相关论文: Unsupervised model-free representation learning

Self-supervised learning of convolutional neural networks can harness large amounts of cheap unlabeled data to train powerful feature representations. As surrogate task, we jointly address ordering of visual data in the spatial and temporal…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

Deep neural networks have gained tremendous success in a broad range of machine learning tasks due to its remarkable capability to learn semantic-rich features from high-dimensional data. However, they often require large-scale labelled…

Despite their irresistible success, deep learning algorithms still heavily rely on annotated data. On the other hand, unsupervised settings pose many challenges, especially about determining the right inductive bias in diverse scenarios.…

Data is one of the most important factors in machine learning. However, even if we have high-quality data, there is a situation in which access to the data is restricted. For example, access to the medical data from outside is strictly…

This paper studies the problem of learning an unknown function $f$ from given data about $f$. The learning problem is to give an approximation $\hat f$ to $f$ that predicts the values of $f$ away from the data. There are numerous settings…

Objects in the world usually appear in context, participating in spatial relationships and interactions that are predictable and expected. Knowledge of these contexts can be used in the task of using a mobile camera to search for a…

In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…

Forecasting a time series from multivariate predictors constitutes a challenging problem, especially using model-free approaches. Most techniques, such as nearest-neighbor prediction, quickly suffer from the curse of dimensionality and…

This thesis focuses on representation learning for sequence data over time or space, aiming to improve downstream sequence prediction tasks by using the learned representations. Supervised learning has been the most dominant approach for…

Curriculum learning and imitation learning have been leveraged extensively in the robotics domain. However, minimal research has been done on leveraging these ideas on control tasks over highly stochastic time-series data. Here, we…

Real-world time series data are often generated from several sources of variation. Learning representations that capture the factors contributing to this variability enables a better understanding of the data via its underlying generative…

Extracting and predicting object structure and dynamics from videos without supervision is a major challenge in machine learning. To address this challenge, we adopt a keypoint-based image representation and learn a stochastic dynamics…

In this work, the problem of learning Koopman operator of a discrete-time autonomous system is considered. The learning problem is formulated as a constrained regularized empirical loss minimization in the infinite-dimensional space of…

Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear control is to reduce the system to a linear one via change of…

Unsupervised/self-supervised representation learning in time series is critical since labeled samples are usually scarce in real-world scenarios. Existing approaches mainly leverage the contrastive learning framework, which automatically…

In many control problems that include vision, optimal controls can be inferred from the location of the objects in the scene. This information can be represented using feature points, which is a list of spatial locations in learned feature…

Ordinary supervised learning is useful when we have paired training data of input $X$ and output $Y$. However, such paired data can be difficult to collect in practice. In this paper, we consider the task of predicting $Y$ from $X$ when we…