相关论文: DataMIL: Selecting Data for Robot Imitation Learni…

The success of modern machine learning hinges on access to high-quality training data. In many real-world scenarios, such as acquiring data from public repositories or sharing across institutions, data is naturally organized into discrete…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

Data Mining is the process of extracting useful patterns from the huge amount of database and many data mining techniques are used for mining these patterns. Recently, one of the remarkable facts in higher educational institute is the rapid…

The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exist. Collecting these datasets is time-consuming and…

Highly overparametrized neural networks can display curiously strong generalization performance - a phenomenon that has recently garnered a wealth of theoretical and empirical research in order to better understand it. In contrast to most…

As the number of applications that use machine learning algorithms increases, the need for labeled data useful for training such algorithms intensifies. Getting labels typically involves employing humans to do the annotation, which directly…

In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…

Data selection plays a crucial role in data-driven decision-making, including in large language models (LLMs), and is typically task-dependent. Properties such as data quality and diversity have been extensively studied and are known to…

Most deep reinforcement learning algorithms are data inefficient in complex and rich environments, limiting their applicability to many scenarios. One direction for improving data efficiency is multitask learning with shared neural network…

As data science continues to grow in popularity, there will be an increasing need to make data science tools more scalable, flexible, and accessible. In particular, automated machine learning (AutoML) systems seek to automate the process of…

In this paper, we introduce a discrete variant of the meta-learning framework. Meta-learning aims at exploiting prior experience and data to improve performance on future tasks. By now, there exist numerous formulations for meta-learning in…

Mislabeled, duplicated, or biased data in real-world scenarios can lead to prolonged training and even hinder model convergence. Traditional solutions prioritizing easy or hard samples lack the flexibility to handle such a variety…

Instruction tuning is a vital step of training large language models (LLMs), so how to enhance the effect of instruction tuning has received increased attention. Existing works indicate that the quality of the dataset is more crucial than…

Large language models (LLMs) excel in general tasks but struggle with domain-specific ones, requiring fine-tuning with specific data. With many open-source LLMs available, selecting the best model for fine-tuning downstream tasks is…

Humans are capable of learning a new behavior by observing others perform the skill. Robots can also implement this by imitation learning. Furthermore, if with external guidance, humans will master the new behavior more efficiently. So how…

Data science (DS) projects often follow a lifecycle that consists of laborious tasks for data scientists and domain experts (e.g., data exploration, model training, etc.). Only till recently, machine learning(ML) researchers have developed…

The explosion of digital data has created multiple opportunities for organizations and individuals to leverage machine learning (ML) to transform the way they operate. However, the shortage of experts in the field of machine learning --…

Data augmentation improves the generalization power of deep learning models by synthesizing more training samples. Sample-mixing is a popular data augmentation approach that creates additional data by combining existing samples. Recent…

We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during execution. We investigate the effectiveness of the Continuity-based…

Multi-task Imitation Learning (MIL) aims to train a policy capable of performing a distribution of tasks based on multi-task expert demonstrations, which is essential for general-purpose robots. Existing MIL algorithms suffer from low data…