Models, code, and papers for "Timo Aila":

Temporal Ensembling for Semi-Supervised Learning

Mar 15, 2017
Samuli Laine, Timo Aila

In this paper, we present a simple and efficient method for training deep neural networks in a semi-supervised setting where only a small portion of training data is labeled. We introduce self-ensembling, where we form a consensus prediction of the unknown labels using the outputs of the network-in-training on different epochs, and most importantly, under different regularization and input augmentation conditions. This ensemble prediction can be expected to be a better predictor for the unknown labels than the output of the network at the most recent training epoch, and can thus be used as a target for training. Using our method, we set new records for two standard semi-supervised learning benchmarks, reducing the (non-augmented) classification error rate from 18.44% to 7.05% in SVHN with 500 labels and from 18.63% to 16.55% in CIFAR-10 with 4000 labels, and further to 5.12% and 12.16% by enabling the standard augmentations. We additionally obtain a clear improvement in CIFAR-100 classification accuracy by using random images from the Tiny Images dataset as unlabeled extra inputs during training. Finally, we demonstrate good tolerance to incorrect labels.

* Final ICLR 2017 version. Includes new results for CIFAR-100 with additional unlabeled data from Tiny Images dataset 

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Self-Supervised Deep Image Denoising

Jan 29, 2019
Samuli Laine, Jaakko Lehtinen, Timo Aila

We describe techniques for training high-quality image denoising models that require only single instances of corrupted images as training data. Inspired by a recent technique that removes the need for supervision through image pairs by employing networks with a "blind spot" in the receptive field, we address two of its shortcomings: inefficient training and somewhat disappointing final denoising performance. This is achieved through a novel blind-spot convolutional network architecture that allows efficient self-supervised training, as well as application of Bayesian distribution prediction on output colors. Together, they bring the self-supervised model on par with fully supervised deep learning techniques in terms of both quality and training speed in the case of i.i.d. Gaussian noise.

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A Style-Based Generator Architecture for Generative Adversarial Networks

Dec 12, 2018
Tero Karras, Samuli Laine, Timo Aila

We propose an alternative generator architecture for generative adversarial networks, borrowing from style transfer literature. The new architecture leads to an automatically learned, unsupervised separation of high-level attributes (e.g., pose and identity when trained on human faces) and stochastic variation in the generated images (e.g., freckles, hair), and it enables intuitive, scale-specific control of the synthesis. The new generator improves the state-of-the-art in terms of traditional distribution quality metrics, leads to demonstrably better interpolation properties, and also better disentangles the latent factors of variation. To quantify interpolation quality and disentanglement, we propose two new, automated methods that are applicable to any generator architecture. Finally, we introduce a new, highly varied and high-quality dataset of human faces.

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Progressive Growing of GANs for Improved Quality, Stability, and Variation

Feb 26, 2018
Tero Karras, Timo Aila, Samuli Laine, Jaakko Lehtinen

We describe a new training methodology for generative adversarial networks. The key idea is to grow both the generator and discriminator progressively: starting from a low resolution, we add new layers that model increasingly fine details as training progresses. This both speeds the training up and greatly stabilizes it, allowing us to produce images of unprecedented quality, e.g., CelebA images at 1024^2. We also propose a simple way to increase the variation in generated images, and achieve a record inception score of 8.80 in unsupervised CIFAR10. Additionally, we describe several implementation details that are important for discouraging unhealthy competition between the generator and discriminator. Finally, we suggest a new metric for evaluating GAN results, both in terms of image quality and variation. As an additional contribution, we construct a higher-quality version of the CelebA dataset.

* Final ICLR 2018 version 

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Consistency regularization and CutMix for semi-supervised semantic segmentation

Jun 05, 2019
Geoff French, Timo Aila, Samuli Laine, Michal Mackiewicz, Graham Finlayson

Consistency regularization describes a class of approaches that have yielded ground breaking results in semi-supervised classification problems. Prior work has established the cluster assumption -- under which the data distribution consists of uniform class clusters of samples separated by low density regions -- as key to its success. We analyse the problem of semantic segmentation and find that the data distribution does not exhibit low density regions separating classes and offer this as an explanation for why semi-supervised segmentation is a challenging problem. We adapt the recently proposed CutMix regularizer for semantic segmentation and find that it is able to overcome this obstacle, leading to a successful application of consistency regularization to semi-supervised semantic segmentation.

