Implicit generative models: dual vs. primal approaches

Transcription

1 Implicit generative models: dual vs. primal approaches Ilya Tolstikhin MPI for Intelligent Systems Machine Learning Summer School 2017 Tübingen, Germany

2 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

3 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

4 The task: There exists an unknown distribution P X over the data space X and we have an i.i.d. sample X 1,..., X n from P X. Find a model distribution P G over X similar to P X. We will work with latent variable models P G defined by 2 steps: 1. Sample a code Z from the latent space Z; 2. Map Z to G(Z) X with a (random) transformation G: Z X. p G (x) := p G (x z)p z (z)dx. Z All techniques mentioned in this talk share two features: While P G has no analytical expression, it is easy to sample from; The objective allows for SGD training.

5 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

6 How to measure a similarity between P X and P G? f-divergences Take any convex f : (0, ) R with f(1) = 0. ( ) p(x) D f (P Q) := f q(x)dx q(x) Integral Probability Metrics Take any class F of bounded real-valued functions on X. γ F (P, Q) := sup E P [f(x)] E Q [f(y )] f F Optimal transport Take any cost c(x, y): X X R +. W c (P, Q) := X inf E (X,Y ) Γ[c(X, Y )], Γ P(X P,Y Q) where P(X P, Y Q) is a set of all joint distributions of (X, Y ) with marginals P and Q respectively.

7 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

8 The goal: minimize D f (P X P G ) with respect to P G Variational (dual) representation of f-divergences: D f (P Q) = [ sup E X P [T (X)] E Y Q f ( T (Y ) )] T : X dom(f ) where f (x) := sup u x u f(u) is a convex conjugate of f. Solving inf PG D f (P X P G ) is equivalent to inf sup [ E X PX [T (X)] E Z PZ f ( T (G(Z)) )] (*) G T 1. Estimate expectations with samples: inf sup 1 G T N N T (X i ) 1 M i=1 M f ( T (G(Z j )) ). j=1 2. Parametrize T = T ω and G = G θ using any flexible functions (eg. deep nets) and run SGD on (*).

9 The goal: minimize D f (P X P G ) with respect to P G Variational (dual) representation of f-divergences: D f (P Q) = [ sup E X P [T (X)] E Y Q f ( T (Y ) )] T : X dom(f ) where f (x) := sup u x u f(u) is a convex conjugate of f. Solving inf PG D f (P X P G ) is equivalent to inf sup [ E X PX [T (X)] E Z PZ f ( T (G(Z)) )] (*) G T 1. Estimate expectations with samples: inf sup 1 G T N N T (X i ) 1 M i=1 M f ( T (G(Z j )) ). j=1 2. Parametrize T = T ω and G = G θ using any flexible functions (eg. deep nets) and run SGD on (*).

10 Original Generative Adversarial Networks Variational (dual) representation of f-divergences: D f (P X P G ) = [ sup E X P [T (X)] E Z PZ f ( T (G(Z)) )] T : X dom(f ) where f (x) := sup u x u f(u) is a convex conjugate of f. 1. Take f(x) = (x + 1) log x x log x and f (t) = log ( 2 e t). The domain of f is (, log 2); 2. Take T = g f T ω, where g f (v) = log 2 log(1 + e v ); 3. Parametrize G = G θ and T ω with deep nets Up to additive 2 log 2 term inf PG D f (P X P G ) is equivalent to ( ) 1 inf sup E X PX log G θ T ω 1 + e + E 1 Tω(X) Z P Z log 1 ( ) 1 + e Tω G θ (Z) Compare to the original GAN objective inf G θ sup T ω E X Pd [log T ω (X)] + E Z PZ [log ( 1 T ω (G θ (Z)) ) ].

11 Theory vs. practice: do we know what GANs do? Variational (dual) representation of f-divergences: D f (P X P G ) = [ sup E X P [T (X)] E Z PZ f ( T (G(Z)) )] T : X dom(f ) where f (x) := sup u x u f(u) is a convex conjugate of f. inf G θ sup T ω E X Pd [log T ω (X)] + E Z PZ [log ( 1 T ω (G θ (Z)) ) ]. GANs are not precisely solving inf PG JS(P X P G ), because: 1. GANs replace expectations with sample averages. Uniform lows of large numbers may not apply, as our function classes are huge; 2. Instead of taking supremum over all possible witness functions T GANs optimize over classes of DNNs; 3. In practice GANs never optimize T ω to the end because of various computational/numerical reasons.

