12 accepted papers
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant is different). Perceptual and modeling uncertainty make des…
In safe offline reinforcement learning, the objective is to develop a policy that maximizes cumulative rewards while strictly adhering to safety constraints, utilizing only offline data. Traditional methods often face difficulties in balancing these constraints, leading to either diminished performa…
We introduce BioTrove, the largest publicly accessible dataset designed to advance AI applications in biodiversity. Curated from the iNaturalist platform and vetted to include only research-grade data, BioTrove contains 161.9 million images, offering unprecedented scale and diversity from three prim…
Recent advances in decentralized deep learning algorithms have demonstrated cutting-edge performance on various tasks with large pre-trained models. However a pivotal prerequisite for achieving this level of competitiveness is the significant communication and computation overheads when updating the…
We propose a novel policy gradient method for multi-agent reinforcement learning, which leverages two different variance-reduction techniques and does not require large batches over iterations. Specifically, we propose a momentum-based decentralized policy gradient tracking (MDPGT) where a new momen…
Decentralized learning enables a group of collaborative agents to learn models using a distributed dataset without the need for a central parameter server. Recently, decentralized learning algorithms have demonstrated state-of-the-art results on benchmark data sets, comparable with centralized algor…
We consider the problem of decentralized deep learning where multiple agents collaborate to learn from a distributed dataset. While several decentralized deep learning approaches exist, the majority consider a central parameter-server topology for aggregating the model parameters from the agents. Ho…
The paradigm of differentiable programming has significantly enhanced the scope of machine learning via the judicious use of gradient-based optimization. However, standard differentiable programming methods (such as autodiff) typically require that the machine learning models be differentiable, limi…
Multivariate time series modeling and prediction problems are abundant in many machine learning application domains. Accurate interpretation of the prediction outcomes from the model can significantly benefit the domain experts. In addition to isolating the important time-steps, spatial interpretati…
Deep neural networks have been shown to exhibit an intriguing vulnerability to adversarial input images corrupted with imperceptible perturbations. However, the majority of adversarial attacks assume global, fine-grained control over the image pixel space. In this paper, we consider a different sett…
The growing prospect of deep reinforcement learning (DRL) being used in cyber-physical systems has raised concerns around safety and robustness of autonomous agents. Recent work on generating adversarial attacks have shown that it is computationally feasible for a bad actor to fool a DRL policy into…
There is significant recent interest to parallelize deep learning algorithms in order to handle the enormous growth in data and model sizes. While most advances focus on model parallelization and engaging multiple computing agents via using a central parameter server, aspect of data parallelization…