相关论文: Semi-supervised Gated Recurrent Neural Networks fo…

Main challenges in long-tailed recognition come from the imbalanced data distribution and sample scarcity in its tail classes. While techniques have been proposed to achieve a more balanced training loss and to improve tail classes data…

Due to a huge volume of information in many domains, the need for classification methods is imperious. In spite of many advances, most of the approaches require a large amount of labeled data, which is often not available, due to costs and…

Lensed quasars are key to many areas of study in astronomy, offering a unique probe into the intermediate and far universe. However, finding lensed quasars has proved difficult despite significant efforts from large collaborations. These…

In this paper, we have used Recurrent Neural Networks to capture and model human motion data and generate motions by prediction of the next immediate data point at each time-step. Our RNN is armed with recently proposed Gated Recurrent…

Sequential modelling of high-dimensional data is an important problem that appears in many domains including model-based reinforcement learning and dynamics identification for control. Latent variable models applied to sequential data…

Terramechanics plays a critical role in the areas of ground vehicles and ground mobile robots since understanding and estimating the variables influencing the vehicle-terrain interaction may mean the success or the failure of an entire…

Supervised learning with large scale labeled datasets and deep layered models has made a paradigm shift in diverse areas in learning and recognition. However, this approach still suffers generalization issues under the presence of a domain…

In this work, we present the Grounded Recurrent Neural Network (GRNN), a recurrent neural network architecture for multi-label prediction which explicitly ties labels to specific dimensions of the recurrent hidden state (we call this…

Progress in deep learning has spawned great successes in many engineering applications. As a prime example, convolutional neural networks, a type of feedforward neural networks, are now approaching -- and sometimes even surpassing -- human…

In semi-supervised learning for classification, it is assumed that every ground truth class of data is present in the small labelled dataset. Many real-world sparsely-labelled datasets are plausibly not of this type. It could easily be the…

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…

Nowadays, Machine Learning and Deep Learning methods have become the state-of-the-art approach to solve data classification tasks. In order to use those methods, it is necessary to acquire and label a considerable amount of data; however,…

We introduce segmental recurrent neural networks (SRNNs) which define, given an input sequence, a joint probability distribution over segmentations of the input and labelings of the segments. Representations of the input segments (i.e.,…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Transformers have the capacity to act as supervised learning algorithms: by properly encoding a set of labeled training ("in-context") examples and an unlabeled test example into an input sequence of vectors of the same dimension, the…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

We present label gradient alignment, a novel algorithm for semi-supervised learning which imputes labels for the unlabeled data and trains on the imputed labels. We define a semantically meaningful distance metric on the input space by…

Learning and understanding the typical patterns in the daily activities and routines of people from low-level sensory data is an important problem in many application domains such as building smart environments, or providing intelligent…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

Recently, reinforcement learning has become a promising and polular solution for robot legged locomotion. Compared to model-based control, reinforcement learning based controllers can achieve better robustness against uncertainties of…