相关论文: Task-Agnostic Learning to Accomplish New Tasks

Continual learning (CL) enables the development of models and agents that learn from a sequence of tasks while addressing the limitations of standard deep learning approaches, such as catastrophic forgetting. In this work, we investigate…

Temporal Action Localization (TAL) aims to predict both action category and temporal boundary of action instances in untrimmed videos, i.e., start and end time. Fully-supervised solutions are usually adopted in most existing works, and…

Meta-learning approaches have been proposed to tackle the few-shot learning problem.Typically, a meta-learner is trained on a variety of tasks in the hopes of being generalizable to new tasks. However, the generalizability on new tasks of a…

Continual learning (CL) over non-stationary data streams remains one of the long-standing challenges in deep neural networks (DNNs) as they are prone to catastrophic forgetting. CL models can benefit from self-supervised pre-training as it…

Continuously learning to solve unseen tasks with limited experience has been extensively pursued in meta-learning and continual learning, but with restricted assumptions such as accessible task distributions, independently and identically…

Often, labeling large amount of data is challenging due to high labeling cost limiting the application domain of deep learning techniques. Active learning (AL) tackles this by querying the most informative samples to be annotated among…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…

Humans can continuously learn new knowledge as their experience grows. In contrast, previous learning in deep neural networks can quickly fade out when they are trained on a new task. In this paper, we hypothesize this problem can be…

The ability to learn new concepts while preserve the learned knowledge is desirable for learning systems in Class-Incremental Learning (CIL). Recently, feature expansion of the model become a prevalent solution for CIL, where the old…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…

As AI systems become increasingly autonomous, aligning their decision-making to human preferences is essential. In domains like autonomous driving or robotics, it is impossible to write down the reward function representing these…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Action chunking is a widely adopted approach in Learning from Demonstration (LfD). By modeling multi-step action chunks rather than single-step actions, action chunking significantly enhances modeling capabilities for human expert policies.…

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

Existing skin attributes detection methods usually initialize with a pre-trained Imagenet network and then fine-tune on a medical target task. However, we argue that such approaches are suboptimal because medical datasets are largely…

As of today, state-of-the-art activity recognition from wearable sensors relies on algorithms being trained to classify fixed windows of data. In contrast, video-based Human Activity Recognition, known as Temporal Action Localization (TAL),…

Existing communication methods for multi-agent reinforcement learning (MARL) in cooperative multi-robot problems are almost exclusively task-specific, training new communication strategies for each unique task. We address this inefficiency…