相关论文: BayRnTune: Adaptive Bayesian Domain Randomization …

Modern neural network architectures typically have many millions of parameters and can be pruned significantly without substantial loss in effectiveness which demonstrates they are over-parameterized. The contribution of this work is…

The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and controllers make tuning a challenging task when it is done…

Diffusion policies have emerged as a powerful approach for robotic control, demonstrating superior expressiveness in modeling multimodal action distributions compared to conventional policy networks. However, their integration with online…

Fine-tuning pre-trained neural network models has become a widely adopted approach across various domains. However, it can lead to the distortion of pre-trained feature extractors that already possess strong generalization capabilities.…

Automatic Speech Recognition (ASR) systems have found their use in numerous industrial applications in very diverse domains. Since domain-specific systems perform better than their generic counterparts on in-domain evaluation, the need for…

In this paper we develop a Bayesian optimization based hyperparameter tuning framework inspired by statistical learning theory for classifiers. We utilize two key facts from PAC learning theory; the generalization bound will be higher for a…

Simulation-based learning has enabled policies for precise, contact-rich tasks (e.g., robotic assembly) to reach high success rates (~80%) under high levels of observation noise and control error. Although such performance may be sufficient…

Bayesian Optimization (BO) is an effective method for optimizing expensive-to-evaluate black-box functions with a wide range of applications for example in robotics, system design and parameter optimization. However, scaling BO to problems…

Standard deep reinforcement learning (DRL) aims to maximize expected reward, considering collected experiences equally in formulating a policy. This differs from human decision-making, where gains and losses are valued differently and…

We study the problem of learning exploration-exploitation strategies that effectively adapt to dynamic environments, where the task may change over time. While RNN-based policies could in principle represent such strategies, in practice…

Deep reinforcement learning models are notoriously data hungry, yet real-world data is expensive and time consuming to obtain. The solution that many have turned to is to use simulation for training before deploying the robot in a real…

Deep Reinforcement Learning (DRL) has been successfully applied in several research domains such as robot navigation and automated video game playing. However, these methods require excessive computation and interaction with the…

Bayesian optimization (BO) is a sample efficient approach to automatically tune the hyperparameters of machine learning models. In practice, one frequently has to solve similar hyperparameter tuning problems sequentially. For example, one…

Dexterous manipulation is physics-intensive and highly sensitive to modeling errors and perception noise, making sim-to-real transfer prohibitively challenging. Domain randomization (DR) is commonly used to improve the robustness of learned…

This paper proposes a sparse Bayesian treatment of deep neural networks (DNNs) for system identification. Although DNNs show impressive approximation ability in various fields, several challenges still exist for system identification…

As a novel and effective fine-tuning paradigm based on large-scale pre-trained language models (PLMs), prompt-tuning aims to reduce the gap between downstream tasks and pre-training objectives. While prompt-tuning has yielded continuous…

Imitation learning from human demonstrations enables robots to perform complex manipulation tasks and has recently witnessed huge success. However, these techniques often struggle to adapt behavior to new preferences or changes in the…

Recent advance in Dense Retrieval (DR) techniques has significantly improved the effectiveness of first-stage retrieval. Trained with large-scale supervised data, DR models can encode queries and documents into a low-dimensional dense space…

When fine-tuning Deep Neural Networks (DNNs) to new data, DNNs are prone to overwriting network parameters required for task-specific functionality on previously learned tasks, resulting in a loss of performance on those tasks. We propose…

Sample efficiency is one of the key factors when applying policy search to real-world problems. In recent years, Bayesian Optimization (BO) has become prominent in the field of robotics due to its sample efficiency and little prior…