple-Access (CSMA) algorithm, the random-access algorithm used to regulate communications in sensor networks. This allows us to study the interaction between the classification accuracy, battery lifetime and effort put towards learning, as well as the impact of the back-off rates of CSMA on the accuracy. We characterize the tradeoff between the length of the training stage and accuracy, and show that accuracy is non-monotone in the back-off rate due to changes in the training sample size and overfitting.

An increasing number of retail energy markets show price fluctuations, providing users with the opportunity to buy energy at lower than average prices. We propose to temporarily store this inexpensive energy in a battery, and use it to satisfy demand when energy prices are high, thus allowing users to exploit the price variations without having to shift their demand to the low-price periods. We study the battery control policy that yields the best performance, i.e., minimizes the total discounted costs. The optimal policy is shown to have a threshold structure, and we derive these thresholds in a few special cases. The cost savings obtained from energy storage are demonstrated through extensive numerical experiments, and we offer various directions for future research.

Wireless networks equipped with the CSMA protocol are subject to collisions due to interference. For a given interference range we investigate the tradeoff between collisions (hidden nodes) and unused capacity (exposed nodes). We show that the sensing range that maximizes throughput critically depends on the activation rate of nodes. For infinite line networks, we prove the existence of a threshold: When the activation rate is below this threshold the optimal sensing range is small (to maximize spatial reuse). When the activation rate is above the threshold the optimal sensing range is just large enough to preclude all collisions. Simulations suggest that this threshold policy extends to more complex linear and non-linear topologies.

Multi-access networks may exhibit severe unfairness in throughput. Recent studies show that this unfairness is due to local differences in the neighborhood structure: Nodes with less neighbors receive better access. We study the unfairness in saturated linear networks, and adapt the multi-access CSMA protocol to remove the unfairness completely, by choosing the activation rates of nodes appropriately as a function of the number of neighbors. We then investigate the consequences of this choice of activation rates on the network-average saturated throughput, and we show that these rates perform well in a non-saturated setting.