* 13 pages, 7 figures, submitted to Neurips 2019 

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Improved Precision and Recall Metric for Assessing Generative Models

Apr 15, 2019
Tuomas Kynkäänniemi, Tero Karras, Samuli Laine, Jaakko Lehtinen, Timo Aila

The ability to evaluate the performance of a computational model is a vital requirement for driving algorithm research. This is often particularly difficult for generative models such as generative adversarial networks (GAN) that model a data manifold only specified indirectly by a finite set of training examples. In the common case of image data, the samples live in a high-dimensional embedding space with little structure to help assessing either the overall quality of samples or the coverage of the underlying manifold. We present an evaluation metric with the ability to separately and reliably measure both of these aspects in image generation tasks by forming explicit non-parametric representations of the manifolds of real and generated data. We demonstrate the effectiveness of our metric in StyleGAN and BigGAN by providing several illustrative examples where existing metrics yield uninformative or contradictory results. Furthermore, we analyze multiple design variants of StyleGAN to better understand the relationships between the model architecture, training methods, and the properties of the resulting sample distribution. In the process, we identify new variants that improve the state-of-the-art. We also perform the first principled analysis of truncation methods and identify an improved method. Finally, we extend our metric to estimate the perceptual quality of individual samples, and use this to study latent space interpolations.

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Pruning Convolutional Neural Networks for Resource Efficient Inference

Jun 08, 2017
Pavlo Molchanov, Stephen Tyree, Tero Karras, Timo Aila, Jan Kautz

We propose a new formulation for pruning convolutional kernels in neural networks to enable efficient inference. We interleave greedy criteria-based pruning with fine-tuning by backpropagation - a computationally efficient procedure that maintains good generalization in the pruned network. We propose a new criterion based on Taylor expansion that approximates the change in the cost function induced by pruning network parameters. We focus on transfer learning, where large pretrained networks are adapted to specialized tasks. The proposed criterion demonstrates superior performance compared to other criteria, e.g. the norm of kernel weights or feature map activation, for pruning large CNNs after adaptation to fine-grained classification tasks (Birds-200 and Flowers-102) relaying only on the first order gradient information. We also show that pruning can lead to more than 10x theoretical (5x practical) reduction in adapted 3D-convolutional filters with a small drop in accuracy in a recurrent gesture classifier. Finally, we show results for the large-scale ImageNet dataset to emphasize the flexibility of our approach.

* 17 pages, 14 figures, ICLR 2017 paper 

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Analyzing and Improving the Image Quality of StyleGAN

Dec 03, 2019
Tero Karras, Samuli Laine, Miika Aittala, Janne Hellsten, Jaakko Lehtinen, Timo Aila

The style-based GAN architecture (StyleGAN) yields state-of-the-art results in data-driven unconditional generative image modeling. We expose and analyze several of its characteristic artifacts, and propose changes in both model architecture and training methods to address them. In particular, we redesign generator normalization, revisit progressive growing, and regularize the generator to encourage good conditioning in the mapping from latent vectors to images. In addition to improving image quality, this path length regularizer yields the additional benefit that the generator becomes significantly easier to invert. This makes it possible to reliably detect if an image is generated by a particular network. We furthermore visualize how well the generator utilizes its output resolution, and identify a capacity problem, motivating us to train larger models for additional quality improvements. Overall, our improved model redefines the state of the art in unconditional image modeling, both in terms of existing distribution quality metrics as well as perceived image quality.

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Noise2Noise: Learning Image Restoration without Clean Data

Oct 29, 2018
Jaakko Lehtinen, Jacob Munkberg, Jon Hasselgren, Samuli Laine, Tero Karras, Miika Aittala, Timo Aila

We apply basic statistical reasoning to signal reconstruction by machine learning -- learning to map corrupted observations to clean signals -- with a simple and powerful conclusion: it is possible to learn to restore images by only looking at corrupted examples, at performance at and sometimes exceeding training using clean data, without explicit image priors or likelihood models of the corruption. In practice, we show that a single model learns photographic noise removal, denoising synthetic Monte Carlo images, and reconstruction of undersampled MRI scans -- all corrupted by different processes -- based on noisy data only.

