Related papers: Shapechanger: Environments for Transfer Learning

The robot development process is divided into several stages, which create barriers to the exchange of information between these different stages. We advocate for an interactive lifecycle representation, extending from robot morphology…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…

Contemporary artificial intelligence systems exhibit rapidly growing abilities accompanied by the growth of required resources, expansive datasets and corresponding investments into computing infrastructure. Although earlier successes…

Traditional model-based RL relies on hand-specified or learned models of transition dynamics of the environment. These methods are sample efficient and facilitate learning in the real world but fail to generalize to subtle variations in the…

Transfer learning seeks to improve the generalization performance of a target task by exploiting the knowledge learned from a related source task. Central questions include deciding what information one should transfer and when transfer can…

Transfer learning has become an essential paradigm in artificial intelligence, enabling the transfer of knowledge from a source task to improve performance on a target task. This approach, particularly through techniques such as pretraining…

In this paper, we assess the viability of transformer models in end-to-end InfoSec settings, in which no intermediate feature representations or processing steps occur outside the model. We implement transformer models for two distinct…

Many machine learning models are vulnerable to adversarial examples: inputs that are specially crafted to cause a machine learning model to produce an incorrect output. Adversarial examples that affect one model often affect another model,…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

A typical assumption in state-of-the-art self-localization models is that an annotated training dataset is available in the target workspace. However, this does not always hold when a robot travels in a general open-world. This study…

The goal of task transfer in reinforcement learning is migrating the action policy of an agent to the target task from the source task. Given their successes on robotic action planning, current methods mostly rely on two requirements:…

In the robotics literature, different knowledge transfer approaches have been proposed to leverage the experience from a source task or robot -- real or virtual -- to accelerate the learning process on a new task or robot. A commonly made…

Multitask learning and transfer learning have proven to be useful in the field of machine learning when additional knowledge is available to help a prediction task. We aim at deriving methods following these paradigms for use in autotuning,…

We propose novel model transfer-learning methods that refine a decision forest model M learned within a "source" domain using a training set sampled from a "target" domain, assumed to be a variation of the source. We present two random…

Recent advances in NLP demonstrate the effectiveness of training large-scale language models and transferring them to downstream tasks. Can fine-tuning these models on tasks other than language modeling further improve performance? In this…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Transfer learning is focused on the reuse of supervised learning models in a new context. Prominent applications can be found in robotics, image processing or web mining. In these fields, the learning scenarios are naturally changing but…

Large Transformers have achieved state-of-the-art performance across many tasks. Most open-source libraries on scaling Transformers focus on improving training or inference with better parallelization. In this work, we present TorchScale,…