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

Unsupervised skill learning objectives (Gregor et al., 2016, Eysenbach et al., 2018) allow agents to learn rich repertoires of behavior in the absence of extrinsic rewards. They work by simultaneously training a policy to produce…

Visual place recognition is a key to unlocking spatial navigation for animals, humans and robots. While state-of-the-art approaches are trained in a supervised manner and therefore hardly capture the information needed for generalizing to…

Dynamical System (DS) based Learning from Demonstration (LfD) allows learning of reactive motion policies with stability and convergence guarantees from a few trajectories. Yet, current DS learning techniques lack the flexibility to…

Equivariance is a powerful prior for learning physical dynamics, yet exact group equivariance can degrade performance if the symmetries are broken. We propose object-centric world models built with geometric algebra neural networks,…

Unsupervised (or self-supervised) graph representation learning is essential to facilitate various graph data mining tasks when external supervision is unavailable. The challenge is to encode the information about the graph structure and…

Language-conditioned robot behavior plays a vital role in executing complex tasks by associating human commands or instructions with perception and actions. The ability to compose long-horizon tasks based on unconstrained language…

By inferring latent groups in the training data, recent works introduce invariant learning to the case where environment annotations are unavailable. Typically, learning group invariance under a majority/minority split is empirically shown…

We derive first-order (in the stepsize) bounds on the bias in Wasserstein distances of the invariant measure of stochastic gradient kinetic Langevin dynamics with minimal assumptions on the stochastic gradient noise. These bounds sharpen…

Stochastic gradient descent (SGD) is a widely adopted iterative method for optimizing differentiable objective functions. In this paper, we propose and discuss a novel approach to scale up SGD in applications involving non-convex functions…

Generative models, as a powerful technique for generation, also gradually become a critical tool for recognition tasks. However, in skeleton-based action recognition, the features obtained from existing pre-trained generative methods…

Learning robust models under distribution shifts between training and test datasets is a fundamental challenge in machine learning. While learning invariant features across environments is a popular approach, it often assumes that these…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Past research has indicated that the covariance of the Stochastic Gradient Descent (SGD) error done via minibatching plays a critical role in determining its regularization and escape from low potential points. Motivated by some new…

Systematic Generalization refers to a learning algorithm's ability to extrapolate learned behavior to unseen situations that are distinct but semantically similar to its training data. As shown in recent work, state-of-the-art deep learning…

Unsupervised learning is a discipline of machine learning which aims at discovering patterns in big data sets or classifying the data into several categories without being trained explicitly. We show that unsupervised learning techniques…

This paper presents an algorithm for learning a highly redundant inverse model in continuous and non-preset environments. Our Socially Guided Intrinsic Motivation by Demonstrations (SGIM-D) algorithm combines the advantages of both social…

We explore the role of group symmetries in binary classification tasks, presenting a novel framework that leverages the principles of Neyman-Pearson optimality. Contrary to the common intuition that larger symmetry groups lead to improved…

We propose a statistical learning framework based on group-sparse regression that can be used to 1) enforce conservation laws, 2) ensure model equivalence, and 3) guarantee symmetries when learning or inferring differential-equation models…

Differential equations in general and neural ODEs in particular are an essential technique in continuous-time system identification. While many deterministic learning algorithms have been designed based on numerical integration via the…

Unsupervised landmarks discovery (ULD) for an object category is a challenging computer vision problem. In pursuit of developing a robust ULD framework, we explore the potential of a recent paradigm of self-supervised learning algorithms,…