* Added link to official implementation and updated MRI results to match it 

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Few-Shot Unsupervised Image-to-Image Translation

May 05, 2019
Ming-Yu Liu, Xun Huang, Arun Mallya, Tero Karras, Timo Aila, Jaakko Lehtinen, Jan Kautz

Unsupervised image-to-image translation methods learn to map images in a given class to an analogous image in a different class, drawing on unstructured (non-registered) datasets of images. While remarkably successful, current methods require access to many images in both source and destination classes at training time. We argue this greatly limits their use. Drawing inspiration from the human capability of picking up the essence of a novel object from a small number of examples and generalizing from there, we seek a few-shot, unsupervised image-to-image translation algorithm that works on previously unseen target classes that are specified, at test time, only by a few example images. Our model achieves this few-shot generation capability by coupling an adversarial training scheme with a novel network design. Through extensive experimental validation and comparisons to several baseline methods on benchmark datasets, we verify the effectiveness of the proposed framework. Code will be available at .

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Production-Level Facial Performance Capture Using Deep Convolutional Neural Networks

Jun 02, 2017
Samuli Laine, Tero Karras, Timo Aila, Antti Herva, Shunsuke Saito, Ronald Yu, Hao Li, Jaakko Lehtinen

We present a real-time deep learning framework for video-based facial performance capture -- the dense 3D tracking of an actor's face given a monocular video. Our pipeline begins with accurately capturing a subject using a high-end production facial capture pipeline based on multi-view stereo tracking and artist-enhanced animations. With 5-10 minutes of captured footage, we train a convolutional neural network to produce high-quality output, including self-occluded regions, from a monocular video sequence of that subject. Since this 3D facial performance capture is fully automated, our system can drastically reduce the amount of labor involved in the development of modern narrative-driven video games or films involving realistic digital doubles of actors and potentially hours of animated dialogue per character. We compare our results with several state-of-the-art monocular real-time facial capture techniques and demonstrate compelling animation inference in challenging areas such as eyes and lips.

* Final SCA 2017 version 

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Attentive Mimicking: Better Word Embeddings by Attending to Informative Contexts

Apr 05, 2019
Timo Schick, Hinrich Schütze

Learning high-quality embeddings for rare words is a hard problem because of sparse context information. Mimicking (Pinter et al., 2017) has been proposed as a solution: given embeddings learned by a standard algorithm, a model is first trained to reproduce embeddings of frequent words from their surface form and then used to compute embeddings for rare words. In this paper, we introduce attentive mimicking: the mimicking model is given access not only to a word's surface form, but also to all available contexts and learns to attend to the most informative and reliable contexts for computing an embedding. In an evaluation on four tasks, we show that attentive mimicking outperforms previous work for both rare and medium-frequency words. Thus, compared to previous work, attentive mimicking improves embeddings for a much larger part of the vocabulary, including the medium-frequency range.

* Accepted at NAACL2019 

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Solving Problems with Unknown Solution Length at (Almost) No Extra Cost

Jun 19, 2015
Benjamin Doerr, Carola Doerr, Timo Kötzing

Most research in the theory of evolutionary computation assumes that the problem at hand has a fixed problem size. This assumption does not always apply to real-world optimization challenges, where the length of an optimal solution may be unknown a priori. Following up on previous work of Cathabard, Lehre, and Yao [FOGA 2011] we analyze variants of the (1+1) evolutionary algorithm for problems with unknown solution length. For their setting, in which the solution length is sampled from a geometric distribution, we provide mutation rates that yield an expected optimization time that is of the same order as that of the (1+1) EA knowing the solution length. We then show that almost the same run times can be achieved even if \emph{no} a priori information on the solution length is available. Finally, we provide mutation rates suitable for settings in which neither the solution length nor the positions of the relevant bits are known. Again we obtain almost optimal run times for the \textsc{OneMax} and \textsc{LeadingOnes} test functions, thus solving an open problem from Cathabard et al.

