相关论文: Inverse Dynamics Pretraining Learns Good Represent…

Clinical time-series learning is routinely constrained by small, heterogeneous cohorts and protocol drift, while its downstream use spans both classification (e.g., pathology diagnosis) and regression (e.g., temporal forecasting). These…

We study the problem of cross-embodiment inverse reinforcement learning, where we wish to learn a reward function from video demonstrations in one or more embodiments and then transfer the learned reward to a different embodiment (e.g.,…

Numerous recent works have proposed pretraining generic visio-linguistic representations and then finetuning them for downstream vision and language tasks. While architecture and objective function design choices have received attention,…

Transferring the weights of a pre-trained model to assist another task has become a crucial part of modern deep learning, particularly in data-scarce scenarios. Pre-training refers to the initial step of training models outside the current…

We propose HyperDynamics, a dynamics meta-learning framework that conditions on an agent's interactions with the environment and optionally its visual observations, and generates the parameters of neural dynamics models based on inferred…

Developing control policies in simulation is often more practical and safer than directly running experiments in the real world. This applies to policies obtained from planning and optimization, and even more so to policies obtained from…

Language model pre-training and derived methods are incredibly impactful in machine learning. However, there remains considerable uncertainty on exactly why pre-training helps improve performance for fine-tuning tasks. This is especially…

Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducing a pre-training stage that learns dynamics representations,…

Results in interpretability suggest that large vision and language models learn implicit linear encodings when models are biased by in-context prompting. However, the existence of similar linear representations in more general adaptation…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

Large language models are classically trained in stages: pretraining on raw text followed by post-training for instruction following and reasoning. However, this separation creates a fundamental limitation: many desirable behaviors such as…

Large Pre-trained Transformers exhibit an intriguing capacity for in-context learning. Without gradient updates, these models can rapidly construct new predictors from demonstrations presented in the inputs. Recent works promote this…

Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior…

Contrastive learning is a popular form of self-supervised learning that encourages augmentations (views) of the same input to have more similar representations compared to augmentations of different inputs. Recent attempts to theoretically…

Pre-trained language models have been shown to improve performance in many natural language tasks substantially. Although the early focus of such models was single language pre-training, recent advances have resulted in cross-lingual and…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Deep transfer learning recently has acquired significant research interest. It makes use of pre-trained models that are learned from a source domain, and utilizes these models for the tasks in a target domain. Model-based deep transfer…

Self-supervised learning is a powerful paradigm for representation learning on unlabelled images. A wealth of effective new methods based on instance matching rely on data-augmentation to drive learning, and these have reached a rough…

In-context learning is a popular inference strategy where large language models solve a task using only a few labeled demonstrations without needing any parameter updates. Although there have been extensive studies on English in-context…

Pre-training on large-scale databases consisting of natural images and then fine-tuning them to fit the application at hand, or transfer-learning, is a popular strategy in computer vision. However, Kataoka et al., 2020 introduced a…