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PAIR: Pareto Invariant Risk Minimization

Paper Github License License

This repo contains the sample code for reproducing the results of our ICLR 2023: Pareto Invariant Risk Minimization: Towards Mitigating the Optimization Dilemma in Out-of-Distribution Generalization, which has also been presented as oral at ICLR DG, and at ICML PODS Workshop. 😆😆😆

Updates:

  • For deep networks, it might be a bit hard to apply PAIR to tune the whole models together. In this case, we recommend to first pretrain the feature extractor with our newly released feature learning algorithm FeAT, and then freeze it and tune the last layer with PAIR! 😆😆😆
  • A introductory blog in Chinese is released. Welcome to check it out! 😆
  • Results are updated to Wilds leaderboard. Note there are some slight differences due to the evaluation.
  • Camera ready version of the paper link!
  • PAIR is accepted as an oral presentation by ICLR DG workshop!
  • Slides are released link.

Introduction

Recently, there has been a growing surge of interest in enabling machine learning systems to generalize well to Out-of-Distribution (OOD) data. Most efforts are devoted to advancing optimization objectives that regularize Empirical Risk Minimization (ERM) to capture the underlying invariance; however, little attention is paid to the optimization process of the objectives. In fact, the optimization process of the OOD objectives turns out to be substantially more challenging than ERM. When optimizing the ERM and OOD objectives, $$\min_f (L_\text{ERM},L_\text{OOD})^T$$ there often exists an optimization dilemma in the training of the OOD objectives:

  1. The original OOD objectives are often hard to be optimized directly (e.g., IRM), hence they are relaxed as regularization terms of ERM (e.g., IRMv1), i.e., $\min_f L_\text{ERM}+\lambda \widehat{L}_\text{OOD}$, which can behave very differently and introduce huge gaps with the original one. As shown in figure (a), the ellipsoids denote solutions that satisfy the invariance constraints of practical IRM variant IRMv1. When optimized with ERM, IRMv1 prefers $f_1$ instead of $f_\text{IRM}$ (The predictor produced by IRM).

  2. The intrinsic conflicts between ERM and OOD objectives brings conflicts in gradients that further increases the optimization difficulty, as shown in figure (b). It often require careful tuning of the penalty weights (the $\lambda$). Figure (d) shows an example that IRMv1 usually requires exhaustive tuning of hyperparameters ($y$-axis: penalty weights; $x$-axis: ERM pre-training epochs before applying IRMv1 penalty), Moreover, the typically used linear weighting scheme, i.e., $\min_f L_\text{ERM}+\lambda \widehat{L}_\text{OOD}$, cannot reach any solutions in the non-convex part of the Pareto front, as shown in figure (c).

  3. Along with the optimization dilemma is another challenge, i.e., model selection during the training with the OOD objectives. As we lack the access to a validation set that have a similar distribution with the test data, DomainBed provides 3 options to choose and construct a validation set and performs model selection based on ERM loss in the validation set. However, all three approaches have their own limitations, as they essentially posit different assumptions on the test distribution.

This work provides understanding to the aforementioned challenges from the Multi-Objective Optimization (MOO) perspective, and proposes a new optimization scheme for OOD generalization, called PAreto Invariant Risk Minimization (PAIR), including an optimizer PAIR-o and a new model selection criteria PAIR-s.

  1. Owing to the MOO formulation, PAIR-o allows for cooperative optimization with other OOD objectives to improve the robustness of practical OOD objectives. Despite the huge gaps between IRMv1 and IRM, we show that incorporating VREx into IRMv1 (i.e., IRMX objective) provably recovers the causal invariance for some group of problem instances.

  2. When given robust OOD objectives, PAIR-o finds a descent path with adaptive penalty weights, which leads to a Pareto optimal solution that trades off ERM and OOD performance properly, as shown in figure (c). Therefore, PAIR-o robustly yields top performances and relieves the needs of exhaustive hyperparameter tunning, as shown in figure (d).

