6 accepted papers
The sense of touch is fundamental in several manipulation tasks, but rarely used in robot manipulation. In this work we tackle the problem of learning rich touch features from cross-modal self-supervision. We evaluate them identifying objects and their properties in a few-shot classification setting
Learning an efficient update rule from data that promotes rapid learning of new tasks from the same distribution remains an open problem in meta-learning. Typically, previous works have approached this issue either by attempting to train a neural network that directly produces updates or by attempti…
Highly overparametrized neural networks can display curiously strong generalization performance – a phenomenon that has recently garnered a wealth of theoretical and empirical research in order to better understand it. In contrast to most previous work, which typically considers the performance as a…
Continual learning aims to improve the ability of modern learning systems to deal with non-stationary distributions, typically by attempting to learn a series of tasks sequentially. Prior art in the field has largely considered supervised or reinforcement learning tasks, and often assumes full knowl…
The optimization of deep neural networks can be more challenging than the traditional convex optimization problems due to highly non-convex nature of the loss function, e.g. it can involve pathological landscapes such as saddle-surfaces that can be difficult to escape from for algorithms based on si…
Natural image modeling is a landmark challenge of unsupervised learning. Variational Autoencoders (VAEs) learn a useful latent representation and model global structure well but have difficulty capturing small details. PixelCNN models details very well, but lacks a latent code and is difficult to sc…