Cooperative-Training
Experiment Code for Paper ``CoT: Cooperative Training for Generative Modeling''
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We propose Cooperative Training (CoT) for training generative models that measure a tractable density function for target data. CoT coordinately trains a generator G and an auxiliary predictive mediator M. The training target of M is to estimate a mixture density of the learned distribution G and the target distribution P, and that of G is to minimize the Jensen-Shannon divergence estimated through M. CoT achieves independent success without the necessity of pre-training via Maximum Likelihood Estimation or involving high-variance algorithms like REINFORCE. This low-variance algorithm is theoretically proved to be unbiased for both generative and predictive tasks. We also theoretically and empirically show the superiority of CoT over most previous algorithms, in terms of generative quality and diversity, predictive generalization ability and computational cost.
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Experiment Code for Paper ``CoT: Cooperative Training for Generative Modeling''
Generative modeling is essential in many scenarios, including continuous data modeling (e.g. image generation (Goodfellow et al., 2014; Arjovsky et al., 2017), stylization (Ulyanov et al., 2016), semi-supervised classification (Radford et al., 2015)) and sequential discrete data modeling (e.g.
neural text generation
(Bahdanau et al., 2014; Yu et al., 2017; Lu et al., 2018)).For discrete data with tractable density like natural language, generative models are predominantly optimized through Maximum Likelihood Estimation (MLE), inevitably introducing exposure bias (Ranzato et al., 2015), which results in that given a finite set of observations, the optimal parameters of the model trained via MLE do not correspond to the ones maximizing the generative quality. Specifically, the model is trained on the data distribution of inputs and tested on a different distribution of inputs, namely, the learned distribution. This discrepancy implies that in the training stage, the model is never exposed to its own errors and thus in the test stage, the errors made along the way will quickly accumulate.
On the other hand, for general generative modeling tasks, an effective framework, named Generative Adversarial Network (GAN) (Goodfellow et al., 2014), was proposed to train an implicit density model for continuous data. GAN introduces a discriminator parametrized by to distinguish the generated samples from the real ones. As is proved in (Huszár, 2015)
, GAN essentially optimizes an approximately estimated Jensen-Shannon divergence (JSD) between the currently learned distribution and the target distribution. GAN shows promising results in many unsupervised and semi-supervised learning tasks. The success of GAN results in the naissance of a new paradigm of deep generative models,
i.e. adversarial networks.However, since the gradient computation requires backpropagation through the generator’s output, GAN can only model the distribution of continuous variables, making it non-applicable for generating discrete sequences like natural language. Researchers then proposed Sequence Generative Adversarial Network (SeqGAN)
(Yu et al., 2017), which uses model-free policy gradient algorithm to optimize the original GAN objective. With SeqGAN, the expected JSD between current and target discrete data distribution is minimized if the training being perfect. SeqGAN shows observable improvements in many tasks. Since then, many variants of SeqGAN have been proposed to improve its performance. Nonetheless, SeqGAN is not an ideal algorithm for this problem, and current algorithms based on it cannot show stable, reliable and observable improvements that covers all scenarios, according to a previous survey (Lu et al., 2018). The detailed reason will be discussed in detail in Section 2.In this paper, we propose Cooperative Training (CoT), an efficient, low-variance, bias-free algorithm for training likelihood-based generative models on discrete data by directly optimizing a well-estimated Jensen-Shannon divergence. CoT coordinately trains a generative module , and an auxiliary predictive module , called mediator, for guiding in a cooperative fashion. For theoretical soundness, we derive the proposed algorithm directly from the definition of JSD. We further empirically and theoretically demonstrate the superiority of our algorithm over many strong baselines in terms of generative performance, generalization ability and computational performance in both synthetic and real-world scenarios.
Notations. denotes the target data distribution. denotes the parameters of the generative module . denotes the parameters of the auxiliary predictive mediator module . stands for a complete sample from the training dataset or a generated complete sequence, depending on the specific context. means the -length prefix of the original sequence, i.e. an incomplete sequence of length . denotes a token, and stands for a token that appears in the -th place of a sequence. Thus while the initial case is .
Maximum likelihood estimation is equivalent to minimizing the KL divergence using the samples from the real distribution:
(1) |
where
is the estimated probability of
by and is the underlying real distribution.Limitations of MLE. MLE is essentially equivalent to optimizing a directed Kullback–Leibler (KL) divergence between the target distribution and the currently learned distribution , denoted as . However, since KL divergence is asymmetric, given finite observations this target is actually not ideal. As stated in (Arjovsky and Bottou, 2017), MLE tries to minimize
(2) |
When and , the KL divergence grows to infinity, which means MLE assigns an extremely high cost to the “mode dropping” scenarios, where the generator fails to cover some parts of the data.
