相关论文: Accelerating Neural Field Training via Soft Mining

Neural Memory Networks (NMNs) have received increased attention in recent years compared to deep architectures that use a constrained memory. Despite their new appeal, the success of NMNs hinges on the ability of the gradient-based…

We employ constraints to control the parameter space of deep neural networks throughout training. The use of customized, appropriately designed constraints can reduce the vanishing/exploding gradients problem, improve smoothness of…

In recent years, learning-based approaches have revolutionized motion planning. The data generation process for these methods involves caching a large number of high quality paths for different queries (start, goal pairs) in various…

Calibration can reduce overconfident predictions of deep neural networks, but can calibration also accelerate training? In this paper, we show that it can when used to prioritize some examples for performing subset selection. We study the…

Low-precision training has emerged as a promising low-cost technique to enhance the training efficiency of deep neural networks without sacrificing much accuracy. Its Bayesian counterpart can further provide uncertainty quantification and…

Neural radiance field (NeRF) is an emerging view synthesis method that samples points in a three-dimensional (3D) space and estimates their existence and color probabilities. The disadvantage of NeRF is that it requires a long training time…

We provide theoretical investigation of curriculum learning in the context of stochastic gradient descent when optimizing the convex linear regression loss. We prove that the rate of convergence of an ideal curriculum learning method is…

Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on…

We introduce neural particle smoothing, a sequential Monte Carlo method for sampling annotations of an input string from a given probability model. In contrast to conventional particle filtering algorithms, we train a proposal distribution…

Deep neural networks can be effective means to automatically classify aerial images but is easy to overfit to the training data. It is critical for trained neural networks to be robust to variations that exist between training and test…

The pairwise objective paradigms are an important and essential aspect of machine learning. Examples of machine learning approaches that use pairwise objective functions include differential network in face recognition, metric learning,…

Humans learn to play video games significantly faster than the state-of-the-art reinforcement learning (RL) algorithms. People seem to build simple models that are easy to learn to support planning and strategic exploration. Inspired by…

Neural Radiance Fields (NeRF) has emerged as a compelling framework for scene representation and 3D recovery. To improve its performance on real-world data, depth regularizations have proven to be the most effective ones. However, depth…

The computational cost of training with softmax cross entropy loss grows linearly with the number of classes. For the settings where a large number of classes are involved, a common method to speed up training is to sample a subset of…

Neural Radiance Fields (NeRF) have achieved photorealistic novel view synthesis but suffer from computational inefficiency due to dense ray sampling during volume rendering. We propose SAC-NeRF, a reinforcement learning framework that…

Many machine learning methods operate by inverting a neural network at inference time, which has become a popular technique for solving inverse problems in computer vision, robotics, and graphics. However, these methods often involve…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Training neural networks is traditionally done by providing a sequence of random mini-batches sampled uniformly from the entire training data. In this work, we analyze the effect of curriculum learning, which involves the non-uniform…

We present a simple and intuitive Focus-and-eXpand (\fax) method to guide the training process of a neural network towards a specific solution. Optimizing a neural network is a highly non-convex problem. Typically, the space of solutions is…