Related papers: Effect of Optimizer, Initializer, and Architecture…

In continual learning (CL), an AI agent (e.g., autonomous vehicles or robotics) learns from non-stationary data streams under dynamic environments. For the practical deployment of such applications, it is important to guarantee robustness…

Adaptive inference is a promising technique to improve the computational efficiency of deep models at test time. In contrast to static models which use the same computation graph for all instances, adaptive networks can dynamically adjust…

Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…

In robotics, there is need of an interactive and expedite learning method as experience is expensive. Robot Learning from Demonstration (RLfD) enables a robot to learn a policy from demonstrations performed by teacher. RLfD enables a human…

When demonstrating a task, human tutors pedagogically modify their behavior by either "showing" the task rather than just "doing" it (exaggerating on relevant parts of the demonstration) or by giving demonstrations that best disambiguate…

Federated Learning (FL) is a distributed learning approach that trains machine learning models across multiple devices while keeping their local data private. However, FL often faces challenges due to data heterogeneity, leading to…

Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clutter-free environments. This prevents the demonstrations from…

Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. A key challenge in LfD research is that users tend to provide…

Learning from Demonstration (LfD) is a widely used technique for skill acquisition in robotics. However, demonstrations of the same skill may exhibit significant variances, or learning systems may attempt to acquire different means of the…

Is dynamics prediction indispensable for physical reasoning? If so, what kind of roles do the dynamics prediction modules play during the physical reasoning process? Most studies focus on designing dynamics prediction networks and treating…

A continual learning (CL) algorithm learns from a non-stationary data stream. The non-stationarity is modeled by some schedule that determines how data is presented over time. Most current methods make strong assumptions on the schedule and…

Learned optimizers are a crucial component of meta-learning. Recent advancements in scalable learned optimizers have demonstrated their superior performance over hand-designed optimizers in various tasks. However, certain characteristics of…

Robot skill learning and execution in uncertain and dynamic environments is a challenging task. This paper proposes an adaptive framework that combines Learning from Demonstration (LfD), environment state prediction, and high-level decision…

Pre-trained representation is one of the key elements in the success of modern deep learning. However, existing works on continual learning methods have mostly focused on learning models incrementally from scratch. In this paper, we explore…

To adapt to real-world data streams, continual learning (CL) systems must rapidly learn new concepts while preserving and utilizing prior knowledge. When it comes to adding new information to continually-trained deep neural networks (DNNs),…

Learning to Optimize is a recently proposed framework for learning optimization algorithms using reinforcement learning. In this paper, we explore learning an optimization algorithm for training shallow neural nets. Such high-dimensional…

Optimization plays a costly and crucial role in developing machine learning systems. In learned optimizers, the few hyperparameters of commonly used hand-designed optimizers, e.g. Adam or SGD, are replaced with flexible parametric…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

In recent years, transformer-based models have revolutionized deep learning, particularly in sequence modeling. To better understand this phenomenon, there is a growing interest in using Markov input processes to study transformers.…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…