相关论文: TraKDis: A Transformer-based Knowledge Distillatio…

Knowledge distillation (KD) is an effective technique to transfer knowledge from one neural network (teacher) to another (student), thus improving the performance of the student. To make the student better mimic the behavior of the teacher,…

Reinforcement Learning (RL) is an area of growing interest in the field of artificial intelligence due to its many notable applications in diverse fields. Particularly within the context of intelligent vehicle control, RL has made…

In this work, we aim to learn a unified vision-based policy for multi-fingered robot hands to manipulate a variety of objects in diverse poses. Though prior work has shown benefits of using human videos for policy learning, performance…

Adversarial training is the most promising method for learning robust models against adversarial examples. A recent study has shown that knowledge distillation between the same architectures is effective in improving the performance of…

Knowledge Distillation (KD) methods are capable of transferring the knowledge encoded in a large and complex teacher into a smaller and faster student. Early methods were usually limited to transferring the knowledge only between the last…

Supervised multi-view stereo (MVS) methods have achieved remarkable progress in terms of reconstruction quality, but suffer from the challenge of collecting large-scale ground-truth depth. In this paper, we propose a novel self-supervised…

Intrinsic motivation, inspired by the psychology of developmental learning in infants, stimulates exploration in agents without relying solely on sparse external rewards. Existing methods in reinforcement learning like Random Network…

This work studies knowledge distillation (KD) and addresses its constraints for recurrent neural network transducer (RNN-T) models. In hard distillation, a teacher model transcribes large amounts of unlabelled speech to train a student…

Knowledge distillation provides an effective way to transfer knowledge via teacher-student learning, where most existing distillation approaches apply a fixed pre-trained model as teacher to supervise the learning of student network. This…

Recent advances in 3D object detection (3DOD) have obtained remarkably strong results for LiDAR-based models. In contrast, surround-view 3DOD models based on multiple camera images underperform due to the necessary view transformation of…

In this work, we evaluate the effectiveness of representation learning approaches for decision making in visually complex environments. Representation learning is essential for effective reinforcement learning (RL) from high-dimensional…

Smaller machine learning models, with less complex architectures and sensor inputs, can benefit wearable sensor-based human activity recognition (HAR) systems in many ways, from complexity and cost to battery life. In the specific case of…

Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, where end-to-end policy finetuning remains inefficient and…

Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…

Knowledge Distillation (KD) aims to distill the knowledge of a cumbersome teacher model into a lightweight student model. Its success is generally attributed to the privileged information on similarities among categories provided by the…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…

With the ever-growing complexity of models in the field of remote sensing (RS), there is an increasing demand for solutions that balance model accuracy with computational efficiency. Knowledge distillation (KD) has emerged as a powerful…

We need to look at our shoelaces as we first learn to tie them but having mastered this skill, can do it from touch alone. We call this phenomenon "sensory scaffolding": observation streams that are not needed by a master might yet aid a…