相关论文: DropoutDAgger: A Bayesian Approach to Safe Imitati…

Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy…

The objective of this paper is to develop a sample efficient end-to-end deep learning method for self-driving cars, where we attempt to increase the value of the information extracted from samples, through careful analysis obtained from…

Adversarial training has been proven to be a powerful regularization method to improve the generalization of models. However, current adversarial training methods only attack the original input sample or the embedding vectors, and their…

On-policy imitation learning algorithms such as DAgger evolve a robot control policy by executing it, measuring performance (loss), obtaining corrective feedback from a supervisor, and generating the next policy. As the loss between…

Bayesian Neural Networks (BNN) have recently emerged in the Deep Learning world for dealing with uncertainty estimation in classification tasks, and are used in many application domains such as astrophysics, autonomous driving...BNN assume…

Policy gradient methods have had great success in solving continuous control tasks, yet the stochastic nature of such problems makes deterministic value estimation difficult. We propose an approach which instead estimates a distribution by…

One approach to Imitation Learning is Behavior Cloning, in which a robot observes a supervisor and infers a control policy. A known problem with this "off-policy" approach is that the robot's errors compound when drifting away from the…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

An important problem in training deep networks with high capacity is to ensure that the trained network works well when presented with new inputs outside the training dataset. Dropout is an effective regularization technique to boost the…

Many tasks within NLP can be framed as sequential decision problems, ranging from sequence tagging to text generation. However, for many tasks, the standard training methods, including maximum likelihood (teacher forcing) and scheduled…

Dropout is a regularization technique widely used in training artificial neural networks to mitigate overfitting. It consists of dynamically deactivating subsets of the network during training to promote more robust representations. Despite…

Dropout is a widely used regularization technique which improves the generalization ability of a model by randomly dropping neurons. In light of this, we propose Dropout Prompt Learning, which aims for applying dropout to improve the…

Policies for partially observed Markov decision processes can be efficiently learned by imitating policies for the corresponding fully observed Markov decision processes. Unfortunately, existing approaches for this kind of imitation…

Dropout training, originally designed for deep neural networks, has been successful on high-dimensional single-layer natural language tasks. This paper proposes a theoretical explanation for this phenomenon: we show that, under a generative…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

We introduce a novel view to understand how dropout works as an inexplicit ensemble learning method, which doesn't point out how many and which nodes to learn a certain feature. We propose a new training method named internal node bagging,…

Dropout is one of the key techniques to prevent the learning from overfitting. It is explained that dropout works as a kind of modified L2 regularization. Here, we shed light on the dropout from Bayesian standpoint. Bayesian interpretation…

Dropout is a popular technique for regularizing artificial neural networks. Dropout networks are generally trained by minibatch gradient descent with a dropout mask turning off some of the units---a different pattern of dropout is applied…

Large data collections required for the training of neural networks often contain sensitive information such as the medical histories of patients, and the privacy of the training data must be preserved. In this paper, we introduce a dropout…

The success of the machine learning field has reliably depended on training on large datasets. While effective, this trend comes at an extraordinary cost. This is due to two deeply intertwined factors: the size of models and the size of…