18 accepted papers
Embodied agents face a fundamental limitation: once deployed in real-world environments, they cannot easily acquire new knowledge to improve task performance. In this paper, we propose Dejavu, a general post-deployment learning framework that augments a frozen Vision-Language-Action (VLA) policy wit
Zero-Shot Object Goal Navigation (ZSON) is an important task for robots. While Multimodal Large Language Models (MLLMs) have empowered robots with significant semantic reasoning capabilities, current RGB-only navigation methods still struggle to align high-level discrete logic with low-level continu…
This paper introduces EnergyFlow, a framework that unifies generative action modeling with inverse reinforcement learning by parameterizing a scalar energy function whose gradient is the denoising field. We establish that under maximum-entropy optimality, the score function learned via denoising sco…
Skip connections and normalisation layers form two standard architectural components that are ubiquitous for the training of Deep Neural Networks (DNNs), but whose precise roles are poorly understood. Recent approaches such as Deep Kernel Shaping have made progress towards reducing our reliance on t…
Training very deep neural networks is still an extremely challenging task. The common solution is to use shortcut connections and normalization layers, which are both crucial ingredients in the popular ResNet architecture. However, there is strong evidence to suggest that ResNets behave more like en…
Smooth minimax games often proceed by simultaneous or alternating gradient updates. Although algorithms with alternating updates are commonly used in practice, the majority of existing theoretical analyses focus on simultaneous algorithms for convenience of analysis. In this paper, we study alternat…
Annealed importance sampling (AIS) and related algorithms are highly effective tools for marginal likelihood estimation, but are not fully differentiable due to the use of Metropolis-Hastings correction steps. Differentiability is a desirable property as it would admit the possibility of optimizing…
Smooth game optimization has recently attracted great interest in machine learning as it generalizes the single-objective optimization paradigm. However, game dynamics is more complex due to the interaction between different players and is therefore fundamentally different from minimization, posing…
The choice of batch-size in a stochastic optimization algorithm plays a substantial role for both optimization and generalization. Increasing the batch-size used typically improves optimization but degrades generalization. To address the problem of improving generalization while maintaining optimal…
Overparameterization has been shown to benefit both the optimization and generalization of neural networks, but large networks are resource hungry at both training and test time. Network pruning can reduce test-time resource requirements, but is typically applied to trained networks and therefore c…
Reducing the test time resource requirements of a neural network while preserving test accuracy is crucial for running inference on resource-constrained devices. To achieve this goal, we introduce a novel network reparameterization based on the Kronecker-factored eigenbasis (KFE), and then apply Hes…
Variational Bayesian neural networks (BNN) perform variational inference over weights, but it is difficult to specify meaningful priors and approximating posteriors in a high-dimensional weight space. We introduce functional variational Bayesian neural networks (fBNNs), which maximize an Evidence Lo…
Natural gradient descent has proven very effective at mitigating the catastrophic effects of pathological curvature in the objective function, but little is known theoretically about its convergence properties, especially for \emph{non-linear} networks. In this work, we analyze for the first time th…
Weight decay is one of the standard tricks in the neural network toolbox, but the reasons for its regularization effect are poorly understood, and recent results have cast doubt on the traditional interpretation in terms of $L_2$ regularization. Literal weight decay has been shown to outperform $L_2…
Increasing the batch size is a popular way to speed up neural network training, but beyond some critical batch size, larger batch sizes yield diminishing returns. In this work, we study how the critical batch size changes based on properties of the optimization algorithm, including acceleration and…
The generalization properties of Gaussian processes depend heavily on the choice of kernel, and this choice remains a dark art. We present the Neural Kernel Network (NKN), a flexible family of kernels represented by a neural network. The NKN’s architecture is based on the composition rules for kerne…
Variational Bayesian neural nets combine the flexibility of deep learning with Bayesian uncertainty estimation. Unfortunately, there is a tradeoff between cheap but simple variational families (e.g. fully factorized) or expensive and complicated inference procedures. We show that natural gradient as…
Convolutional neural networks (CNNs) are inherently limited to model geometric transformations due to the fixed geometric structures in its building modules. In this work, we introduce two new modules to enhance the transformation modeling capacity of CNNs, namely, deformable convolution and deforma…