Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss

Kaidi CaoColin WeiAdrien GaidonNikos AréchigaTengyu Ma

article2019NeurIPS2,224 citations

Proposes a theoretically grounded label-distribution-aware margin loss paired with a deferred re-weighting training schedule to substantially improve deep learning generalization on minority classes in heavily imbalanced datasets.

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Real-world datasets for machine learning applications often suffer from extreme class imbalance, where a few frequent classes dominate while many critical minority classes contain very few examples. Standard deep neural networks trained on such data tend to perform poorly on rare categories. This poses serious risks in practical deployments, including autonomous systems, medical screening, and visual recognition, where balanced accuracy across all classes or reliable performance on rare cases is required. Existing remediessuch as re-weighting loss values or re-sampling minority examplesfrequently cause models to severely overfit rare classes or destabilize optimization during training.

The article sets out to design and evaluate a theoretically grounded training loss and optimization strategy that boosts generalization on minority classes without sacrificing accuracy on frequent classes. Specifically, the authors aimed to demonstrate that enforcing class-dependent margins combined with a deferred re-weighting schedule outperforms existing class-imbalance techniques across standard benchmarks.

The researchers developed two complementary techniques: the Label-Distribution-Aware Margin loss, which mathematically enforces wider classification margins for rarer classes based on generalization error bounds, and a Deferred Re-balancing training schedule, which trains the model with standard empirical risk minimization in early epochs before applying class re-weighting in later epochs with a smaller learning rate. They validated this framework across controlled vision benchmarks, including imbalanced variations of standard image datasets (CIFAR-10, CIFAR-100, and Tiny ImageNet), an imbalanced text sentiment dataset, and the large-scale real-world iNaturalist 2018 dataset containing over 437,000 images across 8,142 categories.

The experimental findings show that the proposed approach substantially improves model accuracy across all test scenarios. On the large-scale iNaturalist benchmark, combining the new loss and deferred schedule achieved a top-1 error rate of 32.00%, outperforming the standard training baseline by 10.86 percentage points and prior state-of-the-art re-weighting methods by 6.88 percentage points. On vision datasets with severe 100-to-1 class imbalances, the framework consistently reduced classification error compared to standard baselines, dropping top-1 error from roughly 29.6% to 23.0% on 10-class image data and from 61.7% to 58.0% on 100-class data. Feature analysis demonstrated that deferring re-weighting allows networks to first build high-quality internal representations before re-balancing class decision boundaries, avoiding the severe under-fitting on frequent classes or overfitting on rare classes that plagues early re-weighting.

These results indicate that organizations deploying machine learning on imbalanced operational data can achieve major performance gains with minimal engineering overhead. Because the proposed loss and scheduling replace the standard loss function and optimization timetable, they do not introduce substantial computational complexity or inference latency. Furthermore, the framework generalizes effectively to domain-adaptation settings where target test class distributions are non-uniform but known.

Engineering and data science teams addressing class imbalance should adopt the label-distribution-aware loss in place of standard cross-entropy objectives and implement deferred re-balancing rather than weighting samples from the initial epoch. Organizations should evaluate this pipeline on internal imbalanced datasets through pilot experiments to calibrate the single margin hyperparameter against standard validation targets.

While empirical results strongly support the framework across multiple vision and language datasets, the theoretical derivation for optimal margin scaling assumes a binary classification boundary and separable data, serving as a heuristic approximation for complex multi-class settings. Additionally, the approach assumes that either the target evaluation distribution is balanced or its label proportions are known in advance, meaning caution is warranted if target domain class distributions are entirely unknown or dynamically shifting.

arXiv: 1906.07413kaidic/LDAM-DRW
  • Paper: Class-Balanced Loss Based on Effective Number of Samples, Yin Cui et al. (2019). Reading this paper first is essential because it introduces the foundational effective-number-of-samples weighting perspective that directly motivates the margin-based loss framework of the source.
  • Paper: Focal Loss for Dense Object Detection, Tsung-Yi Lin et al. (2017). This work establishes the core concept of modulating loss functions to handle extreme class imbalance, providing the necessary precursor rationale for the margin adjustments explored in the source.
  • Paper: Supervised Contrastive Learning, Prannay Khosla et al. (2020). This book chapter naturally continues the source's exploration of representation learning and loss engineering by demonstrating how supervised contrastive objectives further improve margin-based classification.
  • Paper: Improved Baselines with Momentum Contrastive Learning, Xinlei Chen et al. (2020). This paper builds directly upon the foundational representation and loss techniques discussed in the source, extending them to improved unsupervised contrastive learning baselines.
Cover for Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss

Abstract

Deep learning algorithms can fare poorly when the training dataset suffers from heavy class-imbalance but the testing criterion requires good generalization on less frequent classes. We design two novel methods to improve performance in such scenarios. First, we propose a theoretically-principled label-distribution-aware margin (LDAM) loss motivated by minimizing a margin-based generalization bound. This loss replaces the standard cross-entropy objective during training and can be applied with prior strategies for training with class-imbalance such as re-weighting or re-sampling. Second, we propose a simple, yet effective, training schedule that defers re-weighting until after the initial stage, allowing the model to learn an initial representation while avoiding some of the complications associated with re-weighting or re-sampling. We test our methods on several benchmark vision tasks including the real-world imbalanced dataset iNaturalist 2018. Our experiments show that either of these methods alone can already improve over existing techniques and their combination achieves even better performance gains.

Table of Contents

  • 1 Introduction
  • 2 Related Works
  • 3 Main Approach
  • 3.1 Theoretical Motivations
  • 3.2 Label-Distribution-Aware Margin Loss
  • 3.3 Deferred Re-balancing Optimization Schedule
  • 4 Experiments
  • 4.1 Experimental results on IMDB review dataset
  • 4.2 Experimental results on CIFAR
  • 4.3 Visual recognition on iNaturalist 2018 and imbalanced Tiny ImageNet
  • 4.4 Ablation study
  • 5 Conclusion
  • References
  • A Missing Proofs and Derivations in Section
  • B Implementation details
  • C Additional Results
  • C.1 Feature visualization
  • C.2 Visual Recognition on imbalanced Tiny ImageNet
  • C.3 Comparing feature extractors trained by different schemes
  • C.4 Comparing DRW and DRS
  • C.5 Imbalanced Test Label Distributions

Knowls

  1. Knowl 1 — Label-Distribution-Aware Margin Loss

    model/method

    The Label-Distribution-Aware Margin (LDAM) loss is a classification loss function designed for training deep neural networks under severe class imbalance. For an input example xRdx \in \mathbb{R}^d with class label y{1,,k}y \in \{1, \dots, k\}, let z=f(x)Rkz = f(x) \in \mathbb{R}^k denote the predicted logit vector. The LDAM loss is defined as:

    LLDAM((x,y);f)=logezyΔyezyΔy+jyezj\mathcal{L}_{\text{LDAM}}((x, y); f) = -\log \frac{e^{z_y - \Delta_y}}{e^{z_y - \Delta_y} + \sum_{j \neq y} e^{z_j}}

    where each class j{1,,k}j \in \{1, \dots, k\} is assigned a class-dependent margin offset Δj\Delta_j inversely proportional to the fourth root of its training sample size njn_j:

    Δj=Cnj1/4\Delta_j = \frac{C}{n_j^{1/4}}

    where C>0C > 0 is a hyperparameter chosen to scale maxjΔj\max_j \Delta_j to a target maximum margin (e.g., 0.50.5).

    To ensure margin enforceability, the penultimate representation h(x)h(x) and each class weight vector WjW_j of the final classification layer are normalized to unit 2\ell_2 norm before logit computation: zj=Wjh(x)/h(x)2z_j = W_j^\top h(x) / \|h(x)\|_2.

    The non-smooth hinge variant of the loss is:

    LLDAM-HG((x,y);f)=max(maxjy{zj}zy+Δy,0)\mathcal{L}_{\text{LDAM-HG}}((x, y); f) = \max\left( \max_{j \neq y} \{z_j\} - z_y + \Delta_y, 0 \right)
  2. Knowl 2 — Per-Class and Balanced Margin-Based Generalization Bounds

    theoretical result

    Let F\mathcal{F} be a hypothesis class of neural networks f:RdRkf: \mathbb{R}^d \to \mathbb{R}^k. For a training dataset containing nn samples across kk classes with njn_j samples in class j{1,,k}j \in \{1, \dots, k\}, let Sj={i:yi=j}S_j = \{i : y_i = j\}. Define the empirical margin of class jj as γj=miniSj(f(xi)yimaxyif(xi))\gamma_j = \min_{i \in S_j} (f(x_i)_{y_i} - \max_{\ell \neq y_i} f(x_i)_\ell).