  3. PAIR-s addresses the challenge of finding a proper validation set for model selection in OOD generalization, by leveraging the prior assumed by the OOD objective, i.e., the OOD loss values.

We conducted extensive experiments on challenging OOD benchmarks. Empirical results show that PAIR-o successfully alleviates the objective conflicts and empowers IRMv1 to achieve high performance in $6$ datasets from WILDS. PAIR-s effectively improves the performance of selected OOD models up to $10$% across $3$ datasets from DomainBed.

Structure of Codebase

The whole codebase contains four parts, corresponding to experiments presented in the paper:

  • Extrapolation: Recovery of Causal Invariance
  • ColoredMNIST: Proof of Concept on ColoredMNIST
  • WILDS: Verification of PAIR-o in WILDS
  • DomainBed: Verification of PAIR-s in DomainBed

Recovery of Causal Invariance

We provide a minimal demo code for the experiments on the recovery of causal invariance, in pair_extrapolation.ipynb.

ColoredMNIST

The corresponding code is in the folder ColoredMNIST. The code is modified from RFC. To reproduce the results of PAIR, simply run the following commands under the directory:

For the original ColoredMNIST data (CMNIST-25):

python run_exp.py  --methods pair  --verbose True --penalty_anneal_iters 150 --dataset coloredmnist025 --n_restarts 10 --lr 0.1 --opt 'pair'

For the modified ColoredMNIST data (CMNIST-01):

python run_exp.py  --methods pair  --verbose True --penalty_anneal_iters 150 --dataset coloredmnist01 --n_restarts 10 --lr 0.01 --opt 'pair'

WILDS

The corresponding code is in the folder WILDS. The code is modified from Fish. The dependencies and running commands are the same as for Fish, while we use wilds 2.0 following the latest official recommendations.

To run with wilds codes, for example,

python main.py --need_pretrain --data-dir ./data --dataset civil --algorithm pair -pc 3 --seed 0 -ac 1e-4 -al

We add additional commands to control PAIR-o:

  • -pc: specify preferences;
  • --use_old: to avoid repeated pretraining of ERM and directly use the pretrained weights;

To avoid negative loss inputs, we use the following commands to adjust IRMv1 loss values:

  • -al and -ac: adjust negative irm penalties in pair by multiplying a negative number;
  • -ai: adjust negative irm penalties in pair by adding up a sufficient large number;

We also provide an accelerated mode by freezing the featurizer by specifying --frozen. The running scripts for wilds experiments can be found here.

DomainBed

The corresponding code is in the folder DomainBed. The code is based on DomainBed.

We provide new PAIR model selection criteria. Based on three options of validation set choice, we implement corresponding PAIR-s variants.

  • PAIRIIDAccuracySelectionMethod: PAIR-s based on a random subset from the data of the training domains.
  • PAIRLeaveOneOutSelectionMethod: PAIR-s based on a random subset from the data of a held-out (not training, not testing) domain.
  • PAIROracleSelectionMethod: PAIR-s based on a random subset from the data of the test domain.

To use PAIR-s, simply add the corresponding functions or replace the original model_selection.py with ours, and then run the corresponding commands in DomainBed.

Tips

  • For deep networks, it might be a bit hard to apply PAIR to tune the whole models together. In this case, we recommend to first pretrain the feature extractor with our newly released feature learning algorithm FeAT, and then freeze it and tune the last layer with PAIR! 😆😆😆

Misc

If you find our paper and repo useful, please cite our paper:

@inproceedings{chen2023pair,
title={Pareto Invariant Risk Minimization: Towards Mitigating the Optimization Dilemma in Out-of-Distribution Generalization},
author={Yongqiang Chen and Kaiwen Zhou and Yatao Bian and Binghui Xie and Bingzhe Wu and Yonggang Zhang and MA KAILI and Han Yang and Peilin Zhao and Bo Han and James Cheng},
booktitle={The Eleventh International Conference on Learning Representations },
year={2023},
url={https://openreview.net/forum?id=esFxSb_0pSL}
}