相关论文: Relaxed Equivariance via Multitask Learning

Recently, regularization model-driven deep learning (DL) has gained significant attention due to its ability to leverage the potent representational capabilities of DL while retaining the theoretical guarantees of regularization models.…

Equivariance guarantees that a model's predictions capture key symmetries in data. When an image is translated or rotated, an equivariant model's representation of that image will translate or rotate accordingly. The success of…

Multi-task networks are commonly utilized to alleviate the need for a large number of highly specialized single-task networks. However, two common challenges in developing multi-task models are often overlooked in literature. First,…

Fine-tuning is a common practice in deep learning, achieving excellent generalization results on downstream tasks using relatively little training data. Although widely used in practice, it is lacking strong theoretical understanding. We…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

Leveraging prior knowledge on intraclass variance due to transformations is a powerful method to improve the sample complexity of deep neural networks. This makes them applicable to practically important use-cases where training data is…

Unsupervised learning for monocular camera motion and 3D scene understanding has gained popularity over traditional methods, relying on epipolar geometry or non-linear optimization. Notably, deep learning can overcome many issues of…

Sampling efficiency is critical for deploying visuomotor learning in real-world robotic manipulation. While task symmetry has emerged as a promising inductive bias to improve efficiency, most prior work is limited to isometric symmetries --…

Extreme learning machine (ELM) is a new single hidden layer feedback neural network. The weights of the input layer and the biases of neurons in hidden layer are randomly generated, the weights of the output layer can be analytically…

Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…

Learning dynamics is essential for model-based control and Reinforcement Learning in engineering systems, such as robotics and power systems. However, limited system measurements, such as those from low-resolution sensors, demand…

Multimodal task specification is essential for enhanced robotic performance, where \textit{Cross-modality Alignment} enables the robot to holistically understand complex task instructions. Directly annotating multimodal instructions for…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Deep Reinforcement Learning (DRL) has achieved impressive success in many applications. A key component of many DRL models is a neural network representing a Q function, to estimate the expected cumulative reward following a state-action…

Although deep neural networks have achieved super-human performance on many classification tasks, they often exhibit a worrying lack of robustness towards adversarially generated examples. Thus, considerable effort has been invested into…

Data-Free Meta-Learning (DFML) aims to derive knowledge from a collection of pre-trained models without accessing their original data, enabling the rapid adaptation to new unseen tasks. Current methods often overlook the heterogeneity among…

Multi-task learning (MTL) aims to improve the generalization of several related tasks by learning them jointly. As a comparison, in addition to the joint training scheme, modern meta-learning allows unseen tasks with limited labels during…

Meta-learning leverages related source tasks to learn an initialization that can be quickly fine-tuned to a target task with limited labeled examples. However, many popular meta-learning algorithms, such as model-agnostic meta-learning…

Deep neural networks coupled with fast simulation and improved computation have led to recent successes in the field of reinforcement learning (RL). However, most current RL-based approaches fail to generalize since: (a) the gap between…

In a multirobot system, a number of cyber-physical attacks (e.g., communication hijack, observation perturbations) can challenge the robustness of agents. This robustness issue worsens in multiagent reinforcement learning because there…