相关论文: Task-Embedded Control Networks for Few-Shot Imitat…

Meta-learning enables algorithms to quickly learn a newly encountered task with just a few labeled examples by transferring previously learned knowledge. However, the bottleneck of current meta-learning algorithms is the requirement of a…

Deep neural networks are highly effective when a large number of labeled samples are available but fail with few-shot classification tasks. Recently, meta-learning methods have received much attention, which train a meta-learner on massive…

Consider the following problem: given a few demonstrations of a task across a few different objects, how can a robot learn to perform that same task on new, previously unseen objects? This is challenging because the large variety of objects…

Few-shot learning is often motivated by the ability of humans to learn new tasks from few examples. However, standard few-shot classification benchmarks assume that the representation is learned on a limited amount of base class data,…

Task embeddings are low-dimensional representations that are trained to capture task properties. In this paper, we propose MetaEval, a collection of $101$ NLP tasks. We fit a single transformer to all MetaEval tasks jointly while…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

The focus in machine learning has branched beyond training classifiers on a single task to investigating how previously acquired knowledge in a source domain can be leveraged to facilitate learning in a related target domain, known as…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…

Meta-learning has emerged as an effective methodology to model several real-world tasks and problems due to its extraordinary effectiveness in the low-data regime. There are many scenarios ranging from the classification of rare diseases to…

Few-shot meta-learning methods consider the problem of learning new tasks from a small, fixed number of examples, by meta-learning across static data from a set of previous tasks. However, in many real world settings, it is more natural to…

Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Transductive inference is an effective means of tackling the data deficiency problem in few-shot learning settings. A popular transductive inference technique for few-shot metric-based approaches, is to update the prototype of each class…

Existing gradient-based meta-learning approaches to few-shot learning assume that all tasks have the same input feature space. However, in the real world scenarios, there are many cases that the input structures of tasks can be different,…

Learning with limited data is a key challenge for visual recognition. Many few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes…

Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot…

Deep neural networks have been able to outperform humans in some cases like image recognition and image classification. However, with the emergence of various novel categories, the ability to continuously widen the learning capability of…

Metric learning aims to build a distance metric typically by learning an effective embedding function that maps similar objects into nearby points in its embedding space. Despite recent advances in deep metric learning, it remains…

In this paper, we consider the framework of multi-task representation (MTR) learning where the goal is to use source tasks to learn a representation that reduces the sample complexity of solving a target task. We start by reviewing recent…