相关论文: Physics of Skill Learning

Understanding the learning dynamics of neural networks is one of the key issues for the improvement of optimization algorithms as well as for the theoretical comprehension of why deep neural nets work so well today. In this paper, we…

How do neural language models acquire a language's structure when trained for next-token prediction? We address this question by deriving theoretical scaling laws for neural network performance on synthetic datasets generated by the Random…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

To understand how deep learning works, it is crucial to understand the training dynamics of neural networks. Several interesting hypotheses about these dynamics have been made based on empirically observed phenomena, but there exists a…

Diffusion models power leading generative AI, but when and how they memorize training data, especially on low-dimensional manifolds, remains unclear. We find memorization emerges gradually, not abruptly: as data become scarce, diffusion…

Recent years have been marked with the fast-pace diversification and increasing ubiquity of machine learning applications. Yet, a firm theoretical understanding of the surprising efficiency of neural networks to learn from high-dimensional…

Even though deep neural networks have shown tremendous success in countless applications, explaining model behaviour or predictions is an open research problem. In this paper, we address this issue by employing a simple yet effective method…

Understanding the dynamics of neural networks in different width regimes is crucial for improving their training and performance. We present an exact solution for the learning dynamics of a one-hidden-layer linear network, with…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

This paper investigates the foundations of deep learning through insight of geometry, algebra and differential calculus. At is core, artificial intelligence relies on assumption that data and its intrinsic structure can be embedded into…

Learning dynamics, which describes how the learning of specific training examples influences the model's predictions on other examples, gives us a powerful tool for understanding the behavior of deep learning systems. We study the learning…

The paper uses statistical and differential geometric motivation to acquire prior information about the learning capability of an artificial neural network on a given dataset. The paper considers a broad class of neural networks with…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…

Integrating task-relevant information into neural representations is a fundamental ability of both biological and artificial intelligence systems. Recent theories have categorized learning into two regimes: the rich regime, where neural…

Learning curves are a measure for how the performance of machine learning models improves given a certain volume of training data. Over a wide variety of applications and models it was observed that learning curves follow -- to a large…

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be…

Interpreting the learning dynamics of neural networks can provide useful insights into how networks learn and the development of better training and design approaches. We present an approach to interpret learning in neural networks by…

Recently, neural operators have emerged as powerful tools for learning mappings between function spaces, enabling data-driven simulations of complex dynamics. Despite their successes, a deeper understanding of their learning mechanisms…