相关论文: Learning sparse relational transition models

We present convincing empirical evidence for an effective and general strategy for building accurate small models. Such models are attractive for interpretability and also find use in resource-constrained environments. The strategy is to…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Neural machine translation is known to require large numbers of parallel training sentences, which generally prevent it from excelling on low-resource language pairs. This thesis explores the use of cross-lingual transfer learning on neural…

We propose novel iterative learning control algorithms to track a reference trajectory in resource-constrained control systems. In many applications, there are constraints on the number of control actions, delivered to the actuator from the…

In practice, it is very demanding and sometimes impossible to collect datasets of tagged data large enough to successfully train a machine learning model, and one possible solution to this problem is transfer learning. This study aims to…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

Successful human-robot cooperation hinges on each agent's ability to process and exchange information about the shared environment and the task at hand. Human communication is primarily based on symbolic abstractions of object properties,…

Transfer learning is one of the subjects undergoing intense study in the area of machine learning. In object recognition and object detection there are known experiments for the transferability of parameters, but not for neural networks…

We consider a distributed estimation method in a setting with heterogeneous streams of correlated data distributed across nodes in a network. In the considered approach, linear models are estimated locally (i.e., with only local data)…

This paper studies a model learning and online planning approach towards building flexible and general robots. Specifically, we investigate how to exploit the locality and sparsity structures in the underlying environmental transition model…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Previous research has demonstrated that specific states of the climate system can lead to enhanced subseasonal predictability (i.e., state-dependent predictability). However, biases in Earth system models can affect the representation of…

Typical deep learning approaches to modeling high-dimensional data often result in complex models that do not easily reveal a new understanding of the data. Research in the deep learning field is very actively pursuing new methods to…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

An extension to a recently introduced binary neural network is proposed in order to allow the learning of sparse messages, in large numbers and with high memory efficiency. This new network is justified both in biological and informational…

In the transfer learning paradigm models learn useful representations (or features) during a data-rich pretraining stage, and then use the pretrained representation to improve model performance on data-scarce downstream tasks. In this work,…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Time-series representation learning can extract representations from data with temporal dynamics and sparse labels. When labeled data are sparse but unlabeled data are abundant, contrastive learning, i.e., a framework to learn a latent…