相关论文: Unsupervised Skill-Discovery and Skill-Learning in…

The success of deep learning in computer vision is rooted in the ability of deep networks to scale up model complexity as demanded by challenging visual tasks. As complexity is increased, so is the need for large amounts of labeled data to…

Self-supervised learning (SSL) techniques have been widely used to learn compact and informative representations from high-dimensional complex data. In many computer vision tasks, such as image classification, such methods achieve…

How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…

Unsupervised reinforcement learning aims to train agents to learn a handful of policies or skills in environments without external reward. These pre-trained policies can accelerate learning when endowed with external reward, and can also be…

Learning effective representations in image-based environments is crucial for sample efficient Reinforcement Learning (RL). Unfortunately, in RL, representation learning is confounded with the exploratory experience of the agent -- learning…

In reinforcement learning, the graph Laplacian has proved to be a valuable tool in the task-agnostic setting, with applications ranging from skill discovery to reward shaping. Recently, learning the Laplacian representation has been framed…

This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Unsupervised skill discovery seeks to acquire different useful skills…

Human players in professional team sports achieve high level coordination by dynamically choosing complementary skills and executing primitive actions to perform these skills. As a step toward creating intelligent agents with this…

Unsupervised reinforcement learning (RL) studies how to leverage environment statistics to learn useful behaviors without the cost of reward engineering. However, a central challenge in unsupervised RL is to extract behaviors that…

Artificial neural systems trained using reinforcement, supervised, and unsupervised learning all acquire internal representations of high dimensional input. To what extent these representations depend on the different learning objectives is…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

This work explores the use of spatial context as a source of free and plentiful supervisory signal for training a rich visual representation. Given only a large, unlabeled image collection, we extract random pairs of patches from each image…

Inspired by the fact that human eyes continue to develop tracking ability in early and middle childhood, we propose to use tracking as a proxy task for a computer vision system to learn the visual representations. Modelled on the Catch game…

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…

Self-supervised skill learning aims to acquire useful behaviors that leverage the underlying dynamics of the environment. Latent variable models, based on mutual information maximization, have been successful in this task but still struggle…

Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

We investigate a classification problem using multiple mobile agents capable of collecting (partial) pose-dependent observations of an unknown environment. The objective is to classify an image over a finite time horizon. We propose a…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

Exploration is an extremely challenging problem in reinforcement learning, especially in high dimensional state and action spaces and when only sparse rewards are available. Effective representations can indicate which components of the…