相关论文: Self-Predictive Representations for Combinatorial …

Despite its experimental success, Model-based Reinforcement Learning still lacks a complete theoretical understanding. To this end, we analyze the error in the cumulative reward using a contraction approach. We consider both stochastic and…

The generalization capabilities of robotic manipulation policies are heavily influenced by the choice of visual representations. Existing approaches typically rely on representations extracted from pre-trained encoders, using two dominant…

Continual learning (CL) aims to learn a sequence of tasks without forgetting the previously acquired knowledge. However, recent CL advances are restricted to supervised continual learning (SCL) scenarios. Consequently, they are not scalable…

Recent breakthroughs in self-supervised learning show that such algorithms learn visual representations that can be transferred better to unseen tasks than joint-training methods relying on task-specific supervision. In this paper, we found…

Contrastive learning has delivered impressive results for various tasks in the self-supervised regime. However, existing approaches optimize for learning representations specific to downstream scenarios, i.e., \textit{global}…

Human gaze is known to be an intention-revealing signal in human demonstrations of tasks. In this work, we use gaze cues from human demonstrators to enhance the performance of agents trained via three popular imitation learning methods --…

Multiple data types naturally co-occur when describing real-world phenomena and learning from them is a long-standing goal in machine learning research. However, existing self-supervised generative models approximating an ELBO are not able…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Visual recognition tasks are often limited to dealing with a small subset of classes simply because the labels for the remaining classes are unavailable. We are interested in identifying novel concepts in a dataset through representation…

In this paper, we focus on unsupervised representation learning for clustering of images. Recent advances in deep clustering and unsupervised representation learning are based on the idea that different views of an input image (generated…

Machine Learning-based heuristics have recently shown impressive performance in solving a variety of hard combinatorial optimization problems (COPs). However, they generally rely on a separate neural model, specialized and trained for each…

Federated learning is an important framework in modern machine learning that seeks to integrate the training of learning models from multiple users, each user having their own local data set, in a way that is sensitive to data privacy and…

Behavior Cloning (BC) methods are effective at learning complex manipulation tasks. However, they are prone to spurious correlation - expressive models may focus on distractors that are irrelevant to action prediction - and are thus fragile…

A general framework of unsupervised learning for combinatorial optimization (CO) is to train a neural network (NN) whose output gives a problem solution by directly optimizing the CO objective. Albeit with some advantages over traditional…

Goal-conditioned reinforcement learning (RL) concerns the problem of training an agent to maximize the probability of reaching target goal states. This paper presents an analysis of the goal-conditioned setting based on optimal control. In…

It is evidence that representation learning can improve model's performance over multiple downstream tasks in many real-world scenarios, such as image classification and recommender systems. Existing learning approaches rely on establishing…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

A lot of the recent success in natural language processing (NLP) has been driven by distributed vector representations of words trained on large amounts of text in an unsupervised manner. These representations are typically used as general…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Goal representation affects the performance of Hierarchical Reinforcement Learning (HRL) algorithms by decomposing the complex learning problem into easier subtasks. Recent studies show that representations that preserve temporally abstract…