相关论文: Simulation Priors for Data-Efficient Deep Learning

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Motivation: In a predictive modeling setting, if sufficient details of the system behavior are known, one can build and use a simulation for making predictions. When sufficient system details are not known, one typically turns to machine…

At its core, this thesis aims to enhance the practicality of deep learning by improving the label and training efficiency of deep learning models. To this end, we investigate data subset selection techniques, specifically active learning…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

The goal of this paper is to make a strong point for the usage of dynamical models when using reinforcement learning (RL) for feedback control of dynamical systems governed by partial differential equations (PDEs). To breach the gap between…

Nowadays, autonomous vehicles are gaining traction due to their numerous potential applications in resolving a variety of other real-world challenges. However, developing autonomous vehicles need huge amount of training and testing before…

Model-based RL/control have gained significant traction in robotics. Yet, these approaches often remain data-inefficient and lack the explainability of hand-engineered solutions. This makes them difficult to debug/integrate in…

The fourth edition of the "VIPriors: Visual Inductive Priors for Data-Efficient Deep Learning" workshop features two data-impaired challenges. These challenges address the problem of training deep learning models for computer vision tasks…

Autonomous driving has attracted great attention from both academics and industries. To realise autonomous driving, Deep Imitation Learning (DIL) is treated as one of the most promising solutions, because it improves autonomous driving…

Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…

In this work we are the first to present an offline policy gradient method for learning imitative policies for complex urban driving from a large corpus of real-world demonstrations. This is achieved by building a differentiable data-driven…

Agricultural datasets for crop row detection are often bound by their limited number of images. This restricts the researchers from developing deep learning based models for precision agricultural tasks involving crop row detection. We…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Numerical models based on physics represent the state-of-the-art in earth system modeling and comprise our best tools for generating insights and predictions. Despite rapid growth in computational power, the perceived need for higher model…

Deep learning (DL) plays a key role in autonomous driving systems. DL models support perception modules, equipped with tasks such as object detection and sensor fusion. These DL models enable vehicles to process multi-sensor inputs to…

Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…

Traffic simulation is an essential tool for transportation infrastructure planning, intelligent traffic control policy learning, and traffic flow analysis. Its effectiveness relies heavily on the realism of the simulators used. Traditional…

Machine learned models exhibit bias, often because the datasets used to train them are biased. This presents a serious problem for the deployment of such technology, as the resulting models might perform poorly on populations that are…

Learning dynamics is at the heart of many important applications of machine learning (ML), such as robotics and autonomous driving. In these settings, ML algorithms typically need to reason about a physical system using high dimensional…