相关论文: Liquid Networks with Mixture Density Heads for Eff…

We consider reservoirs in the form of liquid state machines, i.e., recurrently connected networks of spiking neurons with randomly chosen weights. So far only the weights of a linear readout were adapted for a specific task. We wondered…

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…

While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action…

Traditional Recurrent Neural Networks (RNNs) and Long Short-Term Memory (LSTM) units operate on discrete time steps, often failing to capture the fluid temporal dynamics of real-world physical processes. Liquid Neural Networks (LNNs),…

This paper studies the training-testing discrepancy (a.k.a. exposure bias) problem for improving the diffusion models. During training, the input of a prediction network at one training timestep is the corresponding ground-truth noisy data…

Humans are experts at high-fidelity imitation -- closely mimicking a demonstration, often in one attempt. Humans use this ability to quickly solve a task instance, and to bootstrap learning of new tasks. Achieving these abilities in…

Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Few-shot imitation learning relies on only a small amount of task-specific demonstrations to efficiently adapt a policy for a given downstream tasks. Retrieval-based methods come with a promise of retrieving relevant past experiences to…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

Recent works have successfully demonstrated that sparse deep reinforcement learning agents can be competitive against their dense counterparts. This opens up opportunities for reinforcement learning applications in fields where inference…

Purpose: Deep learning methods have shown promising results in the segmentation, and detection of diseases in medical images. However, most methods are trained and tested on data from a single source, modality, organ, or disease type,…

Offline imitation learning (IL) promises the ability to learn performant policies from pre-collected demonstrations without interactions with the environment. However, imitating behaviors fully offline typically requires numerous expert…

Training deep neural networks at the edge on light computational devices, embedded systems and robotic platforms is nowadays very challenging. Continual learning techniques, where complex models are incrementally trained on small batches of…

We propose a demonstration-efficient strategy to compress a computationally expensive Model Predictive Controller (MPC) into a more computationally efficient representation based on a deep neural network and Imitation Learning (IL). By…

Permeability is a central concept in the macroscopic description of flow through porous media, with applications spanning from oil recovery to hydrology. Traditional methods for determining the permeability tensor involving flow simulations…

Face presentation attack detection (FacePAD) remains challenging under diverse spoofing representation, including 2D print and replay, 3D mask-based spoofing, makeup-induced appearance manipulation, and physical occlusions, as well as under…

Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…

We introduce Invertible Dense Networks (i-DenseNets), a more parameter efficient alternative to Residual Flows. The method relies on an analysis of the Lipschitz continuity of the concatenation in DenseNets, where we enforce the…