* This is a preliminary version of a paper that is to appear at the Genetic and Evolutionary Computation Conference (GECCO 2015) 

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Solving high-dimensional optimal stopping problems using deep learning

Aug 07, 2019
Sebastian Becker, Patrick Cheridito, Arnulf Jentzen, Timo Welti

Nowadays many financial derivatives which are traded on stock and futures exchanges, such as American or Bermudan options, are of early exercise type. Often the pricing of early exercise options gives rise to high-dimensional optimal stopping problems, since the dimension corresponds to the number of underlyings in the associated hedging portfolio. High-dimensional optimal stopping problems are, however, notoriously difficult to solve due to the well-known curse of dimensionality. In this work we propose an algorithm for solving such problems, which is based on deep learning and computes, in the context of early exercise option pricing, both approximations for an optimal exercise strategy and the price of the considered option. The proposed algorithm can also be applied to optimal stopping problems that arise in other areas where the underlying stochastic process can be efficiently simulated. We present numerical results for a large number of example problems, which include the pricing of many high-dimensional American and Bermudan options such as, for example, Bermudan max-call options in up to 5000 dimensions. Most of the obtained results are compared to reference values computed by exploiting the specific problem design or, where available, to reference values from the literature. These numerical results suggest that the proposed algorithm is highly effective in the case of many underlyings, in terms of both accuracy and speed.

* 42 pages, 1 figure 

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Towards Inverse Sensor Mapping in Agriculture

May 22, 2018
Timo Korthals, Mikkel Kragh, Peter Christiansen, Ulrich Rückert

In recent years, the drive of the Industry 4.0 initiative has enriched industrial and scientific approaches to build self-driving cars or smart factories. Agricultural applications benefit from both advances, as they are in reality mobile driving factories which process the environment. Therefore, acurate perception of the surrounding is a crucial task as it involves the goods to be processed, in contrast to standard indoor production lines. Environmental processing requires accurate and robust quantification in order to correctly adjust processing parameters and detect hazardous risks during the processing. While today approaches still implement functional elements based on a single particular set of sensors, it may become apparent that a unified representation of the environment compiled from all available information sources would be more versatile, sufficient, and cost effective. The key to this approach is the means of developing a common information language from the data provided. In this paper, we introduce and discuss techniques to build so called inverse sensor models that create a common information language among different, but typically agricultural, information providers. These can be current live sensor data, farm management systems, or long term information generated from previous processing, drones, or satellites. In the context of Industry 4.0, this enables the interoperability of different agricultural systems and allows information transparency.

* IROS 2017 Workshop on Agri-Food Robotics, 6 pages, 12 figures 

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Review of Statistical Shape Spaces for 3D Data with Comparative Analysis for Human Faces

May 04, 2014
Alan Brunton, Augusto Salazar, Timo Bolkart, Stefanie Wuhrer

With systems for acquiring 3D surface data being evermore commonplace, it has become important to reliably extract specific shapes from the acquired data. In the presence of noise and occlusions, this can be done through the use of statistical shape models, which are learned from databases of clean examples of the shape in question. In this paper, we review, analyze and compare different statistical models: from those that analyze the variation in geometry globally to those that analyze the variation in geometry locally. We first review how different types of models have been used in the literature, then proceed to define the models and analyze them theoretically, in terms of both their statistical and computational aspects. We then perform extensive experimental comparison on the task of model fitting, and give intuition about which type of model is better for a few applications. Due to the wide availability of databases of high-quality data, we use the human face as the specific shape we wish to extract from corrupted data.

* Computer Vision and Image Understanding, 128, pp. 1-17, 2014 
* revised literature review, improved experiments, statistical models and code published 

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Learning to Regress 3D Face Shape and Expression from an Image without 3D Supervision

