Related papers: dGrasp: NeRF-Informed Implicit Grasp Policies with…
Graph neural networks (GNNs) is widely used to learn a powerful representation of graph-structured data. Recent work demonstrates that transferring knowledge from self-supervised tasks to downstream tasks could further improve graph…
Gradient-based data attribution methods, such as influence functions, are critical for understanding the impact of individual training samples without requiring repeated model retraining. However, their scalability is often limited by the…
Supervised training of deep neural nets typically relies on minimizing cross-entropy. However, in many domains, we are interested in performing well on metrics specific to the application. In this paper we propose a direct loss minimization…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
Federated Learning (FL) is a promising machine learning paradigm that enables participating devices to train privacy-preserved and collaborative models. FL has proven its benefits for robotic manipulation tasks. However, grasping tasks lack…
Due to its speed and simplicity, subgradient descent is one of the most used optimization algorithms in convex machine learning algorithms. However, tuning its learning rate is probably its most severe bottleneck to achieve consistent good…
Robotic grasping in scenes with transparent and specular objects presents great challenges for methods relying on accurate depth information. In this paper, we introduce NeuGrasp, a neural surface reconstruction method that leverages…
Shape implicit neural representations (INRs) have recently shown to be effective in shape analysis and reconstruction tasks. Existing INRs require point coordinates to learn the implicit level sets of the shape. When a normal vector is…
Differentially private (stochastic) gradient descent is the workhorse of DP private machine learning in both the convex and non-convex settings. Without privacy constraints, second-order methods, like Newton's method, converge faster than…
We refine a recently-proposed class of local entropic loss functions by restricting the smoothening regularization to only a subset of weights. The new loss functions are referred to as partial local entropies. They can adapt to the…
We propose INFAMOUS-NeRF, an implicit morphable face model that introduces hypernetworks to NeRF to improve the representation power in the presence of many training subjects. At the same time, INFAMOUS-NeRF resolves the classic…
Multilevel optimization has gained renewed interest in machine learning due to its promise in applications such as hyperparameter tuning and continual learning. However, existing methods struggle with the inherent difficulty of efficiently…
Inverse Reinforcement Learning addresses the problem of inferring an expert's reward function from demonstrations. However, in many applications, we not only have access to the expert's near-optimal behavior, but we also observe part of her…
With increasing scale in model and dataset size, the training of deep neural networks becomes a massive computational burden. One approach to speed up the training process is Selective Backprop. For this approach, we perform a forward pass…
We present a novel approach for fast and reliable policy selection for navigation in partial maps. Leveraging the recent learning-augmented model-based Learning over Subgoals Planning (LSP) abstraction to plan, our robot reuses data…
In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…
Neural implicit surface representations have emerged as a promising paradigm to capture 3D shapes in a continuous and resolution-independent manner. However, adapting them to articulated shapes is non-trivial. Existing approaches learn a…
Embedding parameterized optimization problems as layers into machine learning architectures serves as a powerful inductive bias. Training such architectures with stochastic gradient descent requires care, as degenerate derivatives of the…
In modern machine learning, models can often fit training data in numerous ways, some of which perform well on unseen (test) data, while others do not. Remarkably, in such cases gradient descent frequently exhibits an implicit bias that…
We present ESLAM, an efficient implicit neural representation method for Simultaneous Localization and Mapping (SLAM). ESLAM reads RGB-D frames with unknown camera poses in a sequential manner and incrementally reconstructs the scene…