When and , the KL divergence shrinks to 0, which means MLE assigns an extremely low cost to the scenarios, where the model generates some samples that do not locate on the data distribution.
Likewise, optimizing will lead to exactly the reversed problems of the two situations. An ideal solution is to optimize a symmetrized and smoothed version of KL divergence, i.e. the Jensen-Shannon divergence (JSD), which is defined as
(3) |
where
. However, directly optimizing JSD is conventionally considered as an intractable problem. JSD cannot be directly evaluated and optimized since the equally interpolated distribution
is usually considered to be unconstructable, as we only have access to the learned model instead of .SeqGAN incorporates two modules, i.e. the generator and discriminator, parametrized by and respectively, as in the settings of GAN. By alternatively training these two modules, SeqGAN optimizes such an adversarial target:
(4) |
The objectives of generator and discriminator in SeqGAN can be formulated as
(5) |
(6) |
where denotes a complete sequence sampled from the generator and the action value is the expectation of the discriminator’s evaluation on the completed sequences sampled from the prefix , which can be approximated via Monte Carlo search.
Limitations of SeqGAN & its Variants.
First, SeqGAN is an algorithm of high variance, which relies on pre-training via Maximum Likelihood Estimation as a variance reduction procedure. Besides, during the adversarial epochs, even if with variance reduction techniques such as Actor-Critic methods
(Sutton, 1984), the fact that SeqGAN is essentially based on model-free reinforcement learning makes it a non-trivial problem for SeqGAN to converge well. As a result, SeqGAN tends to get stuck in some sub-optimals. Specifically, although the discriminator can distinguish the samples from the generator easily, it is not able to effectively guide the generator because of the vanishing gradient, as is discussed in a recent survey
(Lu et al., 2018). Although this problem can be alleviated by reshaping the reward signals based on the relative rankings of the outputs in a mini-batch (Lin et al., 2017; Guo et al., 2017), they are more technical workarounds than essential solutions.Second, SeqGAN trained via REINFORCE (Williams, 1992) suffers from the “mode collapse” problem, which is similar to the original GAN. That is to say, the learned distribution “collapse” to the other side of KL divergence, i.e. , which leads to the loss of diversity of generated samples. In other words, SeqGAN trains the model for better generative quality with the cost of diversity.
To be consistent with the goal that the target distribution should be well-estimated in both quality and diversity senses, an ideal algorithm for such models should be able to optimize a symmetric divergence or distance.
For sequential discrete data modeling, since the data distribution is decomposed into a sequential product of finite-dimension multinomial distributions (always based on the softmax form), thus the failures of effectively optimizing JSD when the generated and real data distributions are distant, as discussed in (Arjovsky et al., 2017), will not appear. As such, to optimize JSD is feasible. However, to our knowledge, no previous algorithms provide a direct, low-variance optimization of JSD. In this paper, we propose Cooperative Training (CoT), as shown in Algorithm 1, to directly optimize a well-estimated unbiased JSD for training such models.
Each iteration of Cooperative Training mainly consists of two parts. The first part is to train a mediator , which is a predictive module that measures a mixture distribution of the learned generative distribution and target latent distribution as
(7) |
Since the mediator is only used as a predictive module during training, the directed KL divergence is now bias-free for measuring . Denote as , we have:
(8) |
By Lemma 1, for each step, we can simply mix balanced samples from training data and the generator, then train the mediator via Maximum Likelihood Estimation with the mixed samples. The objective for the mediator parametrized by therefore becomes
(9) |
Since the objective of MLE is bias-free for predictive purposes, the estimated is also bias-free when adopted for estimating JSD. The training techniques and details will be discussed in Section 4.
After each iteration, the mediator is exploited to optimize an estimated Jensen-Shannon divergence for :
(10) |
Note that the gradient Eq. (10) should be performed for only one step because once is updated the current mediator’s estimation becomes inaccurate.
For any sequence or prefix of length , we have:
(11) | ||||
(12) |
The detailed derivations can be found in the supplementary material. Note that Lemma 2 can be applied recursively. That is to say, given any sequence of arbitrary length , optimizing ’s contribution to the expected JSD can be decomposed into optimizing the first term of Eq. (12) and solving an isomorphic problem for , which is the longest proper prefix of . When
, since in Markov decision process the probability for initial state
is always 1.0, it is trivial to prove that the final second term becomes 0.Therefore, Eq. (10) can be reduced through recursively applying Lemma 2
. After removing the constant multipliers and denoting the predicted probability distribution over the action space,
i.e. and , as and respectively, the gradient for training generator via Cooperative Training can be formulated as(13) |
For tractable density models with finite discrete action space in each step, the practical effectiveness of this gradient is well ensured for the following reasons. First, with a random initialization of the model, the supports of distributions and are hardly disjoint. Second, the first term of Eq. (13) is to minimize the cross entropy between and , which tries to enlarge the overlap of two distributions. Third, since the second term of Eq. (13) is equivalent to maximizing the entropy of , it encourages the support of to cover the whole action space, which avoids the case of disjoint supports between and .