May 16, 2019
Soubhik Sanyal, Timo Bolkart, Haiwen Feng, Michael J. Black

The estimation of 3D face shape from a single image must be robust to variations in lighting, head pose, expression, facial hair, makeup, and occlusions. Robustness requires a large training set of in-the-wild images, which by construction, lack ground truth 3D shape. To train a network without any 2D-to-3D supervision, we present RingNet, which learns to compute 3D face shape from a single image. Our key observation is that an individual's face shape is constant across images, regardless of expression, pose, lighting, etc. RingNet leverages multiple images of a person and automatically detected 2D face features. It uses a novel loss that encourages the face shape to be similar when the identity is the same and different for different people. We achieve invariance to expression by representing the face using the FLAME model. Once trained, our method takes a single image and outputs the parameters of FLAME, which can be readily animated. Additionally we create a new database of faces `not quite in-the-wild' (NoW) with 3D head scans and high-resolution images of the subjects in a wide variety of conditions. We evaluate publicly available methods and find that RingNet is more accurate than methods that use 3D supervision. The dataset, model, and results are available for research purposes at

* To appear in CVPR 2019 

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MimicGAN: Corruption-Mimicking for Blind Image Recovery & Adversarial Defense

Nov 20, 2018
Rushil Anirudh, Jayaraman J. Thiagarajan, Bhavya Kailkhura, Timo Bremer

Solving inverse problems continues to be a central challenge in computer vision. Existing techniques either explicitly construct an inverse mapping using prior knowledge about the corruption, or learn the inverse directly using a large collection of examples. However, in practice, the nature of corruption may be unknown, and thus it is challenging to regularize the problem of inferring a plausible solution. On the other hand, collecting task-specific training data is tedious for known corruptions and impossible for unknown ones. We present MimicGAN, an unsupervised technique to solve general inverse problems based on image priors in the form of generative adversarial networks (GANs). Using a GAN prior, we show that one can reliably recover solutions to underdetermined inverse problems through a surrogate network that learns to mimic the corruption at test time. Our system successively estimates the corruption and the clean image without the need for supervisory training, while outperforming existing baselines in blind image recovery. We also demonstrate that MimicGAN improves upon recent GAN-based defenses against adversarial attacks and represents one of the strongest test-time defenses available today.

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Generating 3D faces using Convolutional Mesh Autoencoders

Jul 31, 2018
Anurag Ranjan, Timo Bolkart, Soubhik Sanyal, Michael J. Black

Learned 3D representations of human faces are useful for computer vision problems such as 3D face tracking and reconstruction from images, as well as graphics applications such as character generation and animation. Traditional models learn a latent representation of a face using linear subspaces or higher-order tensor generalizations. Due to this linearity, they can not capture extreme deformations and non-linear expressions. To address this, we introduce a versatile model that learns a non-linear representation of a face using spectral convolutions on a mesh surface. We introduce mesh sampling operations that enable a hierarchical mesh representation that captures non-linear variations in shape and expression at multiple scales within the model. In a variational setting, our model samples diverse realistic 3D faces from a multivariate Gaussian distribution. Our training data consists of 20,466 meshes of extreme expressions captured over 12 different subjects. Despite limited training data, our trained model outperforms state-of-the-art face models with 50% lower reconstruction error, while using 75% fewer parameters. We also show that, replacing the expression space of an existing state-of-the-art face model with our autoencoder, achieves a lower reconstruction error. Our data, model and code are available at

* European Conference on Computer Vision 2018 

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Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios

Jan 22, 2018
Antoni Rosinol Vidal, Henri Rebecq, Timo Horstschaefer, Davide Scaramuzza

Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide reliable visual information during high speed motions or in scenes characterized by high dynamic range. However, event cameras output only little information when the amount of motion is limited, such as in the case of almost still motion. Conversely, standard cameras provide instant and rich information about the environment most of the time (in low-speed and good lighting scenarios), but they fail severely in case of fast motions, or difficult lighting such as high dynamic range or low light scenes. In this paper, we present the first state estimation pipeline that leverages the complementary advantages of these two sensors by fusing in a tightly-coupled manner events, standard frames, and inertial measurements. We show on the publicly available Event Camera Dataset that our hybrid pipeline leads to an accuracy improvement of 130% over event-only pipelines, and 85% over standard-frames-only visual-inertial systems, while still being computationally tractable. Furthermore, we use our pipeline to demonstrate - to the best of our knowledge - the first autonomous quadrotor flight using an event camera for state estimation, unlocking flight scenarios that were not reachable with traditional visual-inertial odometry, such as low-light environments and high-dynamic range scenes.

* Robot.Autom.Lett. 3 (2018) 994-1001 
* 8 pages, 9 figures, 2 tables 

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