    Let Pj=P(xy=j)P_j = P(x \mid y = j) denote the class-conditional distribution, Lj[f]=Pr(x,y)Pj[f(x)y<maxyf(x)]L_j[f] = \Pr_{(x, y) \sim P_j}[f(x)_y < \max_{\ell \neq y} f(x)_\ell] be the test 0-1 classification error on class jj, and Lbal[f]=1kj=1kLj[f]L_{\text{bal}}[f] = \frac{1}{k} \sum_{j=1}^k L_j[f] be the balanced 0-1 test error.

    With probability at least 1δ1 - \delta over the training data draw, for all choices of per-class margins γ1,,γk>0\gamma_1, \dots, \gamma_k > 0 and all fFf \in \mathcal{F}:

    Lj[f]L^γj,j[f]+4γjR^j(F)+ϵj(γj)L_j[f] \le \hat{L}_{\gamma_j, j}[f] + \frac{4}{\gamma_j} \hat{\mathcal{R}}_j(\mathcal{F}) + \epsilon_j(\gamma_j)

    where L^γj,j[f]=1njiSj1{maxjf(xi)>f(xi)jγj}\hat{L}_{\gamma_j, j}[f] = \frac{1}{n_j} \sum_{i \in S_j} \mathbf{1}\{\max_{\ell \neq j} f(x_i)_\ell > f(x_i)_j - \gamma_j\}, R^j(F)\hat{\mathcal{R}}_j(\mathcal{F}) is the empirical Rademacher complexity on class jj scaling as O(C(F)nj)\mathcal{O}\left(\sqrt{\frac{\mathcal{C}(\mathcal{F})}{n_j}}\right) for hypothesis complexity C(F)\mathcal{C}(\mathcal{F}), and ϵj(γj)=O(loglog2(2maxf(x)/γj)+log(1/δ)nj)\epsilon_j(\gamma_j) = \mathcal{O}\left(\sqrt{\frac{\log \log_2(2\max |f(x)| / \gamma_j) + \log(1/\delta)}{n_j}}\right).

    Averaging across all classes gives the balanced generalization error bound:

    Lbal[f]1kj=1k(L^γj,j[f]+4γjC(F)nj+ϵj(γj))L_{\text{bal}}[f] \le \frac{1}{k} \sum_{j=1}^k \left( \hat{L}_{\gamma_j, j}[f] + \frac{4}{\gamma_j} \sqrt{\frac{\mathcal{C}(\mathcal{F})}{n_j}} + \epsilon_j(\gamma_j) \right)
  3. Knowl 3 — Optimal Margin Scaling via Decision Boundary Shift in Binary Classification

    theoretical result

    In binary classification (k=2k = 2) on separable data (where empirical margin error L^γj,j[f]=0\hat{L}_{\gamma_j, j}[f] = 0), suppose a neural network class F={f+b:bR2}\mathcal{F} = \{f + b : b \in \mathbb{R}^2\} contains a base model ff achieving total sum of margins γ1+γ2=β>0\gamma_1' + \gamma_2' = \beta > 0 for classes with sample sizes n1n_1 and n2n_2.

    By adjusting the output bias vector to b=(b1,b2)b^* = (b_1^*, b_2^*) with b1=(γ1γ1)/2b_1^* = (\gamma_1^* - \gamma_1')/2 and b2=(γ1γ1)/2b_2^* = -(\gamma_1^* - \gamma_1')/2, the resulting classifier f=f+bf^* = f + b^* achieves class margins:

    γ1=βn21/4n11/4+n21/4=Cn11/4,γ2=βn11/4n11/4+n21/4=Cn21/4\gamma_1^* = \beta \frac{n_2^{1/4}}{n_1^{1/4} + n_2^{1/4}} = \frac{C}{n_1^{1/4}}, \qquad \gamma_2^* = \beta \frac{n_1^{1/4}}{n_1^{1/4} + n_2^{1/4}} = \frac{C}{n_2^{1/4}}

    where C=β(n1n2)1/4n11/4+n21/4C = \beta \frac{(n_1 n_2)^{1/4}}{n_1^{1/4} + n_2^{1/4}}.

