相关论文: Feature-Based vs. GAN-Based Learning from Demonstr…

The advent of large-scale training has produced a cornucopia of powerful visual recognition models. However, generative models, such as GANs, have traditionally been trained from scratch in an unsupervised manner. Can the collective…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Discriminative Feature Feedback is a setting proposed by Dastupta et al. (2018), which provides a protocol for interactive learning based on feature explanations that are provided by a human teacher. The features distinguish between the…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Recent work demonstrated the benefits of studying continuous-time dynamics governing the GAN training. However, this dynamics is analyzed in the model parameter space, which results in finite-dimensional dynamical systems. We propose a…

We discuss a general method to learn data representations from multiple tasks. We provide a justification for this method in both settings of multitask learning and learning-to-learn. The method is illustrated in detail in the special case…

Score-based generative models can produce high quality image samples comparable to GANs, without requiring adversarial optimization. However, existing training procedures are limited to images of low resolution (typically below 32x32), and…

Due to the discrete nature of words, language GANs require to be optimized from rewards provided by discriminator networks, via reinforcement learning methods. This is a much harder setting than for continuous tasks, which enjoy gradient…

Rewards play an essential role in reinforcement learning. In contrast to rule-based game environments with well-defined reward functions, complex real-world robotic applications, such as contact-rich manipulation, lack explicit and…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Machine learning classifiers are widely used to make decisions with a major impact on people's lives (e.g. accepting or denying a loan, hiring decisions, etc). In such applications,the learned classifiers need to be both accurate and fair…

As robots and other intelligent agents move from simple environments and problems to more complex, unstructured settings, manually programming their behavior has become increasingly challenging and expensive. Often, it is easier for a…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have…

Federated Learning is an emerging distributed collaborative learning paradigm adopted by many of today's applications, e.g., keyboard prediction and object recognition. Its core principle is to learn from large amount of users data while…

We propose a structured prediction approach for robot imitation learning from demonstrations. Among various tools for robot imitation learning, supervised learning has been observed to have a prominent role. Structured prediction is a form…

We study the benefit of sharing representations among tasks to enable the effective use of deep neural networks in Multi-Task Reinforcement Learning. We leverage the assumption that learning from different tasks, sharing common properties,…

Continual learning is an emerging paradigm in machine learning, wherein a model is exposed in an online fashion to data from multiple different distributions (i.e. environments), and is expected to adapt to the distribution change.…

Multi-task learning is an effective learning strategy for deep-learning-based facial expression recognition tasks. However, most existing methods take into limited consideration the feature selection, when transferring information between…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…