12 A possible criticism of f-divergences: When P X and P G are supported on disjoint manifolds f-divergences often max out. This leads to numerical instabilities: no useful gradients for G. Consider P G and P G supported on manifolds M and M. Suppose d(m, M X ) < d(m, M X ), where M X is the true manifold. f-divergences will often give the same numbers. Possible solutions: 1. The smoothing: add a noise to both P X and P G before comparing. 2. Use other divergences, including IPMs and the optimal transport.

13 Minimizing MMD between P X and P G Take any reproducing kernel k : X X R. Let B k be a unit ball of the corresponding RKHS H k. Maximum Mean Discrepancy is the following IPM: γ k (P X, P G ) := sup T B k E PX [T (X)] E PG [T (Y )] (MMD) This optimization problem has a closed form analytical solution. One can play the adversarial game using (MMD) instead of D f (P X P G ): No need to train the discriminator T ; On the other hand, B k is a rather restricted class; One can also train k adversarially, resulting in a stronger objective: inf max γ k (P X, P G ). P G k

14 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

15 Minimizing the 1-Wasserstein distance 1-Wasserstein distance is defined by W 1 (P, Q) := inf E (X,Y ) Γ[d(X, Y )], Γ P(X P,Y Q) where P(X P, Y Q) is a set of all joint distributions of (X, Y ) with marginals P and Q respectively and (X, d) is a metric space. Kantorovich-Rubinstein duality: W 1 (P, Q) = sup T F L E PX [T (X)] E PG [T (Y )], (KR) where F L are all the bounded 1-Lipschitz functions on (X, d). WGAN: In order to solve inf PG W 1 (P X, P G ) let s play the adversarial training card on (KR). Parametrize T = T ω using the weight clipping or perform the gradient penalization. Unfortunately, (KR) holds only for the 1-Wasserstein distance.

16 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

17 VAE: Maximizing the marginal log-likelihood inf KL(P X P G ) inf E PX [log p G (X)]. P G P G Variational upper bound: for any conditional distribution Q(Z X) E PX [log p G (X)] = E PX [ KL ( Q(Z X), PZ ) EQ(Z X) [log p G (X Z)] ] In particular, if Q is not restricted: E PX [ KL ( Q(Z X), PG (Z X) )] E PX [ KL ( Q(Z X), PZ ) EQ(Z X) [log p G (X Z)] ]. E PX [log p G (X)] = inf Q E P X [ KL ( Q(Z X), PZ ) EQ(Z X) [log p G (X Z)] ] Variational Auto-Encoders use the upper bound and Latent variable models with any P G (X Z), eg. N (X; G(Z), σ 2 I) Set P Z (Z) = N (Z; 0, I) and Q(Z X) = N (Z; µ(x), Σ(X)) Parametrize G = G θ, µ, and Σ with deep nets. Run SGD.

18 AVB: reducing the gap in the upper bound Variational upper bound: E PX [log p G (X)] inf Q Q E P X [ KL ( Q(Z X), PZ ) EQ(Z X) [log p G (X Z)] ] Adversarial Variational Bayes reduces the variational gap by Allowing for flexible encoders Q e (Z X), defined implicitly by random variables e(x, ɛ), where ɛ P ɛ ; Replacing the KL divergence in the objective by the adversarial approximation (any of the ones discussed above) Parametrize e with a deep net. Run SGD. Downsides of VAE and AVB: Literature reports blurry samples. This is caused by the combination of KL objective and the Gaussian decoder. Importantly, P G (X Z) is trained only for encoded training points, i.e. for Z Q(Z X) and X P X. But we sample from Z P Z.

19 Unregularized Auto-Encoders Variational upper bound: E PX [log p G (X)] inf Q Q E P X [ KL ( Q(Z X), PZ ) EQ(Z X) [log p G (X Z)] ] The KL term in the upper bound may be viewed as a regularizer; Dropping it results in classical auto-encoders, where the encoder-decoder pair tries to reconstruct all training images; In this case training images X often end up being mapped to different spots chaotically scattered in the Z space; As a result, Z captures no useful representations. Sampling is hard.

