相关论文: R2R2: Robust Representation for Intensive Experien…

In the era of big data, large-scale, multi-source, multi-modality datasets are increasingly ubiquitous, offering unprecedented opportunities for predictive modeling and scientific discovery. However, these datasets often exhibit complex…

End-to-end autonomous driving has emerged as a promising paradigm for directly mapping sensor inputs to planning maneuvers using learning-based modular integrations. However, existing imitation learning (IL)-based models suffer from…

Data augmentation has been proven to be an effective technique for developing machine learning models that are robust to known classes of distributional shifts (e.g., rotations of images), and alignment regularization is a technique often…

Self-supervised learning (SSL) has emerged as a promising paradigm for learning flexible speech representations from unlabeled data. By designing pretext tasks that exploit statistical regularities, SSL models can capture useful…

Self-supervised representation learning~(SSRL) has advanced considerably by exploiting the transformation invariance assumption under artificially designed data augmentations. While augmentation-based SSRL algorithms push the boundaries of…

Robust perception and reasoning require consistency across sensory modalities. Yet current multimodal models often violate this principle, yielding contradictory predictions for visual and textual representations of the same concept. Rather…

A central challenge in image-based Model-Based Reinforcement Learning (MBRL) is to learn representations that distill essential information from irrelevant visual details. While promising, reconstruction-based methods often waste capacity…

Recent studies have demonstrated the effectiveness of LLM test-time scaling. However, existing approaches to incentivize LLMs' deep thinking abilities generally require large-scale data or significant training efforts. Meanwhile, it remains…

Continual Learning entails progressively acquiring knowledge from new data while retaining previously acquired knowledge, thereby mitigating ``Catastrophic Forgetting'' in neural networks. Our work presents a novel uncertainty-driven…

Modern deep architectures often rely on large-scale datasets, but training on these datasets incurs high computational and storage overhead. Real-world datasets often contain substantial redundancies, prompting the need for more…

Recent works in self-supervised learning have demonstrated strong performance on scene-level dense prediction tasks by pretraining with object-centric or region-based correspondence objectives. In this paper, we present Region-to-Object…

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the…

We present a new framework for self-supervised representation learning by formulating it as a ranking problem in an image retrieval context on a large number of random views (augmentations) obtained from images. Our work is based on two…

Most recent semi-supervised deep learning (deep SSL) methods used a similar paradigm: use network predictions to update pseudo-labels and use pseudo-labels to update network parameters iteratively. However, they lack theoretical support and…

Neural networks are effective function approximators, but hard to train in the reinforcement learning (RL) context mainly because samples are correlated. For years, scholars have got around this by employing experience replay or an…

Radio-interferometric (RI) imaging entails solving high-resolution high-dynamic range inverse problems from large data volumes. Recent image reconstruction techniques grounded in optimization theory have demonstrated remarkable capability…

Scaling robot learning requires vast and diverse datasets. Yet the prevailing data collection paradigm-human teleoperation-remains costly and constrained by manual effort and physical robot access. We introduce Real2Render2Real (R2R2R), a…

Scaling up the model size and computation has brought consistent performance improvements in supervised learning. However, this lesson often fails to apply to reinforcement learning (RL) because training the model on non-stationary data…

State-of-the-art reinforcement learning (RL) algorithms suffer from high sample complexity, particularly in the sparse reward case. A popular strategy for mitigating this problem is to learn control policies by imitating a set of expert…

Reinforcement Learning (RL) can mitigate the causal confusion and distribution shift inherent to imitation learning (IL). However, applying RL to end-to-end autonomous driving (E2E-AD) remains an open problem for its training difficulty,…