相关论文: Unsupervised state representation learning with ro…

Self-supervision based deep learning classification approaches have received considerable attention in academic literature. However, the performance of such methods on remote sensing imagery domains remains under-explored. In this work, we…

In recent years, representation learning has become the research focus of the machine learning community. Large-scale neural networks are a crucial step toward achieving general intelligence, with their success largely attributed to their…

We consider the problem of training a fully convolutional network to estimate the relative 6D pose of a robot given a camera image, when the robot is equipped with independent controllable LEDs placed in different parts of its body. The…

We address the problem of learning reusable state representations from streaming high-dimensional observations. This is important for areas like Reinforcement Learning (RL), which yields non-stationary data distributions during training. We…

Over the last years, deep convolutional neural networks (ConvNets) have transformed the field of computer vision thanks to their unparalleled capacity to learn high level semantic image features. However, in order to successfully learn…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Deep reinforcement learning (deep RL) has achieved superior performance in complex sequential tasks by using deep neural networks as function approximators to learn directly from raw input images. However, learning directly from raw images…

Self-supervised representation learning~(SSRL) has advanced considerably by exploiting the transformation invariance assumption under artificially designed data augmentations. While augmentation-based SSRL algorithms push the boundaries of…

Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…

Unsupervised representation learning aims at describing raw data efficiently to solve various downstream tasks. It has been approached with many techniques, such as manifold learning, diffusion maps, or more recently self-supervised…

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…

Meta-reinforcement learning algorithms can enable autonomous agents, such as robots, to quickly acquire new behaviors by leveraging prior experience in a set of related training tasks. However, the onerous data requirements of meta-training…

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…

Holistic 3D scene understanding entails estimation of both layout configuration and object geometry in a 3D environment. Recent works have shown advances in 3D scene estimation from various input modalities (e.g., images, 3D scans), by…

Reinforcement Learning (RL)-based control system has received considerable attention in recent decades. However, in many real-world problems, such as Batch Process Control, the environment is uncertain, which requires expensive interaction…

An intelligent observer looks at the world and sees not only what is, but what is moving and what can be moved. In other words, the observer sees how the present state of the world can transform in the future. We propose a model that…

Prediction is a fundamental capability of all living organisms, and has been proposed as an objective for learning sensory representations. Recent work demonstrates that in primate visual systems, prediction is facilitated by neural…

Many learning-based approaches have difficulty scaling to unseen data, as the generality of its learned prior is limited to the scale and variations of the training samples. This holds particularly true with 3D learning tasks, given the…

Learned representations of dynamical systems reduce dimensionality, potentially supporting downstream reinforcement learning (RL). However, no established methods predict a representation's suitability for control and evaluation is largely…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…