Related papers: TraKDis: A Transformer-based Knowledge Distillatio…

With the rapid development of computer vision, Vision Transformers (ViTs) offer the tantalising prospect of unified information processing across visual and textual domains due to the lack of inherent inductive biases in ViTs. ViTs require…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Knowledge distillation transfers knowledge from large teacher models to smaller students for efficient inference. While existing methods primarily focus on distillation strategies, they often overlook the importance of enhancing teacher…

Knowledge distillation is used, in generative language modeling, to train a smaller student model using the help of a larger teacher model, resulting in improved capabilities for the student model. In this paper, we formulate a more general…

Resource-constrained perception systems such as edge computing and vision-for-robotics require vision models to be both accurate and lightweight in computation and memory usage. While knowledge distillation is a proven strategy to enhance…

Knowledge Distillation (KD) utilizes training data as a transfer set to transfer knowledge from a complex network (Teacher) to a smaller network (Student). Several works have recently identified many scenarios where the training data may…

Large-scale vision-language models (VLMs) have recently achieved remarkable multimodal understanding, but their massive size makes them impractical for deployment on mobile or edge devices. This raises the need for compact yet capable VLMs…

Knowledge distillation is a popular machine learning technique that aims to transfer knowledge from a large 'teacher' network to a smaller 'student' network and improve the student's performance by training it to emulate the teacher. In…

Developing robotic agents that can perform well in diverse environments while showing a variety of behaviors is a key challenge in AI and robotics. Traditional reinforcement learning (RL) methods often create agents that specialize in…

Recently, large-scale pre-trained models have shown their advantages in many tasks. However, due to the huge computational complexity and storage requirements, it is challenging to apply the large-scale model to real scenes. A common…

Knowledge Distillation (KD) compresses neural networks by learning a small network (student) via transferring knowledge from a pre-trained large network (teacher). Many endeavours have been devoted to the image domain, while few works focus…

Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…

This paper aims to explore the potential of combining Deep Reinforcement Learning (DRL) with Knowledge Distillation (KD) by distilling various DRL algorithms and studying their distillation effects. By doing so, the computational burden of…

Wearable sensor-based human activity recognition (HAR) has emerged as a principal research area and is utilized in a variety of applications. Recently, deep learning-based methods have achieved significant improvement in the HAR field with…

Knowledge Distillation (KD) aims at improving the performance of a low-capacity student model by inheriting knowledge from a high-capacity teacher model. Previous KD methods typically train a student by minimizing a task-related loss and…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Leveraging knowledge from multiple tasks through introducing a small number of task specific parameters into each transformer layer, also known as adapters, receives much attention recently. However, adding an extra fusion layer to…

Knowledge distillation (KD) enhances the performance of a student network by allowing it to learn the knowledge transferred from a teacher network incrementally. Existing methods dynamically adjust the temperature to enable the student…

The transfer of knowledge from one policy to another is an important tool in Deep Reinforcement Learning. This process, referred to as distillation, has been used to great success, for example, by enhancing the optimisation of agents,…