Improvements of Dark Experience Replay and Reservoir Sampling towards Better Balance between Consolidation and Plasticity

Continual learning is the one of the most essential abilities for autonomous agents, which can incrementally learn daily-life skills. For this ultimate goal, a simple but powerful method, dark experience replay (DER), has been proposed recently. DER mitigates catastrophic forgetting, in which the skills acquired in the past are unintentionally forgotten, by stochastically storing the streaming data in a reservoir sampling (RS) buffer and by relearning them or retaining the past outputs for them. However, since DER considers multiple objectives, it will not function properly without appropriate weighting of them. In addition, the ability to retain past outputs inhibits learning if the past outputs are incorrect due to distribution shift or other effects. This is due to a tradeoff between memory consolidation and plasticity. The tradeoff is hidden even in the RS buffer, which gradually stops storing new data for new skills in it as data is continuously passed to it. To alleviate the tradeoff and achieve better balance, this paper proposes improvement strategies to each of DER and RS. Specifically, DER is improved with automatic adaptation of weights, block of replaying erroneous data, and correction of past outputs. RS is also improved with generalization of acceptance probability, stratification of plural buffers, and intentional omission of unnecessary data. These improvements are verified through multiple benchmarks including regression, classification, and reinforcement learning problems. As a result, the proposed methods achieve steady improvements in learning performance by balancing the memory consolidation and plasticity.