School of Computer Science

10-601B Introduction to Machine Learning

Neural Networks

Readings: Matt Gormley

Bishop Ch. 5 Lecture 15
Murphy Ch. 16.5, Ch. 28
October 19, 2016
Mitchell Ch. 4

1
Reminders

2
 Outline
• Logistic Regression (Recap)
• Neural Networks
• Backpropagation

3
RECALL: LOGISTIC REGRESSION

4
 Using gradient ascent for linear
classifiers
Key idea behind today’s lecture:
1. Define a linear classifier (logistic regression)
2. Define an objective function (likelihood)
3. Optimize it with gradient descent to learn
parameters
4. Predict the class with highest probability under
the model

5
 Using gradient ascent for linear
classifiers
This decision function isn’t Use a differentiable
differentiable: function instead:

sign(x) 1
logistic(u) º
1+ e-u 6
 Using gradient ascent for linear
classifiers
This decision function isn’t Use a differentiable
differentiable: function instead:

sign(x) 1
logistic(u) º
1+ e-u 7
 Logistic Regression
Data: Inputs are continuous vectors of length K. Outputs
are discrete.

Model: Logistic function applied to dot product of

parameters with input vector.

Learning: finds the parameters that minimize some

objective function.

Prediction: Output is the most probable class.

8
NEURAL NETWORKS

9
Learning highly non-linear functions
f: X  Y
 f might be non-linear function
 X (vector of) continuous and/or discrete vars
 Y (vector of) continuous and/or discrete vars

The XOR gate Speech recognition

© Eric Xing @ CMU, 2006-2011 10

Perceptron and Neural Nets
 From biological neuron to artificial neuron (perceptron)
Synapse Inputs
Synapse Dendrites x1 Linear Hard
Axon
Axon w1 Combiner Limiter
Output
 Y
Soma Soma w2
Dendrites 
x2
Synapse
Threshold
 Activation function

 1, if X  
n
X   xi wi Y 
i 1  1, if X  

 Artificial neuron networks

 supervised learning

Out put Signals

Input Signals
 gradient descent

Middle Layer
Input Layer Output Layer
© Eric Xing @ CMU, 2006-2011 11
Connectionist Models
 Consider humans:
 Neuron switching time
~ 0.001 second
 Number of neurons
~ 1010
 Connections per neuron
~ 104-5
 Scene recognition time
~ 0.1 second
 100 inference steps doesn't seem like enough
 much parallel computation
 Properties of artificial neural nets (ANN)
 Many neuron-like threshold switching units
 Many weighted interconnections among units
 Highly parallel, distributed processes

© Eric Xing @ CMU, 2006-2011 12

 Why is everyone talking
Motivation
about Deep Learning?
• Because a lot of money is invested in it…
– DeepMind: Acquired by Google for $400
million
– DNNResearch: Three person startup
(including Geoff Hinton) acquired by Google
for unknown price tag
– Enlitic, Ersatz, MetaMind, Nervana, Skylab:
Deep Learning startups commanding millions
of VC dollars
• Because it made the front page of the
New York Times
13
 Why is everyone talking
Motivation
about Deep Learning?
1960s Deep learning:
– Has won numerous pattern recognition
1980s competitions
– Does so with minimal feature
1990s engineering
This wasn’t always the case!
2006 Since 1980s: Form of models hasn’t changed much,
but lots of new tricks…
– More hidden units
2016 – Better (online) optimization
– New nonlinear functions (ReLUs)
– Faster computers (CPUs and GPUs)
14
 A Recipe for
Background
Machine Learning
1. Given training data: Face Face Not a face

2. Choose each of these:

– Decision function
Examples: Linear regression,
Logistic regression, Neural Network

– Loss function
Examples: Mean-squared error,
Cross Entropy

15
 A Recipe for
Background
Machine Learning
1. Given training data: 3. Define goal:

2. Choose each of these:

– Decision function 4. Train with SGD:
(take small steps
opposite the gradient)
– Loss function

