2,567 research outputs found
TensorLayer: A Versatile Library for Efficient Deep Learning Development
Deep learning has enabled major advances in the fields of computer vision,
natural language processing, and multimedia among many others. Developing a
deep learning system is arduous and complex, as it involves constructing neural
network architectures, managing training/trained models, tuning optimization
process, preprocessing and organizing data, etc. TensorLayer is a versatile
Python library that aims at helping researchers and engineers efficiently
develop deep learning systems. It offers rich abstractions for neural networks,
model and data management, and parallel workflow mechanism. While boosting
efficiency, TensorLayer maintains both performance and scalability. TensorLayer
was released in September 2016 on GitHub, and has helped people from academia
and industry develop real-world applications of deep learning.Comment: ACM Multimedia 201
RED: Reinforced Encoder-Decoder Networks for Action Anticipation
Action anticipation aims to detect an action before it happens. Many real
world applications in robotics and surveillance are related to this predictive
capability. Current methods address this problem by first anticipating visual
representations of future frames and then categorizing the anticipated
representations to actions. However, anticipation is based on a single past
frame's representation, which ignores the history trend. Besides, it can only
anticipate a fixed future time. We propose a Reinforced Encoder-Decoder (RED)
network for action anticipation. RED takes multiple history representations as
input and learns to anticipate a sequence of future representations. One
salient aspect of RED is that a reinforcement module is adopted to provide
sequence-level supervision; the reward function is designed to encourage the
system to make correct predictions as early as possible. We test RED on
TVSeries, THUMOS-14 and TV-Human-Interaction datasets for action anticipation
and achieve state-of-the-art performance on all datasets
ASPiRe:Adaptive Skill Priors for Reinforcement Learning
We introduce ASPiRe (Adaptive Skill Prior for RL), a new approach that
leverages prior experience to accelerate reinforcement learning. Unlike
existing methods that learn a single skill prior from a large and diverse
dataset, our framework learns a library of different distinction skill priors
(i.e., behavior priors) from a collection of specialized datasets, and learns
how to combine them to solve a new task. This formulation allows the algorithm
to acquire a set of specialized skill priors that are more reusable for
downstream tasks; however, it also brings up additional challenges of how to
effectively combine these unstructured sets of skill priors to form a new prior
for new tasks. Specifically, it requires the agent not only to identify which
skill prior(s) to use but also how to combine them (either sequentially or
concurrently) to form a new prior. To achieve this goal, ASPiRe includes
Adaptive Weight Module (AWM) that learns to infer an adaptive weight assignment
between different skill priors and uses them to guide policy learning for
downstream tasks via weighted Kullback-Leibler divergences. Our experiments
demonstrate that ASPiRe can significantly accelerate the learning of new
downstream tasks in the presence of multiple priors and show improvement on
competitive baselines.Comment: 36th Conference on Neural Information Processing Systems (NeurIPS
2022
Knowledge Transfer Between Robots with Similar Dynamics for High-Accuracy Impromptu Trajectory Tracking
In this paper, we propose an online learning approach that enables the
inverse dynamics model learned for a source robot to be transferred to a target
robot (e.g., from one quadrotor to another quadrotor with different mass or
aerodynamic properties). The goal is to leverage knowledge from the source
robot such that the target robot achieves high-accuracy trajectory tracking on
arbitrary trajectories from the first attempt with minimal data recollection
and training. Most existing approaches for multi-robot knowledge transfer are
based on post-analysis of datasets collected from both robots. In this work, we
study the feasibility of impromptu transfer of models across robots by learning
an error prediction module online. In particular, we analytically derive the
form of the mapping to be learned by the online module for exact tracking,
propose an approach for characterizing similarity between robots, and use these
results to analyze the stability of the overall system. The proposed approach
is illustrated in simulation and verified experimentally on two different
quadrotors performing impromptu trajectory tracking tasks, where the quadrotors
are required to accurately track arbitrary hand-drawn trajectories from the
first attempt.Comment: European Control Conference (ECC) 201
Boosting Offline Reinforcement Learning for Autonomous Driving with Hierarchical Latent Skills
Learning-based vehicle planning is receiving increasing attention with the
emergence of diverse driving simulators and large-scale driving datasets. While
offline reinforcement learning (RL) is well suited for these safety-critical
tasks, it still struggles to plan over extended periods. In this work, we
present a skill-based framework that enhances offline RL to overcome the
long-horizon vehicle planning challenge. Specifically, we design a variational
autoencoder (VAE) to learn skills from offline demonstrations. To mitigate
posterior collapse of common VAEs, we introduce a two-branch sequence encoder
to capture both discrete options and continuous variations of the complex
driving skills. The final policy treats learned skills as actions and can be
trained by any off-the-shelf offline RL algorithms. This facilitates a shift in
focus from per-step actions to temporally extended skills, thereby enabling
long-term reasoning into the future. Extensive results on CARLA prove that our
model consistently outperforms strong baselines at both training and new
scenarios. Additional visualizations and experiments demonstrate the
interpretability and transferability of extracted skills
Temporal Recurrent Networks for Online Action Detection
Most work on temporal action detection is formulated as an offline problem,
in which the start and end times of actions are determined after the entire
video is fully observed. However, important real-time applications including
surveillance and driver assistance systems require identifying actions as soon
as each video frame arrives, based only on current and historical observations.
In this paper, we propose a novel framework, Temporal Recurrent Network (TRN),
to model greater temporal context of a video frame by simultaneously performing
online action detection and anticipation of the immediate future. At each
moment in time, our approach makes use of both accumulated historical evidence
and predicted future information to better recognize the action that is
currently occurring, and integrates both of these into a unified end-to-end
architecture. We evaluate our approach on two popular online action detection
datasets, HDD and TVSeries, as well as another widely used dataset, THUMOS'14.
The results show that TRN significantly outperforms the state-of-the-art
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