相关论文: Group-Invariant Unsupervised Skill Discovery: Symm…

Problem definition: A key challenge in supervised learning is data scarcity, which can cause prediction models to overfit to the training data and perform poorly out of sample. A contemporary approach to combat overfitting is offered by…

Gradient boosting is a sequential ensemble method that fits a new weaker learner to pseudo residuals at each iteration. We propose Wasserstein gradient boosting, a novel extension of gradient boosting that fits a new weak learner to…

Mutual information maximization has emerged as a powerful learning objective for unsupervised representation learning obtaining state-of-the-art performance in applications such as object recognition, speech recognition, and reinforcement…

Targeted data selection has emerged as a crucial paradigm for efficient instruction tuning, aiming to identify a small yet influential subset of training examples for a specific target task. In practice, influence is often measured through…

Most recent view-invariant action recognition and performance assessment approaches rely on a large amount of annotated 3D skeleton data to extract view-invariant features. However, acquiring 3D skeleton data can be cumbersome, if not…

Existing generalization theories analyze the generalization performance mainly based on the model complexity and training process. The ignorance of the task properties, which results from the widely used IID assumption, makes these theories…

To overcome the restriction of identical distribution assumption, invariant representation learning for unsupervised domain adaptation (UDA) has made significant advances in computer vision and pattern recognition communities. In UDA…

At the core of self-supervised learning for vision is the idea of learning invariant or equivariant representations with respect to a set of data transformations. This approach, however, introduces strong inductive biases, which can render…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

A parametric adaptive physics-informed greedy Latent Space Dynamics Identification (gLaSDI) method is proposed for accurate, efficient, and robust data-driven reduced-order modeling of high-dimensional nonlinear dynamical systems. In the…

Modeling observations as random distributions embedded within Wasserstein spaces is becoming increasingly popular across scientific fields, as it captures the variability and geometric structure of the data more effectively. However, the…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Skill-augmented agents increasingly rely on large reusable skill libraries, but retrieving relevant skills is not the same as presenting usable context. Existing methods typically return atomic skills or dependency-aware bundles whose…

Score matching provides an effective approach to learning flexible unnormalized models, but its scalability is limited by the need to evaluate a second-order derivative. In this paper, we present a scalable approximation to a general family…

In object detection, a well-defined similarity metric can significantly enhance model performance. Currently, the IoU-based similarity metric is the most commonly preferred choice for detectors. However, detectors using IoU as a similarity…

Reinforcement learning necessitates meticulous reward shaping by specialists to elicit target behaviors, while imitation learning relies on costly task-specific data. In contrast, unsupervised skill discovery can potentially reduce these…

The explicit incorporation of task-specific inductive biases through symmetry has emerged as a general design precept in the development of high-performance machine learning models. For example, group equivariant neural networks have…

A long-standing challenge for a robotic manipulation system operating in real-world scenarios is adapting and generalizing its acquired motor skills to unseen environments. We tackle this challenge employing hybrid skill models that…

Symmetry is an important inductive bias that can improve model robustness and generalization across many deep learning domains. In multi-agent settings, a priori known symmetries have been shown to address a fundamental coordination failure…