16
 A Recipe for
Background
Gradients
Machine Learning
1. Given training data: 3. Definecan
Backpropagation goal:
compute this
gradient!
And it’s a special case of a more
general algorithm called reverse-
2. Choose each of these:mode automatic differentiation that
– Decision function can compute
4. Train
the with SGD:
gradient of any
differentiable
(takefunction efficiently!
small steps
opposite the gradient)
– Loss function

17
 A Recipe for
Background
Goals for Today’s Lecture
Machine Learning
1. 1.
Given training
Explore data:
a new class of 3. Define functions
decision goal:
(Neural Networks)
2. Consider variants of this recipe for training
2. Choose each of these:
– Decision function 4. Train with SGD:
(take small steps
opposite the gradient)
– Loss function

18
 Decision
Functions Linear Regression

Output

θ1 θ2 θ3 θM

Input …
19
 Decision
Functions Logistic Regression

Output

θ1 θ2 θ3 θM

Input …
20
 Decision
Functions Logistic Regression

Output

Face Face Not a face

θ1 θ2 θ3 θM

Input …
21
 Decision
Functions Logistic Regression

Output

1 1 0

y
x2
θ1 θ2 θ3 θM
x1

Input …
22
 Decision
Functions Logistic Regression

Output

θ1 θ2 θ3 θM

Input …
23
Neural Network Model
Inputs
.6 Output
Age 34 .4
.2 S
.1 .5 0.6
Gender 2 .3 .2
.8
S
.7 S “Probability of
beingAlive”
Stage 4 .2

Dependent
Independent Weights HiddenL Weights variable
variables ayer
Prediction

© Eric Xing @ CMU, 2006-2011 24

“Combined logistic models”
Inputs
.6 Output
Age 34
.5 0.6
.1
Gender 2 S
.7 .8 “Probability of
beingAlive”
Stage 4

Dependent
Independent Weights HiddenL Weights variable
variables ayer
Prediction

© Eric Xing @ CMU, 2006-2011 25

 Inputs
Output
Age 34
.2 .5
0.6
Gender 2 .3
S
“Probability of
.8
beingAlive”
Stage 4 .2

Dependent
Independent Weights HiddenL Weights variable
variables ayer
Prediction

© Eric Xing @ CMU, 2006-2011 26

 Inputs
.6 Output
Age 34
.2 .5
.1 0.6
Gender 1 .3
S
.7 “Probability of
.8
beingAlive”
Stage 4 .2

Dependent
Independent Weights HiddenL Weights variable
variables ayer
Prediction

© Eric Xing @ CMU, 2006-2011 27

Not really,
no target for hidden units...

Age 34 .6 .4
.2 S
.1 .5 0.6
Gender 2 .3 .2
.8
S
.7 S “Probability of
beingAlive”
Stage 4 .2

Dependent
Independent Weights HiddenL Weights variable
variables ayer
Prediction

© Eric Xing @ CMU, 2006-2011 28

Jargon Pseudo-Correspondence
 Independent variable = input variable
 Dependent variable = output variable
 Coefficients = “weights”
 Estimates = “targets”

Logistic Regression Model (the sigmoid unit)

Inputs Output
Age 34
5
0.6
Gende 1 4
S “Probability of
r beingAlive”
4 8
Stage

Independent variables Coefficients Dependent variable

x1, x2, x3 a, b, c p Prediction
© Eric Xing @ CMU, 2006-2011 29
 Decision
Functions Neural Network

Output

Hidden Layer …

Input …
30
 Decision
Functions Neural Network

Output

…
Hidden Layer

…
Input

31
 Building a Neural Net

Output

Features …

32
 Building a Neural Net

Output

Hidden Layer …
D=M

1 1 1

Input …
33
 Building a Neural Net

Output

Hidden Layer …
D=M

Input …
34
 Building a Neural Net

Output

Hidden Layer …
D=M

Input …
35
 Building a Neural Net

Output

Hidden Layer …
D<M

Input …
36
 Decision Boundary

• 0 hidden layers: linear classifier

– Hyperplanes

x1 x2

Example from to Eric Postma via Jason Eisner 37

 Decision Boundary

• 1 hidden layer
– Boundary of convex region (open or closed)

x1 x2

Example from to Eric Postma via Jason Eisner 38

 Decision Boundary

y
• 2 hidden layers
– Combinations of convex regions

x1 x2

Example from to Eric Postma via Jason Eisner 39

 Decision
Functions
Multi-Class Output

Output …

Hidden Layer …

Input …
40
Decision
Functions Deeper Networks

Next lecture:

