相关论文: Comparing Reconstruction- and Contrastive-based Mo…

World models trained by contrastive learning are a compelling alternative to autoencoder-based world models, which learn by reconstructing pixel states. In this paper, we describe three cases where small changes in how we sample negative…

Recognising relevant objects or object states in its environment is a basic capability for an autonomous robot. The dominant approach to object recognition in images and range images is classification by supervised machine learning,…

The theory of representation learning aims to build methods that provably invert the data generating process with minimal domain knowledge or any source of supervision. Most prior approaches require strong distributional assumptions on the…

Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact,…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

This paper presents SimCLR: a simple framework for contrastive learning of visual representations. We simplify recently proposed contrastive self-supervised learning algorithms without requiring specialized architectures or a memory bank.…

Recent self-supervised contrastive learning methods greatly benefit from the Siamese structure that aims at minimizing distances between positive pairs. For high performance Siamese representation learning, one of the keys is to design good…

Being able to quickly adapt to changes in dynamics is paramount in model-based control for object manipulation tasks. In order to influence fast adaptation of the inverse dynamics model's parameters, data efficiency is crucial. Given…

We propose learning via retracing, a novel self-supervised approach for learning the state representation (and the associated dynamics model) for reinforcement learning tasks. In addition to the predictive (reconstruction) supervision in…

State representation learning, or the ability to capture latent generative factors of an environment, is crucial for building intelligent agents that can perform a wide variety of tasks. Learning such representations without supervision…

Image-based Reinforcement Learning is a practical yet challenging task. A major hurdle lies in extracting control-centric representations while disregarding irrelevant information. While approaches that follow the bisimulation principle…

While raw images have distinct advantages over sRGB images, e.g., linearity and fine-grained quantization levels, they are not widely adopted by general users due to their substantial storage requirements. Very recent studies propose to…

We study offline meta-reinforcement learning, a practical reinforcement learning paradigm that learns from offline data to adapt to new tasks. The distribution of offline data is determined jointly by the behavior policy and the task.…

Contrastive learning between different views of the data achieves outstanding success in the field of self-supervised representation learning and the learned representations are useful in broad downstream tasks. Since all supervision…

Deep reinforcement learning (RL) algorithms suffer severe performance degradation when the interaction data is scarce, which limits their real-world application. Recently, visual representation learning has been shown to be effective and…

Vision-language models (VLMs) mainly rely on contrastive training to learn general-purpose representations of images and captions. We focus on the situation when one image is associated with several captions, each caption containing both…

We consider the general class of time-homogeneous stochastic dynamical systems, both discrete and continuous, and study the problem of learning a representation of the state that faithfully captures its dynamics. This is instrumental to…

World models enable agents to predict future dynamics conditioned on actions, making the choice of latent representation central to planning and control. Such representations are often either learned directly from pixels with limited…

Radiomic representations can quantify properties of regions of interest in medical image data. Classically, they account for pre-defined statistics of shape, texture, and other low-level image features. Alternatively, deep learning-based…

Learning robust representations to discriminate cell phenotypes based on microscopy images is important for drug discovery. Drug development efforts typically analyse thousands of cell images to screen for potential treatments. Early works…