相关论文: Relaxed Equivariance via Multitask Learning

Contours or closed planar curves are common in many domains. For example, they appear as object boundaries in computer vision, isolines in meteorology, and the orbits of rotating machinery. In many cases when learning from contour data,…

Traditional supervised learning aims to learn an unknown mapping by fitting a function to a set of input-output pairs with a fixed dimension. The fitted function is then defined on inputs of the same dimension. However, in many settings,…

Many scientific and geometric problems exhibit general linear symmetries, yet most equivariant neural networks are built for compact groups or simple vector features, limiting their reuse on matrix-valued data such as covariances, inertias,…

We propose a control framework that integrates model-based bipedal locomotion with residual reinforcement learning (RL) to achieve robust and adaptive walking in the presence of real-world uncertainties. Our approach leverages a model-based…

Deep Reinforcement Learning (RL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. To alleviate this issue, we propose to exploit the symmetries…

Training a deep neural network to maximize a target objective has become the standard recipe for successful machine learning over the last decade. These networks can be optimized with supervised learning, if the target objective is…

This study explores the concept of equivariance in vision-language foundation models (VLMs), focusing specifically on the multimodal similarity function that is not only the major training objective but also the core delivery to support…

Problems involving multiple networks are prevalent in many scientific and other domains. In particular, network alignment, or the task of identifying corresponding nodes in different networks, has applications across the social and natural…

Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…

Machine learning, deep learning, has been accelerating computational physics, which has been used to simulate systems on a lattice. Equivariance is essential to simulate a physical system because it imposes a strong induction bias for the…

Meta-reinforcement learning (meta-RL) aims to learn from multiple training tasks the ability to adapt efficiently to unseen test tasks. Despite the success, existing meta-RL algorithms are known to be sensitive to the task distribution…

The inclusion of symmetries as an inductive bias, known as equivariance, often improves generalization on geometric data (e.g. grids, sets, and graphs). However, equivariant architectures are usually highly constrained, designed for…

Continual learning is a promising machine learning paradigm to learn new tasks while retaining previously learned knowledge over streaming training data. Till now, rehearsal-based methods, keeping a small part of data from old tasks as a…

The explicit incorporation of task-specific inductive biases through symmetry has emerged as a general design precept in the development of high-performance machine learning models. For example, group equivariant neural networks have…

The immense computational cost of simulating turbulence has motivated the use of machine learning approaches for super-resolving turbulent flows. A central challenge is ensuring that learned models respect physical symmetries, such as…

Gradient-based meta-learners such as MAML are able to learn a meta-prior from similar tasks to adapt to novel tasks from the same distribution with few gradient updates. One important limitation of such frameworks is that they seek a common…

Equivariance of neural networks to transformations helps to improve their performance and reduce generalization error in computer vision tasks, as they apply to datasets presenting symmetries (e.g. scalings, rotations, translations). The…

Recently, equivariant neural network models have been shown to improve sample efficiency for tasks in computer vision and reinforcement learning. This paper explores this idea in the context of on-robot policy learning in which a policy…

Image restoration is an inherently ill posed inverse problem. Equivariant networks that embed geometric symmetry priors can mitigate this ill posedness and improve performance. However, current understanding of the relationship between…

Convolutions encode equivariance symmetries into neural networks leading to better generalisation performance. However, symmetries provide fixed hard constraints on the functions a network can represent, need to be specified in advance, and…