相关论文: dGrasp: NeRF-Informed Implicit Grasp Policies with…

The simplicity of gradient descent (GD) made it the default method for training ever-deeper and complex neural networks. Both loss functions and architectures are often explicitly tuned to be amenable to this basic local optimization. In…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

This paper presents a new method for parallel-jaw grasping of isolated objects from depth images, under large gripper pose uncertainty. Whilst most approaches aim to predict the single best grasp pose from an image, our method first…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

To fully uncover the great potential of deep neural networks (DNNs), various learning algorithms have been developed to improve the model's generalization ability. Recently, sharpness-aware minimization (SAM) establishes a generic scheme…

Neural network has attracted great attention for a long time and many researchers are devoted to improve the effectiveness of neural network training algorithms. Though stochastic gradient descent (SGD) and other explicit gradient-based…

Gradient tree boosting is a prediction algorithm that sequentially produces a model in the form of linear combinations of decision trees, by solving an infinite-dimensional optimization problem. We combine gradient boosting and Nesterov's…

This work extends an established critic match loss landscape visualization method from online to off-policy reinforcement learning (RL), aiming to reveal the optimization geometry behind critic learning. Off-policy RL differs from stepwise…

Coordinate-based neural implicit representation or implicit fields have been widely studied for 3D geometry representation or novel view synthesis. Recently, a series of efforts have been devoted to accelerating the speed and improving the…

Understanding the implicit bias of training algorithms is of crucial importance in order to explain the success of overparametrised neural networks. In this paper, we study the dynamics of stochastic gradient descent over diagonal linear…

The ability of robots to grasp novel objects has industry applications in e-commerce order fulfillment and home service. Data-driven grasping policies have achieved success in learning general strategies for grasping arbitrary objects.…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

With the flourishing prosperity of generative models, manipulated facial images have become increasingly accessible, raising concerns regarding privacy infringement and societal trust. In response, proactive defense strategies embed…

We consider the problem of approximating a function by an element of a nonlinear manifold which admits a differentiable parametrization, typical examples being neural networks with differentiable activation functions or tensor networks.…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

The use of deep neural networks as function approximators has led to striking progress for reinforcement learning algorithms and applications. Yet the knowledge we have on decision boundary geometry and the loss landscape of neural policies…

We provide a detailed asymptotic study of gradient flow trajectories and their implicit optimization bias when minimizing the exponential loss over "diagonal linear networks". This is the simplest model displaying a transition between…

We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close the loop. At each iteration, our method VFAS-Grasp builds a…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

Works on implicit regularization have studied gradient trajectories during the optimization process to explain why deep networks favor certain kinds of solutions over others. In deep linear networks, it has been shown that gradient descent…