相关论文: CLOUD: Contrastive Learning of Unsupervised Dynami…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Image and Point Clouds provide different information for robots. Finding the correspondences between data from different sensors is crucial for various tasks such as localization, mapping, and navigation. Learning-based descriptors have…

Contrastive learning (CL) has emerged as a powerful technique for representation learning, with or without label supervision. However, supervised CL is prone to collapsing representations of subclasses within a class by not capturing all…

The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new…

Contrastive learning effectively clusters data despite a loss landscape filled with poor solutions, a success that is heavily dependent on the choice of data augmentations. How optimization consistently finds meaningful patterns remains an…

In this paper, we focus on unsupervised representation learning for clustering of images. Recent advances in deep clustering and unsupervised representation learning are based on the idea that different views of an input image (generated…

Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…

Recent self-supervised contrastive methods have been able to produce impressive transferable visual representations by learning to be invariant to different data augmentations. However, these methods implicitly assume a particular set of…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

Current supervised cross-domain image retrieval methods can achieve excellent performance. However, the cost of data collection and labeling imposes an intractable barrier to practical deployment in real applications. In this paper, we…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

This paper introduces a fine-grained contrastive learning scheme for unsupervised node clustering. Previous clustering methods only focus on a small feature set (class-dependent features), which demonstrates explicit clustering…

This paper studies a training method to jointly estimate an energy-based model and a flow-based model, in which the two models are iteratively updated based on a shared adversarial value function. This joint training method has the…

In this paper, we propose a one-stage online clustering method called Contrastive Clustering (CC) which explicitly performs the instance- and cluster-level contrastive learning. To be specific, for a given dataset, the positive and negative…

Developing an agent in reinforcement learning (RL) that is capable of performing complex control tasks directly from high-dimensional observation such as raw pixels is yet a challenge as efforts are made towards improving sample efficiency…

This paper presents a cloud-based learning model predictive controller that integrates three interacting components: a set of agents, which must learn to perform a finite set of tasks with the minimum possible local cost; a coordinator,…

Unsupervised feature learning has made great strides with contrastive learning based on instance discrimination and invariant mapping, as benchmarked on curated class-balanced datasets. However, natural data could be highly correlated and…

Contrastive learning based on instance discrimination trains model to discriminate different transformations of the anchor sample from other samples, which does not consider the semantic similarity among samples. This paper proposes a new…

In this work, we study Unsupervised Domain Adaptation (UDA) in a challenging self-supervised approach. One of the difficulties is how to learn task discrimination in the absence of target labels. Unlike previous literature which directly…