相关论文: Controller Distillation Reduces Fragile Brain-Body…

Finding controllers that perform well across multiple morphologies is an important milestone for large-scale robotics, in line with recent advances via foundation models in other areas of machine learning. However, the challenges of…

Evolution sculpts both the body plans and nervous systems of agents together over time. In contrast, in AI and robotics, a robot's body plan is usually designed by hand, and control policies are then optimized for that fixed design. The…

In modular robotics, modules can be reconfigured to change the morphology of the robot, making it able to adapt for specific tasks. However, optimizing both the body and control is a difficult challenge due to the intricate relationship…

Soft robotics is a rapidly growing area of robotics research that would benefit greatly from design automation, given the challenges of manually engineering complex, compliant, and generally non-intuitive robot body plans and behaviors. It…

Leveraging shared learning through Massively Multilingual Models, state-of-the-art machine translation models are often able to adapt to the paucity of data for low-resource languages. However, this performance comes at the cost of…

Brain-body co-optimization remains a challenging problem, despite increasing interest from the community in recent years. To understand and overcome the challenges, we propose exhaustively mapping a morphology-fitness landscape to study it.…

Large-scale language-vision pre-training models, such as CLIP, have achieved remarkable text-guided image morphing results by leveraging several unconditional generative models. However, existing CLIP-guided image morphing methods encounter…

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…

Diffusion models excel at generative modeling (e.g., text-to-image) but sampling requires multiple denoising network passes, limiting practicality. Efforts such as progressive distillation or consistency distillation have shown promise by…

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…

Deep neural network architectures have attained remarkable improvements in scene understanding tasks. Utilizing an efficient model is one of the most important constraints for limited-resource devices. Recently, several compression methods…

Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…

Lack of specialized data makes building a multi-domain neural machine translation tool challenging. Although emerging literature dealing with low resource languages starts to show promising results, most state-of-the-art models used…

Model merging offers an effective way to integrate the capabilities of multiple fine-tuned models. However, the performance degradation of the merged model remains a challenge, particularly when none or few data are available. This paper…

Quality-Diversity algorithms, such as MAP-Elites, are a branch of Evolutionary Computation generating collections of diverse and high-performing solutions, that have been successfully applied to a variety of domains and particularly in…

We focus on the challenge of finding a diverse collection of quality solutions on complex continuous domains. While quality diver-sity (QD) algorithms like Novelty Search with Local Competition (NSLC) and MAP-Elites are designed to generate…

Knowledge Distillation is becoming one of the primary trends among neural network compression algorithms to improve the generalization performance of a smaller student model with guidance from a larger teacher model. This momentous rise in…

Large language models (LLMs) excel in complex reasoning tasks, and distilling their reasoning capabilities into smaller models has shown promise. However, we uncover an interesting phenomenon, which we term the Small Model Learnability Gap:…

The application of mixture-of-experts (MoE) is gaining popularity due to its ability to improve model's performance. In an MoE structure, the gate layer plays a significant role in distinguishing and routing input features to different…

GNNs, like other deep learning models, are data and computation hungry. There is a pressing need to scale training of GNNs on large datasets to enable their usage on low-resource environments. Graph distillation is an effort in that…