相关论文: Learning Continuous Control with Geometric Regular…

In this chapter we provide a theoretically founded investigation of state-of-the-art learning approaches for inverse problems from the point of view of spectral reconstruction operators. We give an extended definition of regularization…

Self-supervised learning (SSL) has emerged as a desirable paradigm in computer vision due to the inability of supervised models to learn representations that can generalize in domains with limited labels. The recent popularity of SSL has…

Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Despite outstanding success in vision amongst other domains, many of the recent deep learning approaches have evident drawbacks for robots. This manuscript surveys recent work in the literature that pertain to applying deep learning systems…

Standard supervised learning optimizes for predictive accuracy but remains agnostic to the internal geometry of learned features, often yielding representations that are entangled and brittle. We propose Class-Conditional Activation…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

An extendable, efficient and explainable Machine Learning approach is proposed to represent cyclic plasticity and replace conventional material models based on the Radial Return Mapping algorithm. High accuracy and stability by means of a…

In over-parameterized deep neural networks there can be many possible parameter configurations that fit the training data exactly. However, the properties of these interpolating solutions are poorly understood. We argue that…

3D-aware Generative Adversarial Networks (3D-GANs) currently exhibit artifacts in their 3D geometrical modeling, such as mesh imperfections and holes. These shortcomings are primarily attributed to the limited availability of annotated 3D…

In representation learning, uniformity refers to the uniform feature distribution in the latent space (i.e., unit hypersphere). Previous work has shown that improving uniformity contributes to the learning of under-represented classes.…

We propose a new probabilistic framework that allows mobile robots to autonomously learn deep, generative models of their environments that span multiple levels of abstraction. Unlike traditional approaches that combine engineered models…

Geometric Deep Learning (GDL) unifies a broad class of machine learning techniques from the perspectives of symmetries, offering a framework for introducing problem-specific inductive biases like Graph Neural Networks (GNNs). However, the…

Training model to generate data has increasingly attracted research attention and become important in modern world applications. We propose in this paper a new geometry-based optimization approach to address this problem. Orthogonal to…

Autoencoders have achieved great success in various computer vision applications. The autoencoder learns appropriate low dimensional image representations through the self-supervised paradigm, i.e., reconstruction. Existing studies mainly…

Robust reinforcement learning agents using high-dimensional observations must be able to identify relevant state features amidst many exogeneous distractors. A representation that captures controllability identifies these state elements by…

Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…

Geometric trees are characterized by their tree-structured layout and spatially constrained nodes and edges, which significantly impacts their topological attributes. This inherent hierarchical structure plays a crucial role in domains such…

Why and how that deep learning works well on different tasks remains a mystery from a theoretical perspective. In this paper we draw a geometric picture of the deep learning system by finding its analogies with two existing geometric…

Much of the success of deep learning is drawn from building architectures that properly respect underlying symmetry and structure in the data on which they operate - a set of considerations that have been united under the banner of…