Output

…
Hidden Layer 1

…
Input

41
Decision
Functions Deeper Networks

Next lecture:

Output

…
Hidden Layer 2

…
Hidden Layer 1

…
Input

42
Decision
Functions Deeper Networks

Next lecture: Output

Making the
neural Hidden Layer 3
…

networks
deeper Hidden Layer 2
…

…
Hidden Layer 1

…
Input

43
 Decision Different Levels of
Functions Abstraction
• We don’t know
the “right”
levels of
abstraction
• So let the model
figure it out!

44
Example from Honglak Lee (NIPS 2010)
 Decision Different Levels of
Functions Abstraction
Face Recognition:
– Deep Network
can build up
increasingly
higher levels of
abstraction
– Lines, parts,
regions

45
Example from Honglak Lee (NIPS 2010)
 Decision Different Levels of
Functions Abstraction
Output

…
Hidden Layer 3

…
Hidden Layer 2

…
Hidden Layer 1

…
Input

46
Example from Honglak Lee (NIPS 2010)
ARCHITECTURES

47
 Neural Network Architectures
Even for a basic Neural Network, there are
many design decisions to make:
1. # of hidden layers (depth)
2. # of units per hidden layer (width)
3. Type of activation function (nonlinearity)
4. Form of objective function

48
 Activation Functions
Neural Network with sigmoid
activation functions

Output

…
Hidden Layer

…
Input

49
 Activation Functions
Neural Network with arbitrary
nonlinear activation functions

Output

…
Hidden Layer

…
Input

50
 Activation Functions
Sigmoid / Logistic Function So far, we’ve
1 assumed that the
logistic(u) º -u activation function
1+ e
(nonlinearity) is
always the sigmoid
function…

51
 Activation Functions
• A new change: modifying the nonlinearity
– The logistic is not widely used in modern ANNs

Alternate 1:
tanh

Like logistic function but

shifted to range [-1, +1]

Slide from William Cohen

 AI Stats 2010

depth 4?

sigmoid
vs.
tanh

Figure from Glorot & Bentio (2010)

 Activation Functions
• A new change: modifying the nonlinearity
– reLU often used in vision tasks

Alternate 2: rectified linear unit

Linear with a cutoff at zero

(Implementation: clip the gradient

when you pass zero)

Slide from William Cohen

 Activation Functions
• A new change: modifying the nonlinearity
– reLU often used in vision tasks

Alternate 2: rectified linear unit

Soft version: log(exp(x)+1)

Doesn’t saturate (at one end)

Sparsifies outputs
Helps with vanishing gradient

Slide from William Cohen

 Objective Functions for NNs
• Regression:
– Use the same objective as Linear Regression
– Quadratic loss (i.e. mean squared error)
• Classification:
– Use the same objective as Logistic Regression
– Cross-entropy (i.e. negative log likelihood)
– This requires probabilities, so we add an additional
“softmax” layer at the end of our network

56
 Multi-Class Output

Output …

Hidden Layer …

Input …
57
 Multi-Class Output
Softmax:

…
Output

…
Hidden Layer

…
Input

58
 Cross-entropy vs. Quadratic loss

Figure from Glorot & Bentio (2010)

 A Recipe for
Background
Machine Learning
1. Given training data: 3. Define goal:

2. Choose each of these:

– Decision function 4. Train with SGD:
(take small steps
opposite the gradient)
– Loss function

