相关论文: Distilling Morphology-Conditioned Hypernetworks fo…

Universal morphology control aims to learn a universal policy that generalizes across heterogeneous agent morphologies, with Transformer-based controllers emerging as a popular choice. However, such architectures incur substantial…

Developing controllers that generalize across diverse robot morphologies remains a significant challenge in legged locomotion. Traditional approaches either create specialized controllers for each morphology or compromise performance for…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

Finding controllers that perform well across multiple morphologies is an important milestone for large-scale robotics, in line with recent advances via foundation models in other areas of machine learning. However, the challenges of…

Most deep reinforcement learning algorithms are data inefficient in complex and rich environments, limiting their applicability to many scenarios. One direction for improving data efficiency is multitask learning with shared neural network…

Universal force fields generalizable across the periodic table represent a new trend in computational materials science. However, the applications of universal force fields in material simulations are limited by their slow inference speed…

The transfer of knowledge from one policy to another is an important tool in Deep Reinforcement Learning. This process, referred to as distillation, has been used to great success, for example, by enhancing the optimisation of agents,…

Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…

We present a novel approach to knowledge transfer in model-based reinforcement learning, addressing the critical challenge of deploying large world models in resource-constrained environments. Our method efficiently distills a high-capacity…

We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills this data down into a robust multi-task language-conditioned visuo-motor policy.…

We propose a learning framework named Feature Fusion Learning (FFL) that efficiently trains a powerful classifier through a fusion module which combines the feature maps generated from parallel neural networks. Specifically, we train a…

We present UniDetox, a universally applicable method designed to mitigate toxicity across various large language models (LLMs). Previous detoxification methods are typically model-specific, addressing only individual models or model…

In multi-task reinforcement learning there are two main challenges: at training time, the ability to learn different policies with a single model; at test time, inferring which of those policies applying without an external signal. In the…

The carbon footprint of natural language processing research has been increasing in recent years due to its reliance on large and inefficient neural network implementations. Distillation is a network compression technique which attempts to…

Machine learning force field (MLFF) has emerged as a powerful data-driven tool for atomistic simulations, enabling large-scale and complex atomic systems to be simulated with accuracy comparable to \textit{ab initio} methods. However, MLFFs…

Policy distillation in deep reinforcement learning provides an effective way to transfer control policies from a larger network to a smaller untrained network without a significant degradation in performance. However, policy distillation is…

Vision-based policies are widely applied in robotics for tasks such as manipulation and locomotion. On lightweight mobile robots, however, they face a trilemma of limited scene transferability, restricted onboard computation resources, and…

Recent advances in deep learning has lead to rapid developments in the field of image retrieval. However, the best performing architectures incur significant computational cost. Recent approaches tackle this issue using knowledge…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

The foundation model (FM) paradigm is transforming Machine Learning Force Fields (MLFFs), leveraging general-purpose representations and scalable training to perform a variety of computational chemistry tasks. Although MLFF FMs have begun…