相关论文: Learning from Demonstration with Weakly Supervised…

Currently, machine learning techniques have seen significant success across various applications. Most of these techniques rely on supervision from human-generated labels or a mixture of noisy and imprecise labels from multiple sources.…

Weakly supervised segmentation is an important problem in medical image analysis due to the high cost of pixelwise annotation. Prior methods, while often focusing on weak labels of 2D images, exploit few structural cues of volumetric…

Pre-trained vision-language models learn massive data to model unified representations of images and natural languages, which can be widely applied to downstream machine learning tasks. In addition to zero-shot inference, in order to better…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…

In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…

In many real-world scenarios, obtaining large amounts of labeled data can be a daunting task. Weakly supervised learning techniques have gained significant attention in recent years as an alternative to traditional supervised learning, as…

Combined with demonstrations, deep reinforcement learning can efficiently develop policies for manipulators. However, it takes time to collect sufficient high-quality demonstrations in practice. And human demonstrations may be unsuitable…

We present a probabilistic modeling and inference framework for discriminative analysis dictionary learning under a weak supervision setting. Dictionary learning approaches have been widely used for tasks such as low-level signal denoising…

A persistent challenge in practical classification tasks is that labeled training sets are not always available. In particle physics, this challenge is surmounted by the use of simulations. These simulations accurately reproduce most…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Learning disentangled representations from visual data, where different high-level generative factors are independently encoded, is of importance for many computer vision tasks. Solving this problem, however, typically requires to…

In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

Meta-learning, or learning-to-learn, seeks to design algorithms that can utilize previous experience to rapidly learn new skills or adapt to new environments. Representation learning -- a key tool for performing meta-learning -- learns a…

The ability to learn disentangled representations that split underlying sources of variation in high dimensional, unstructured data is important for data efficient and robust use of neural networks. While various approaches aiming towards…

Labeling data via rules-of-thumb and minimal label supervision is central to Weak Supervision, a paradigm subsuming subareas of machine learning such as crowdsourced learning and semi-supervised ensemble learning. By using this labeled data…

To reduce the human annotation efforts, the programmatic weak supervision (PWS) paradigm abstracts weak supervision sources as labeling functions (LFs) and involves a label model to aggregate the output of multiple LFs to produce training…

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…