相关论文: Unsupervised state representation learning with ro…

Coordinate-based neural representations have shown significant promise as an alternative to discrete, array-based representations for complex low dimensional signals. However, optimizing a coordinate-based network from randomly initialized…

We investigate the effect of the dimensionality of the representations learned in Deep Neural Networks (DNNs) on their robustness to input perturbations, both adversarial and random. To achieve low dimensionality of learned representations,…

A key challenge in artificial intelligence and neuroscience is understanding how neural systems learn representations that capture the underlying dynamics of the world. Most world models represent the transition function with unstructured…

Achieving efficient and robust whole-body control (WBC) is essential for enabling humanoid robots to perform complex tasks in dynamic environments. Despite the success of reinforcement learning (RL) in this domain, its sample inefficiency…

Self-supervised representation learning targets to learn convnet-based image representations from unlabeled data. Inspired by the success of NLP methods in this area, in this work we propose a self-supervised approach based on spatially…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Machine learning approaches to spatiotemporal physical systems have primarily focused on next-frame prediction, with the goal of learning an accurate emulator for the system's evolution in time. However, these emulators are computationally…

Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera may fail when the camera is shifted -- an unavoidable…

What is the best way to learn a universal face representation? Recent work on Deep Learning in the area of face analysis has focused on supervised learning for specific tasks of interest (e.g. face recognition, facial landmark localization…

A fundamental assumption of reinforcement learning in Markov decision processes (MDPs) is that the relevant decision process is, in fact, Markov. However, when MDPs have rich observations, agents typically learn by way of an abstract state…

After four decades of research there still exists a Classification accuracy gap of about 20% between our best Unsupervisedly Learned Representations methods and the accuracy rates achieved by intelligent animals. It thus may well be that we…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

In self-supervised learning, a model is trained to solve a pretext task, using a data set whose annotations are created by a machine. The objective is to transfer the trained weights to perform a downstream task in the target domain. We…

Representations are at the core of all deep reinforcement learning (RL) methods for both Markov decision processes (MDPs) and partially observable Markov decision processes (POMDPs). Many representation learning methods and theoretical…

Self-supervised representation learning is able to learn semantically meaningful features; however, much of its recent success relies on multiple crops of an image with very few objects. Instead of learning view-invariant representation…

Demonstrations provide insight into relevant state or action space regions, bearing great potential to boost the efficiency and practicality of reinforcement learning agents. In this work, we propose to leverage demonstration datasets by…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

Neuroscientists postulate 3D representations in the brain in a variety of different coordinate frames (e.g. 'head-centred', 'hand-centred' and 'world-based'). Recent advances in reinforcement learning demonstrate a quite different approach…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…

Extending the capabilities of robotics to real-world complex, unstructured environments requires the need of developing better perception systems while maintaining low sample complexity. When dealing with high-dimensional state spaces,…