CoT has theoretical guarantee for its convergence.
If in each step, the mediator of CoT is trained to be optimal, i.e. , then optimization via Eq. (14) leads to minimization of JSD.
If in each step, the mediator of CoT is trained to be optimal, i.e. , then optimization via Eq. (14) is one-order optimal for minimizing JSD.
Proof. Let denote the intermediate states. All we need to show is
(15) |
By inversely applying Lemma 2, the left part in Eq. (15) can be recovered as
(16) |
which is equivalent to
(17) |
Since now mediator is trained to be optimal, i.e. , we have
(18) |
CoT has several practical advantages over previous methods, including MLE, Scheduled Sampling (SS) (Bengio et al., 2015) and adversarial methods like SeqGAN (Yu et al., 2017).
First, although CoT and GAN both aim to optimize an estimated JSD, CoT is exceedingly more stable than GAN. This is because the two modules, namely generator and mediator, have similar tasks, i.e. to approach the same data distribution generatively and predictively. The superiority of CoT over inconsistent methods like Scheduled Sampling is obvious, since CoT theoretically guarantees the training effectiveness. Compared with methods that require pre-training in order to reduce variance like SeqGAN (Yu et al., 2017), CoT is computationally cheaper. More specifically, under recommended settings, CoT has the same order of computational complexity as MLE.
Besides, CoT works independently. In practice, it does not require model pre-training via conventional methods like MLE. This is the first time that unbiased unsupervised learning is achieved on sequential discrete data without using supervised approximation for variance reduction or sophisticated smoothing as in Wasserstein GAN with gradient penalty (WGAN-GP)
(Gulrajani et al., 2017).An interesting problem is why we need to train a mediator by mixing the samples from both sources and , instead of directly training a predictive model on the training set via MLE. The most severe problem is that there is no guarantee for the model to work well on the generated samples to guide the generator towards the target distribution. Given finite observations, the learned distribution is trained to provide correct predictions for samples from the target distribution . However, due to the distribution mismatch, for samples from the generator, there is no guarantee that can stably provide correct predictions for guiding the generator.
Following the synthetic data experiment setting in (Yu et al., 2017; Zhu et al., 2018), we design a synthetic Turing test, in which the negative log-likelihood NLL from an oracle LSTM is calculated for evaluating the quality of samples from the generator. Particularly, to support our claim that our method causes little mode collapse, we calculated NLL, which is to sample an extra batch of samples from the oracle, and to calculate the negative log-likelihood measured by the generator. We show that under this more reasonable setting, our proposed algorithm reaches the state-of-the-art performance with exactly the same network architecture. Note that models like LeakGAN (Guo et al., 2017) contain architecture-level modification, which is orthogonal to our approach, thus will not be included in this part. The results are shown in Table 1.
Model/Algorithm | NLL | NLL(final/best) | best NLL |
---|---|---|---|
MLE | 9.08 | 8.97/7.60 | 9.43 + 7.67 |
SeqGAN (Yu et al., 2017) | 8.68 | 10.10/-(MLE) | (The same as MLE) |
RankGAN (Lin et al., 2017) | 8.37 | 11.19/-(MLE) | (The same as MLE) |
MaliGAN (Che et al., 2017) | 8.73 | 10.07/-(MLE) | (The same as MLE) |
CoT (ours) | 8.19 | 8.03/7.54 | 8.19 + 8.03 |
during iterations of CoT under different training settings. To show the hyperparameter robustness of CoT, we compared it with the similar results as were evaluated in SeqGAN
(Yu et al., 2017).Hyper-parameter Robustness. We perform a wide-ranged hyper-parameter tuning experiment on synthetic data experiment. When compared with the results of similar experiments as in SeqGAN (Yu et al., 2017), our approach shows less sensitivity to hyper-parameter choices, as shown in Figure 2. Note that since in all our attempts, the evaluated JSD of SeqGAN fails to converge, we evaluated NLL for it as a replacement.
Self-estimated Training Progress Indicator. Like the critic loss, i.e. estimated Earth Mover Distance, in WGANs, we find that the training loss of the mediator (9), namely balanced NLL, can be a real-time training progress indicator as shown in Figure 3. Specifically, in a wide range, balanced NLL is a good estimation of real with a steady translation, namely, .
