相关论文: Lipschitz-constrained Unsupervised Skill Discovery

In this paper, we address self-supervised representation learning from human skeletons for action recognition. Previous methods, which usually learn feature presentations from a single reconstruction task, may come across the overfitting…

A promising approach to solving challenging long-horizon tasks has been to extract behavior priors (skills) by fitting generative models to large offline datasets of demonstrations. However, such generative models inherit the biases of the…

Acquiring a diverse repertoire of general-purpose skills remains an open challenge for robotics. In this work, we propose self-supervising control on top of human teleoperated play data as a way to scale up skill learning. Play has two…

Reinforcement learning (RL) has made significant progress in various domains, but scaling it to long-horizon tasks with complex decision-making remains challenging. Skill learning attempts to address this by abstracting actions into…

Temporal abstractions in the form of options have been shown to help reinforcement learning (RL) agents learn faster. However, despite prior work on this topic, the problem of discovering options through interaction with an environment…

We investigate omni-supervised learning, a special regime of semi-supervised learning in which the learner exploits all available labeled data plus internet-scale sources of unlabeled data. Omni-supervised learning is lower-bounded by…

The goal of unsupervised representation learning is to extract a new representation of data, such that solving many different tasks becomes easier. Existing methods typically focus on vectorized data and offer little support for relational…

Class-incremental with repetition (CIR), where previously trained classes repeatedly introduced in future tasks, is a more realistic scenario than the traditional class incremental setup, which assumes that each task contains unseen…

Open-set semi-supervised learning (OSSL) leverages unlabeled data containing both in-distribution (ID) and unknown out-of-distribution (OOD) samples, aiming simultaneously to improve closed-set accuracy and detect novel OOD instances.…

The expanding applications of legged robots require their mastery of versatile motion skills. Correspondingly, researchers must address the challenge of integrating multiple diverse motion skills into controllers. While existing…

We introduce Layered Self-Supervised Knowledge Distillation (LSSKD) framework for training compact deep learning models. Unlike traditional methods that rely on pre-trained teacher networks, our approach appends auxiliary classifiers to…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Differentiating multivariate dynamic signals is a difficult learning problem as the feature space may be large yet often only a few training examples are available. Traditional approaches to this problem either proceed from handcrafted…

Supervised, semi-supervised, and unsupervised learning estimate a function given input/output samples. Generalization of the learned function to unseen data can be improved by incorporating side information into learning. Side information…

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…

Existing self-supervised learning methods learn representation by means of pretext tasks which are either (1) discriminating that explicitly specify which features should be separated or (2) aligning that precisely indicate which features…

Skill Incremental Learning (SIL) is the process by which an embodied agent expands and refines its skill set over time by leveraging experience gained through interaction with its environment or by the integration of additional data. SIL…

Self-supervision provides effective representations for downstream tasks without requiring labels. However, existing approaches lag behind fully supervised training and are often not thought beneficial beyond obviating or reducing the need…

Semisupervised learning is a learning standard which deals with the study of how computers and natural systems such as human beings acquire knowledge in the presence of both labeled and unlabeled data. Semisupervised learning based methods…

Every living organism struggles against disruptive environmental forces to carve out and maintain an orderly niche. We propose that such a struggle to achieve and preserve order might offer a principle for the emergence of useful behaviors…