Knowledge distillation (KD) is the de facto standard for compressing large-scale multimodal models into smaller ones. Prior works have explored ever more complex KD strategies involving different objectives, teacher-ensembles, and weight inheritance. In this work, we explore an alternative, yet simple approach—active data curation as effective distillation for contrastive multimodal pretraining. Our simple online batch selection method, ACID, outperforms strong KD baselines across various model-,data-and compute-configurations. Further, we find such an active curation strategy to in fact be complementary to standard KD, and can be effectively combined to train highly performant inference-efficient models. Our simple and scalable pretraining framework, ACED, achieves state-of-the-art results across 27 zero-shot classification and image-text retrieval tasks with upto 11% less inference FLOPs. We further demonstrate that ACED yields strong vision-encoders for training generative multimodal models, outperforming larger vision encoders on image-captioning and visual question-answering tasks.

Abstract Power-law scaling indicates that large-scale training with uniform sampling is prohibitively slow. Active learning methods aim to increase data efficiency by prioritizing learning on the most relevant examples. Despite their appeal, these methods have yet to be widely adopted since no one algorithm has been shown to a) generalize across models and tasks b) scale to large datasets and c) yield overall FLOP savings when accounting for the overhead of data selection. In this work we propose a method which satisfies these three properties, leveraging small, cheap proxy models to estimate “learnability” scores for datapoints, which are used to prioritize data for training much larger models. As a result, models trained using our methods – ClassAct and ActiveCLIP – require 46% and 51% fewer training updates and up to 25% less total computation to reach the same performance as uniformly-trained visual classifiers on JFT and multimodal models on ALIGN, respectively. Finally, we find our data-prioritization scheme to be complementary with recent data-curation and learning objectives, yielding a new state-of-the-art in several multimodal transfer tasks.

Data curation is an essential component of large-scale pretraining. In this work, we demonstrate that jointly prioritizing batches of data is more effective for learning than selecting examples independently. Multimodal contrastive objectives expose the dependencies between data and thus naturally yield criteria for measuring the joint learnability of a batch. We derive a simple and tractable algorithm for selecting such batches, which significantly accelerate training beyond individually-prioritized data points. As performance improves by selecting from large super-batches, we also leverage recent advances in model approximation to reduce the computational overhead of scoring. As a result, our approach—multimodal contrastive learning with joint example selection (JEST)—surpasses state-of-the-art pretraining methods with up to 13× fewer iterations and 10× less computation. Essential to the performance of JEST is the ability to steer the data selection process towards the distribution of smaller, well-curated datasets via pretrained reference models, exposing data curation as a new dimension for neural scaling laws.

Scene graphs represent the key components of a scene in a compact and semantically rich way, but are difficult to build during incremental SLAM operation because of the challenges of robustly identifying abstract scene elements and optimising continually changing, complex graphs. We present a distributed, graph-based SLAM framework for incrementally building scene graphs based on two novel components. First, we propose an incremental abstraction framework in which a neural network proposes abstract scene elements that are incorporated into the factor graph of a feature-based monocular SLAM system. Scene elements are confirmed or rejected through optimisation and incrementally replace the points yielding a more dense, semantic and compact representation. Second, enabled by our novel routing procedure, we use Gaussian Belief Propagation (GBP) for distributed inference on a graph processor. The time per iteration of GBP is structure-agnostic and we demonstrate the speed advantages over direct methods for inference of heterogeneous factor graphs. We run our system on real indoor datasets using planar abstractions and recover the major planes with significant compression.

Constructing and maintaining useful representations of sensory experience is essential for reasoning about ones environment. High-level associative (topological) maps can be useful for efficient planning and are easily constructed from experience. Conversely, embedding new experiences within a metric structure allows them to be integrated with existing ones and novel associations to be implicitly inferred. Neurobiologically, the synaptic associations between hippocampal place cells and entorhinal grid cells are thought to represent associative and metric structures, respectively. Learning the place-grid cell associations can therefore be interpreted as learning a mapping between these two spaces. Here, we show how this map could be constructed by probabilistic message-passing through the hippocampal-entorhinal system, where messages are scheduled to reduce the propagation of redundant information. We propose that this offline inference corresponds to coordinated hippocampal-entorhinal replay during sharp wave ripples. Our results also suggest that the metric map will contain local distortions that reflect the inferred structure of the environment according to associative experience, explaining observed grid deformations.