相关论文: Towards Balanced Behavior Cloning from Imbalanced …

Self-supervised learning (SSL) is a scalable way to learn general visual representations since it learns without labels. However, large-scale unlabeled datasets in the wild often have long-tailed label distributions, where we know little…

With the ever increasing data deluge and the success of deep neural networks, the research of distributed deep learning has become pronounced. Two common approaches to achieve this distributed learning is synchronous and asynchronous weight…

Meta-learning enables algorithms to quickly learn a newly encountered task with just a few labeled examples by transferring previously learned knowledge. However, the bottleneck of current meta-learning algorithms is the requirement of a…

Meta-learning algorithms use past experience to learn to quickly solve new tasks. In the context of reinforcement learning, meta-learning algorithms acquire reinforcement learning procedures to solve new problems more efficiently by…

Traditionally, in supervised machine learning, (a significant) part of the available data (usually 50% to 80%) is used for training and the rest for validation. In many problems, however, the data is highly imbalanced in regard to different…

Real-world datasets are often highly class-imbalanced, which can adversely impact the performance of deep learning models. The majority of research on training neural networks under class imbalance has focused on specialized loss functions,…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Robots have been increasingly better at doing tasks for humans by learning from their feedback, but still often suffer from model misalignment due to missing or incorrectly learned features. When the features the robot needs to learn to…

Deep convolutional neural networks often perform poorly when faced with datasets that suffer from quantity imbalances and classification difficulties. Despite advances in the field, existing two-stage approaches still exhibit dataset bias…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

Learning classifiers using skewed or imbalanced datasets can occasionally lead to classification issues; this is a serious issue. In some cases, one class contains the majority of examples while the other, which is frequently the more…

Given that Artificial Intelligence (AI) increasingly permeates our lives, it is critical that we systematically align AI objectives with the goals and values of humans. The human-AI alignment problem stems from the impracticality of…

Multimodal models often over-rely on dominant modalities, failing to achieve optimal performance. While prior work focuses on modifying training objectives or optimization procedures, data-centric solutions remain underexplored. We propose…

Imitation learning from human-provided demonstrations is a strong approach for learning policies for robot manipulation. While the ideal dataset for imitation learning is homogenous and low-variance -- reflecting a single, optimal method…

In this study, classification problems based on feedforward neural networks in a data-imbalanced environment are considered. Learning from an imbalanced dataset is one of the most important practical problems in the field of machine…

Fairness has been identified as an important aspect of Machine Learning and Artificial Intelligence solutions for decision making. Recent literature offers a variety of approaches for debiasing, however many of them fall short when the data…

Imitation learning has enabled robots to perform complex, long-horizon tasks in challenging dexterous manipulation settings. As new methods are developed, they must be rigorously evaluated and compared against corresponding baselines…

Most offline reinforcement learning (RL) algorithms return a target policy maximizing a trade-off between (1) the expected performance gain over the behavior policy that collected the dataset, and (2) the risk stemming from the…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

Multi-task post-training of large language models (LLMs) is typically performed by mixing datasets from different tasks and optimizing them jointly. This approach implicitly assumes that all tasks contribute gradients of similar magnitudes;…