As an important sequential data modeling task, zero-prior text generation, especially long and diversified text generation, is a good testbed for evaluating the performance of a generative model.
Following the experiment proposed in LeakGAN (Guo et al., 2017), we choose EMNLP 2017 WMT News Section as our dataset, with maximal sentence length limited to 51. We pay major attention to both quality and diversity. To keep the comparison fair, we present two implementations of CoT, namely CoT-basic and CoT-strong. As for CoT-basic, the generator follows the settings of that in MLE, SeqGAN, RankGAN and MaliGAN. As for CoT-strong, the generator is implemented with the similar architecture in LeakGAN.
For quality evaluation, we evaluated BLEU on a small batch of test data separated from the original dataset. For diversity evaluation, we evaluated the estimated Word Mover Distance (Kusner et al., 2015), which is calculated through training a discriminative model between generated samples and real samples with 1-Lipschitz constriant via gradient penalty as in WGAN-GP (Gulrajani et al., 2017). To keep it fair, for all evaluated models, the architecture and other training settings of the discriminative models are kept the same.
Model/Algorithm | BLEU-2 | BLEU-3 | BLEU-4 | BLEU-5 |
MLE | 0.781 | 0.482 | 0.225 | 0.105 |
SeqGAN (Yu et al., 2017) | 0.731 | 0.426 | 0.181 | 0.096 |
RankGAN (Lin et al., 2017) | 0.691 | 0.387 | 0.178 | 0.095 |
MaliGAN (Che et al., 2017) | 0.755 | 0.456 | 0.179 | 0.088 |
LeakGAN (Guo et al., 2017) | 0.835 | 0.648 | 0.437 | 0.271 |
TextCoT-basic (ours) | 0.785 | 0.489 | 0.261 | 0.152 |
TextCoT-strong (ours) | 0.800 | 0.501 | 0.273 | 0.200 |
TextCoT-strong () (ours) | 0.856 | 0.701 | 0.510 | 0.310 |
Model/Algorithm | eWMD | eWMD | NLL |
MLE | 1.015 | 0.947 | 2.365 |
SeqGAN (Yu et al., 2017) | 2.900 | 3.118 | 3.122 |
RankGAN (Lin et al., 2017) | 4.451 | 4.829 | 3.083 |
MaliGAN (Che et al., 2017) | 4.891 | 4.962 | 3.240 |
LeakGAN (Guo et al., 2017) | 1.803 | 1.767 | 2.327 |
TextCoT-basic (ours) | 0.766 | 0.886 | 2.247 |
TextCoT-strong (ours) | 0.923 | 0.941 | 2.144 |
The results are shown in Table 2 and Table 3. In terms of generative quality, CoT-basic achieves state-of-the-art performance over all the baselines with the same architecture-level capacity, especially the long-term robustness at n-gram level. CoT-strong using a conservative generation strategy, i.e. setting the inverse temperature parameter higher than 1, as in (Guo et al., 2017) achieves the best performance over all compared models. In terms of generative diversity, the results show that our model achieves the state-of-the-art performance on all metrics including NLL, which is the optimization target of MLE.
We proposed Cooperative Training, an unbiased, low-variance, computationally efficient algorithm for generative modeling of discrete data. Models trained via CoT shows promising results in sequential discrete data modeling tasks.
An interesting direction of future work is Nested CoT. Although for predictive tasks MLE is unbiased, it raises the risk of mediator’s overfitting. Nested CoT, which is to train the mediator via CoT, can be used to avoid this. For scenarios that extremely rely on generalization, Nested CoT is very promising.
Scheduled sampling for sequence prediction with recurrent neural networks.
In NIPS, pages 1171–1179, 2015.International Conference on Machine Learning
, pages 957–966, 2015.The Optimal Balance for Cooperative Training We find that the same learning rate and iteration numbers for the generator and mediator seems to be the most competitive choice. As for the architecture choice, we find that the mediator needs to be slightly stronger than the generator. For the best result in the synthetic experiment, we adopt exactly the same generator as other compared models and a mediator whose hidden state size is twice larger (with 64 hidden units) than the generator.
Theoretically speaking, we can and we should sample more batches from and respectively for training the mediator in each iteration. However, if no regularizations are used when training the mediator, it can easily over-fit, leading the generator’s quick convergence in terms of or NLL, but divergence in terms of . Empirically, this could be alleviated by applying dropout techniques [Srivastava et al., 2014] with 50% keeping ratio before the output layer of RNN. After applying dropout, the empirical results show good consistency with our theory that, more training batches for the mediator in each iteration is always helpful.
However, applying regularizations is not an ultimate solution and we look forward to further theoretical investigation on better solutions for this problem in the future.
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