    These margins directly minimize the balanced generalization bound minγ1+γ2=β(1γ1n1+1γ2n2)\min_{\gamma_1 + \gamma_2 = \beta} \left( \frac{1}{\gamma_1 \sqrt{n_1}} + \frac{1}{\gamma_2 \sqrt{n_2}} \right), establishing that the optimal per-class margin under slow-rate generalization bounds (nj1/2n_j^{-1/2}) satisfies γjnj1/4\gamma_j \propto n_j^{-1/4}. Under fast-rate generalization bounds (nj1n_j^{-1}), the optimal trade-off scales as γjnj1/3\gamma_j \propto n_j^{-1/3}.

  4. Knowl 4 — Deferred Re-balancing Optimization Procedure (DRW)

    algorithm

    Deferred Re-balancing Optimization (DRW) is a two-stage training schedule for class-imbalanced datasets. In Stage 1, the model is trained with standard unweighted empirical risk minimization using the LDAM loss until learning rate decay to ensure high-quality feature representation learning. In Stage 2, per-class inverse-frequency re-weighting is introduced with a decayed learning rate to adjust decision boundaries without disrupting learned feature representations.

    Input: Training dataset D={(xi,yi)}i=1nD = \{(x_i, y_i)\}_{i=1}^n with njn_j examples in class j{1,,k}j \in \{1, \dots, k\}, model fθf_\theta, total steps TT, deferred re-balancing step threshold T0T_0, initial learning rate α\alpha, batch size mm
    Output: Trained model parameters θ\theta
    Initialize parameters θ\theta randomly
    for t=1t = 1 to T01T_0 - 1 do
        Sample mini-batch BDB \sim D with B=m|B| = m
        Compute unweighted LDAM loss: L(fθ)1m(x,y)BLLDAM((x,y);fθ)\mathcal{L}(f_\theta) \leftarrow \frac{1}{m} \sum_{(x,y) \in B} \mathcal{L}_{\text{LDAM}}((x, y); f_\theta)
        Update parameters: θθαθL(fθ)\theta \leftarrow \theta - \alpha \nabla_\theta \mathcal{L}(f_\theta)
        Optional: decay learning rate αα/τ\alpha \leftarrow \alpha / \tau if scheduled
    for t=T0t = T_0 to TT do
        Sample mini-batch BDB \sim D with B=m|B| = m
        Compute re-weighted LDAM loss: L(fθ)1m(x,y)Bny1LLDAM((x,y);fθ)\mathcal{L}(f_\theta) \leftarrow \frac{1}{m} \sum_{(x,y) \in B} n_y^{-1} \cdot \mathcal{L}_{\text{LDAM}}((x, y); f_\theta)
        Compute mini-batch normalizer: Z(x,y)Bny1Z \leftarrow \sum_{(x,y) \in B} n_y^{-1}
        Update parameters with normalized step: θθα1ZθL(fθ)\theta \leftarrow \theta - \alpha \frac{1}{Z} \nabla_\theta \mathcal{L}(f_\theta)
        Optional: decay learning rate α\alpha if scheduled
    return θ\theta
  5. Knowl 5 — LDAM Margin Formulation for Arbitrary Known Test Label Distributions

    equation

    When the test label distribution is known but not uniform, let njn_j denote the training sample size of class jj, and let njn_j' denote the sample size or expected proportion of class j{1,,k}j \in \{1, \dots, k\} in the test distribution. The margin offset Δj\Delta_j in the LDAM loss is generalized to:

    Δj(njnj)1/4\Delta_j \propto \left( \frac{n_j'}{n_j} \right)^{1/4}

    where the constant of proportionality is normalized so that the maximum margin offset across all classes equals a specified constant (e.g., 0.50.5). When the test label distribution is uniform (njn_j' is equal for all jj), this reduces to Δjnj1/4\Delta_j \propto n_j^{-1/4}.

