相关论文: Goal-Aware Cross-Entropy for Multi-Target Reinforc…

One of the ways to improve the performance of a target task is to learn the transfer of abundant knowledge of a pre-trained network. However, learning of the pre-trained network requires high computation capability and large-scale labeled…

In crowd navigation, the local goal plays a crucial role in trajectory initialization, optimization, and evaluation. Recognizing that when the global goal is distant, the robot's primary objective is avoiding collisions, making it less…

We introduce Multi-Frame Cross-Entropy training (MFCE) for convolutional neural network acoustic models. Recognizing that similar to RNNs, CNNs are in nature sequence models that take variable length inputs, we propose to take as input to…

In the context of adversarial robustness, a single model does not usually have enough power to defend against all possible adversarial attacks, and as a result, has sub-optimal robustness. Consequently, an emerging line of work has focused…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

There is no such thing as a perfect dataset. In some datasets, deep neural networks discover underlying heuristics that allow them to take shortcuts in the learning process, resulting in poor generalization capability. Instead of using…

Cross-modal retrieval aims to enable flexible retrieval experience by combining multimedia data such as image, video, text, and audio. One core of unsupervised approaches is to dig the correlations among different object representations to…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Goal-conditioned reinforcement learning is a crucial yet challenging algorithm which enables agents to achieve multiple user-specified goals when learning a set of skills in a dynamic environment. However, it typically requires millions of…

Self-training methods have proven to be effective in exploiting abundant unlabeled data in semi-supervised learning, particularly when labeled data is scarce. While many of these approaches rely on a cross-entropy loss function (CE), recent…

In the intrinsically motivated skills acquisition problem, the agent is set in an environment without any pre-defined goals and needs to acquire an open-ended repertoire of skills. To do so the agent needs to be autotelic (deriving from the…

In the context of multi-agent reinforcement learning, generalization is a challenge to solve various tasks that may require different joint policies or coordination without relying on policies specialized for each task. We refer to this…

Automated disease classification of radiology images has been emerging as a promising technique to support clinical diagnosis and treatment planning. Unlike generic image classification tasks, a real-world radiology image classification…

Reinforcement learning (RL) algorithms typically start tabula rasa, without any prior knowledge of the environment, and without any prior skills. This however often leads to low sample efficiency, requiring a large amount of interaction…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…

Human gaze is known to be an intention-revealing signal in human demonstrations of tasks. In this work, we use gaze cues from human demonstrators to enhance the performance of agents trained via three popular imitation learning methods --…

Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Standard cross-entropy is the default classification loss across virtually all of machine learning, yet it treats all misclassifications equally, ignoring the semantic distances that a class hierarchy encodes. We propose Hierarchy-Aware…

Exploration efficiency poses a significant challenge in goal-conditioned reinforcement learning (GCRL) tasks, particularly those with long horizons and sparse rewards. A primary limitation to exploration efficiency is the agent's inability…