相关论文: Towards Multi-Morphology Controllers with Diversit…

Multimodal Deep Learning has garnered much interest, and transformers have triggered novel approaches, thanks to the cross-attention mechanism. Here we propose an approach to deal with two key existing challenges: the high computational…

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…

Multi-task learning (MTL) is to learn one single model that performs multiple tasks for achieving good performance on all tasks and lower cost on computation. Learning such a model requires to jointly optimize losses of a set of tasks with…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and enable zero-shot generalization to unseen morphologies. However, learning a highly performant universal policy requires…

Brain-body co-optimization suffers from fragile co-adaptation where brains become over-specialized for particular bodies, hindering their ability to transfer well to others. Evolutionary algorithms tend to discard such low-performing…

Knowledge distillation as an efficient knowledge transfer technique, has achieved remarkable success in unimodal scenarios. However, in cross-modal settings, conventional distillation methods encounter significant challenges due to data and…

Knowledge distillation has emerged as a pivotal technique for transferring knowledge from stronger large language models (LLMs) to smaller, more efficient models. However, traditional distillation approaches face challenges related to…

Knowledge distillation aims to compress a powerful yet cumbersome teacher model into a lightweight student model without much sacrifice of performance. For this purpose, various approaches have been proposed over the past few years,…

Traditionally, distillation has been used to train a student model to emulate the input/output functionality of a teacher. A more useful goal than emulation, yet under-explored, is for the student to learn feature representations that…

Deep ensembles excel in large-scale image classification tasks both in terms of prediction accuracy and calibration. Despite being simple to train, the computation and memory cost of deep ensembles limits their practicability. While some…

Learning based on multimodal data has attracted increasing interest recently. While a variety of sensory modalities can be collected for training, not all of them are always available in development scenarios, which raises the challenge to…

Training a small student network with the guidance of a larger teacher network is an effective way to promote the performance of the student. Despite the different types, the guided knowledge used to distill is always kept unchanged for…

Distilled diffusion models generate images in far fewer timesteps but suffer from reduced sample diversity when generating multiple outputs from the same prompt. To understand this phenomenon, we first investigate whether distillation…

In natural language processing (NLP) tasks, slow inference speed and huge footprints in GPU usage remain the bottleneck of applying pre-trained deep models in production. As a popular method for model compression, knowledge distillation…

Knowledge distillation addresses the problem of transferring knowledge from a teacher model to a student model. In this process, we typically have multiple types of knowledge extracted from the teacher model. The problem is to make full use…

Knowledge distillation compresses a larger neural model (teacher) into smaller, faster student models by training them to match teacher outputs. However, the internal computational transformations that occur during this process remain…

Knowledge distillation becomes a de facto standard to improve the performance of small neural networks. Most of the previous works propose to regress the representational features from the teacher to the student in a one-to-one spatial…

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…

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…

Existing methods for distillation do not efficiently utilize the training data. This work presents a novel approach to perform distillation using only a subset of the training data, making it more data-efficient. For this purpose, the…