60
 Objective Functions
Matching Quiz: Suppose you are given a neural net with a
single output, y, and one hidden layer.
1) Minimizing sum of squared 5) …MLE estimates of weights assuming
errors… target follows a Bernoulli with
parameter given by the output value
2) Minimizing sum of squared
errors plus squared Euclidean 6) …MAP estimates of weights
norm of weights… …gives… assuming weight priors are zero mean
Gaussian
3) Minimizing cross-entropy…
7) …estimates with a large margin on
4) Minimizing hinge loss… the training data
8) …MLE estimates of weights assuming
zero mean Gaussian noise on the output
value

A. 1=5, 2=7, 3=6, 4=8 E. 1=8, 2=6, 3=5, 4=7

B. 1=5, 2=7, 3=8, 4=6 F. 1=8, 2=6, 3=8, 4=6
C. 1=7, 2=5, 3=5, 4=7 61
BACKPROPAGATION

62
 A Recipe for
Background
Machine Learning
1. Given training data: 3. Define goal:

2. Choose each of these:

– Decision function 4. Train with SGD:
(take small steps
opposite the gradient)
– Loss function

63
Training Backpropagation

• Question 1:
When can we compute the gradients of the
parameters of an arbitrary neural network?

• Question 2:
When can we make the gradient
computation efficient?

64
 Training Chain Rule

Given:
Chain Rule:

65
 Training Chain Rule

Given:
Chain Rule:

Backpropagation
…
is just repeated
application of the
chain rule from
Calculus 101.
66
 Training Chain Rule
Given:
Chain Rule:
…

Backpropagation:
1. Instantiate the computation as a directed acyclic graph, where each
intermediate quantity is a node
2. At each node, store (a) the quantity computed in the forward pass
and (b) the partial derivative of the goal with respect to that node’s
intermediate quantity.
3. Initialize all partial derivatives to 0.
4. Visit each node in reverse topological order. At each node, add its
contribution to the partial derivatives of its parents

This algorithm is also called automatic differentiation in the reverse- 67

Training Backpropagation

68
Training Backpropagation

69
 Training Backpropagation
Output

Case 1:
Logistic θ1 θ2 θ3 θM
Regression
…
Input

70
 Training Backpropagation

Output

…
Hidden Layer

…
Input

71
 Training Backpropagation

Output

…
Hidden Layer

…
Input

72
 Training Backpropagation
Case 2:
Neural
Network

73
 Training Chain Rule
Given:
Chain Rule:
…

Backpropagation:
1. Instantiate the computation as a directed acyclic graph, where each
intermediate quantity is a node
2. At each node, store (a) the quantity computed in the forward pass
and (b) the partial derivative of the goal with respect to that node’s
intermediate quantity.
3. Initialize all partial derivatives to 0.
4. Visit each node in reverse topological order. At each node, add its
contribution to the partial derivatives of its parents

This algorithm is also called automatic differentiation in the reverse- 74

 Training Chain Rule
Given:
Chain Rule:
…

Backpropagation:
1. Instantiate the computation as a directed acyclic graph, where each
node represents a Tensor.
2. At each node, store (a) the quantity computed in the forward pass
and (b) the partial derivatives of the goal with respect to that node’s
Tensor.
3. Initialize all partial derivatives to 0.
4. Visit each node in reverse topological order. At each node, add its
contribution to the partial derivatives of its parents

This algorithm is also called automatic differentiation in the reverse- 75

 Training Backpropagation
Case 2:
Neural
Module 5
Network

Module 4
…

Module 3

Module 2

Module 1

76
 A Recipe for
Background
Gradients
Machine Learning
1. Given training data: 3. Definecan
Backpropagation goal:
compute this
gradient!
And it’s a special case of a more
general algorithm called reverse-
2. Choose each of these:mode automatic differentiation that
– Decision function can compute
4. Train
the with SGD:
gradient of any
differentiable
(takefunction efficiently!
small steps
opposite the gradient)
– Loss function

77
 Summary
1. Neural Networks…
– provide a way of learning features
– are highly nonlinear prediction functions
– (can be) a highly parallel network of logistic
regression classifiers
– discover useful hidden representations of the
input
2. Backpropagation…
– provides an efficient way to compute gradients
– is a special case of reverse-mode automatic
differentiation
78