  6. Knowl 6 — Feature Representation Quality of ERM versus Early Re-weighting and Re-sampling

    empirical result

    On imbalanced CIFAR-10 with step imbalance (imbalance ratio ρ=100\rho = 100, minority fraction μ=0.5\mu = 0.5, where frequent classes have 100 times more training examples than minority classes), feature representations extracted prior to learning rate annealing were evaluated across three training schemes: Empirical Risk Minimization (ERM), Re-Weighting (RW), and Re-Sampling (RS).

    Linear classifiers were trained on top of the fixed penultimate layer features using a subset of the balanced validation set, and evaluated on the remainder of the validation set:

    • ERM-trained representations achieved the lowest classification error across both frequent classes (errors 0.10\approx 0.10 for classes 0-F through 4-F) and minority classes (errors 0.180.28\approx 0.18\text{--}0.28 for classes 5-M through 9-M).
    • RW-trained representations yielded substantially worse errors across all classes (errors 0.120.47\approx 0.12\text{--}0.47).
    • RS-trained representations also degraded relative to ERM across all classes (errors 0.100.37\approx 0.10\text{--}0.37).

    This demonstrates that unweighted ERM optimization in the early training stages builds significantly more expressive internal representations than applying class re-weighting or re-sampling from scratch.

  7. Knowl 7 — Top-1 and Top-5 Validation Errors on iNaturalist 2018

    data/table

    The iNaturalist 2018 dataset is a large-scale real-world species classification benchmark with 437,513 training images across 8,142 classes exhibiting a natural long-tailed distribution, evaluated on a balanced validation split. Models were trained using ResNet-50 for 90 epochs with learning rate decay at epochs 30 and 60. For deferred re-weighting (DRW), re-weighting starts at epoch 60.

    Loss Schedule Top-1 Error (%) Top-5 Error (%)
    ERM SGD 42.86 21.31
    CB Focal SGD 38.88 18.97
    ERM DRW 36.27 16.55
    LDAM SGD 35.42 16.48
    LDAM DRW 32.00 14.82

    LDAM-DRW outperforms standard ERM by 10.86 percentage points in top-1 error (reducing error from 42.86% to 32.00%) and improves over the previous state-of-the-art class-balanced focal loss (CB Focal) by 6.88 percentage points. Both LDAM and DRW independently improve performance over baseline SGD.

  8. Knowl 8 — Validation Errors of ResNet-32 on Imbalanced CIFAR-10 and CIFAR-100

    data/table

    ResNet-32 was evaluated on artificially imbalanced CIFAR-10 and CIFAR-100 datasets under long-tailed imbalance (exponential decay across class sizes) and step imbalance (minority fraction μ=0.5\mu = 0.5 with equal sizes among frequent classes and equal smaller sizes among minority classes) across imbalance ratios ρ=maxini/minini{10,100}\rho = \max_i n_i / \min_i n_i \in \{10, 100\}. Models were trained for 200 epochs with learning rate decays at epochs 160 and 180 (DRW begins at epoch 160).

    Dataset Imbalanced CIFAR-10 Imbalanced CIFAR-100
    Imbalance Type Long-Tailed Step Long-Tailed Step
    Imbalance Ratio (ρ\rho) 100 10 100 10 100 10 100 10
    ERM 29.64 13.61 36.70 17.50 61.68 44.30 61.45 45.37
    Focal 29.62 13.34 36.09 16.36 61.59 44.22 61.43 46.54
    LDAM 26.65 13.04 33.42 15.00 60.40 43.09 60.42 43.73
    CB RS 29.45 13.21 38.14 15.41 66.56 44.94 66.23 46.92
    CB RW 27.63 13.46 38.06 16.20 66.01 42.88 78.69 47.52
    CB Focal 25.43 12.90 39.73 16.54 63.98 42.01 80.24 49.98
    HG-DRS 27.16 14.03 29.93 14.85
    LDAM-HG-DRS 24.42 12.72 24.53 12.82
    M-DRW 24.94 13.57 27.67 13.17 59.49 43.78 58.91 44.72
    LDAM-DRW 22.97 11.84 23.08 12.19 57.96 41.29 54.64 40.54

    LDAM-DRW attains the lowest top-1 error in all benchmark conditions. Class-independent uniform margin regularizer with DRW (M-DRW) performs worse than LDAM-DRW, confirming the theoretical importance of label-distribution-aware margin scaling.

