相关论文: Learning Deep Nets for Gravitational Dynamics with…

The fast and accurate prediction of unsteady flow becomes a serious challenge in fluid dynamics, due to the high-dimensional and nonlinear characteristics. A novel hybrid deep neural network (DNN) architecture was designed to capture the…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Knowledge distillation is a strategy of training a student network with guide of the soft output from a teacher network. It has been a successful method of model compression and knowledge transfer. However, currently knowledge distillation…

We present an end-to-end algorithm for training deep neural networks to grasp novel objects. Our algorithm builds all the essential components of a grasping system using a forward-backward automatic differentiation approach, including the…

In this paper, we introduce a physics-driven regularization method for training of deep neural networks (DNNs) for use in engineering design and analysis problems. In particular, we focus on prediction of a physical system, for which in…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

In recent years, deep neural networks have been successful in both industry and academia, especially for computer vision tasks. The great success of deep learning is mainly due to its scalability to encode large-scale data and to maneuver…

Advancements in robotics have opened possibilities to automate tasks in various fields such as manufacturing, emergency response and healthcare. However, a significant challenge that prevents robots from operating in real-world environments…

Among many unsolved puzzles in theories of Deep Neural Networks (DNNs), there are three most fundamental challenges that highly demand solutions, namely, expressibility, optimisability, and generalisability. Although there have been…

The exponential growth of big data has intensified the need for efficient and interpretable machine learning models that can handle diverse data characteristics while maintaining computational efficiency. Knowledge distillation has…

We study how to train a student deep neural network for visual recognition by distilling knowledge from a blackbox teacher model in a data-efficient manner. Progress on this problem can significantly reduce the dependence on large-scale…

Deep learning for distribution grid optimization can be advocated as a promising solution for near-optimal yet timely inverter dispatch. The principle is to train a deep neural network (DNN) to predict the solutions of an optimal power flow…

Federated learning (FL) and federated distillation (FD) are distributed learning paradigms that train UE models with enhanced privacy, each offering different trade-offs between noise robustness and learning speed. To mitigate their…

We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object,…

While depth tends to improve network performances, it also makes gradient-based training more difficult since deeper networks tend to be more non-linear. The recently proposed knowledge distillation approach is aimed at obtaining small and…

Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…

Modern laboratory techniques like ultrafast laser excitation and shock compression can bring matter into highly nonequilibrium states with complex structural transformation, metallization and dissociation dynamics. To understand and model…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…