20 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

21 Minimizing the optimal transport Optimal transport for a cost function c(x, y): X X R + is W c (P X, P G ) := inf E (X,Y ) Γ[c(X, Y )], Γ P(X P X,Y P G ) If P G (Y Z = z) = δ G(z) for all z Z, where G: Z X, we have W c (P X, P G ) = [ ( )] inf E PX E Q(Z X) c X, G(Z), Q : Q Z =P Z where Q Z is the marginal distribution of Z when X P X, Z Q(Z X).

22 Minimizing the optimal transport Optimal transport for a cost function c(x, y): X X R + is W c (P X, P G ) := inf E (X,Y ) Γ[c(X, Y )], Γ P(X P X,Y P G ) If P G (Y Z = z) = δ G(z) for all z Z, where G: Z X, we have W c (P X, P G ) = [ ( )] inf E PX E Q(Z X) c X, G(Z), Q : Q Z =P Z where Q Z is the marginal distribution of Z when X P X, Z Q(Z X).

23 Relaxing the constraint W c (P X, P G ) = [ ( )] inf E PX E Q(Z X) c X, G(Z), Q : Q Z =P Z Penalized Optimal Transport replaces the constraint with a penalty: POT(P X, P G ) := inf Q E P X E Q(Z X) [ c ( X, G(Z) )] + λ D(QZ, P Z ) and uses the adversarial training in the Z space to approximate D. For the 2-Wasserstein distance c(x, Y ) = X Y 2 2 POT recovers Adversarial Auto-Encoders; For the 1-Wasserstein distance c(x, Y ) = X Y 2 POT and WGAN are solving the same problem from the primal and dual forms respectively. Importantly, unlike VAE, POT does not force Q(Z X = x) to intersect for different x, which is known to lead to the blurriness.

24 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

25 GANs approach the problem from a dual perspective. They are known to produce very sharply looking images. max E Z P Z [T (G(Z))] G But notoriously hard to train, unstable (although many would disagree), and sometimes lead to mode collapses. GANs come without an encoder.

26 (Gulrajani et al., 2017) aka Improved WGAN, 32X32 CIFAR-10

27 (Radford et al., 2015) aka DCGAN, 64X64 LSUN

28 VAEs approach the problem from its primal. They enjoy a very stable training and often lead to diverse samples. max E X P X E Z Q(Z X) [c ( X, G(Z) ] G But the samples look blurry VAEs come with encoders. Various papers are trying to combine a stability and recall of VAEs with the precision of GANs: Choose an adversarially trained cost function c; Combine AE costs with the GAN criteria;...

29 (Mescheder et al., 2017) aka AVB, CelebA

30 VAE trained on CIFAR-10, Z of 20 dim.

31 (Bousquet et al., 2017) aka POT, CIFAR-10, same architecture

32 (Bousquet et al., 2017) aka POT, CIFAR-10, test reconstruction

33 Contents 1. Unsupervised generative modelling and implicit models 2. Distances on probability measures 3. GAN and f-gan: minimizing f-divergences (dual formulation) 4. WGAN: minimizing the optimal transport (dual formulation) 5. VAE: minimizing the KL-divergence (primal formulation) 6. POT: minimizing the optimal transport (primal formulation) 7. Dual vs. primal: precision vs. recall? Unifying VAE and GAN Most importantly: WE NEED AN ADEQUATE WAY TO EVALUATE THE MODELS

34 Literature 1. Nowozin, Cseke, Tomioka. f-gan: Training generative neural samplers using variational divergence minimization, Goodfellow et al. Generative adversarial nets, Arjovsky, Chintala, Bottou. Wasserstein GAN, Arjovsky, Bottou. Towards Principled Methods for Training Generative Adversarial Networks, Li et al. MMD GAN: Towards Deeper Understanding of Moment Matching Network, Dziugaite, Roy, Ghahramani. Training generative neural networks via maximum mean discrepancy optimization, Kingma, Welling. Auto-encoding variational Bayes, Makhzani et al. Adversarial autoencoders, Mescheder, Nowozin, Geiger. Adversarial variational bayes: Unifying variational autoencoders and generative adversarial networks, Bousquet et al. From optimal transport to generative modeling: the VEGAN cookbook, 2017.