相关论文: Modular Networks Prevent Catastrophic Interference…

A standard ML model is commonly generated by a single method that specifies aspects such as architecture, initialization, training data and hyperparameters configuration. The presented work introduces a novel methodology allowing to define…

State-of-the-art studies have demonstrated the superiority of joint modelling over pipeline implementation for medical named entity recognition and normalization due to the mutual benefits between the two processes. To exploit these…

Multimodal networks have demonstrated remarkable performance improvements over their unimodal counterparts. Existing multimodal networks are designed in a multi-branch fashion that, due to the reliance on fusion strategies, exhibit…

The promise and proliferation of large-scale dynamic federated learning gives rise to a prominent open question - is it prudent to share data or model across nodes, if efficiency of transmission and fast knowledge transfer are the prime…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

We argue that hierarchical methods can become the key for modular robots achieving reconfigurability. We present a hierarchical approach for modular robots that allows a robot to simultaneously learn multiple tasks. Our evaluation results…

In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…

Federated learning (FL) has emerged as a key technique for distributed machine learning (ML). Most literature on FL has focused on ML model training for (i) a single task/model, with (ii) a synchronous scheme for updating model parameters,…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved…

Recent advances in Federated Learning (FL) have paved the way towards the design of novel strategies for solving multiple learning tasks simultaneously, by leveraging cooperation among networked devices. Multi-Task Learning (MTL) exploits…

Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently, scaling data and model size has led to the development of…

Model-based Reinforcement Learning (MBRL) holds promise for data-efficiency by planning with model-generated experience in addition to learning with experience from the environment. However, in complex or changing environments, models in…

This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

The goal of this paper is to make a strong point for the usage of dynamical models when using reinforcement learning (RL) for feedback control of dynamical systems governed by partial differential equations (PDEs). To breach the gap between…

Multi-task learning and self-training are two common ways to improve a machine learning model's performance in settings with limited training data. Drawing heavily on ideas from those two approaches, we suggest transductive auxiliary task…

Complex systems in science and engineering sometimes exhibit behavior that changes across different regimes. Traditional global models struggle to capture the full range of this complex behavior, limiting their ability to accurately…

Deep multitask learning boosts performance by sharing learned structure across related tasks. This paper adapts ideas from deep multitask learning to the setting where only a single task is available. The method is formalized as pseudo-task…