  9. Knowl 9 — Validation Errors on Imbalanced Tiny ImageNet

    data/table

    Tiny ImageNet consists of 200 classes of 64×6464 \times 64 images, evaluated under long-tailed and step imbalance with imbalance ratios ρ{10,100}\rho \in \{10, 100\} using ResNet-18 trained for 120 epochs (learning rate annealed at epoch 90, with DRW re-balancing beginning at epoch 90).

    Imbalance Type Long-Tailed Step
    Imbalance Ratio (ρ\rho) 100 10 100 10
    Loss Schedule Top-1 Top-5 Top-1 Top-5 Top-1 Top-5 Top-1 Top-5
    ERM SGD 66.19 42.63 50.33 26.68 63.82 44.09 50.89 27.06
    CB SM SGD 72.72 52.62 51.58 28.91 74.90 59.14 54.51 33.23
    ERM DRW 64.57 40.79 50.03 26.19 62.36 40.84 49.17 25.91
    LDAM SGD 64.04 40.46 48.08 24.80 62.54 39.27 49.08 24.52
    LDAM DRW 62.53 39.06 47.22 23.84 60.63 38.12 47.43 23.26

    LDAM-DRW consistently outperforms ERM, LDAM-SGD, and Class-Balanced Softmax (CB SM), achieving the lowest top-1 and top-5 error rates across both imbalance settings.

  10. Knowl 10 — Validation Errors on Imbalanced IMDB Binary Sentiment Classification

    data/table

    The IMDB dataset consists of 50,000 movie reviews for binary sentiment classification. An imbalanced training split was constructed by removing 90% of negative reviews, while keeping the validation set balanced. A two-layer bidirectional LSTM was trained with the Adam optimizer.

    Approach Error on Positive Reviews (%) Error on Negative Reviews (%) Mean Error (%)
    ERM 2.86 70.78 36.82
    RS 7.12 45.88 26.50
    RW 5.20 42.12 23.66
    LDAM-DRW 4.91 30.77 17.84

    Under standard ERM, the model suffers a 70.78% error on minority negative reviews. Re-sampling (RS) and re-weighting (RW) reduce negative review error to 45.88% and 42.12% respectively. LDAM-DRW achieves the lowest minority class error (30.77%) and the lowest overall balanced mean error (17.84%).

Coverage note — Qualitative 3D spherical feature visualizations for MNIST (Figure 5) and the supplementary ablation comparing deferred re-weighting with deferred re-sampling across random seeds (Table 5) were omitted as they are auxiliary to the primary findings.

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Citation

MLA
Cao, K., et al. “Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss”. arXiv, 2019, https://doi.org/10.48550/arxiv.1906.07413.
APA
Cao, K., Wei, C., Gaidon, A., Arechiga, N., & Ma, T. (2019). Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss. arXiv. https://doi.org/10.48550/arxiv.1906.07413
Chicago
Cao, K., C. Wei, A. Gaidon, N. Arechiga, and T. Ma. 2019. “Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss”. Preprint, ArXiv. https://doi.org/10.48550/arxiv.1906.07413.
Harvard
Cao, K. et al. (2019) “Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss”. arXiv. Available at: https://doi.org/10.48550/arxiv.1906.07413.
Vancouver
1. Cao K, Wei C, Gaidon A, Arechiga N, Ma T (2019) Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss. https://doi.org/10.48550/arxiv.1906.07413

BibTeX

@misc{https://doi.org/10.48550/arxiv.1906.07413,
  doi = {10.48550/ARXIV.1906.07413},
  url = {https://arxiv.org/abs/1906.07413},
  author = {Cao, Kaidi and Wei, Colin and Gaidon, Adrien and Arechiga, Nikos and Ma, Tengyu},
  keywords = {Machine Learning (cs.LG), Computer Vision and Pattern Recognition (cs.CV), Machine Learning (stat.ML), FOS: Computer and information sciences, FOS: Computer and information sciences},
  title = {Learning Imbalanced Datasets with Label-Distribution-Aware Margin Loss},
  publisher = {arXiv},
  year = {2019},
  copyright = {arXiv.org perpetual, non-exclusive license}
}
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