50,635 research outputs found
Object-Oriented Dynamics Learning through Multi-Level Abstraction
Object-based approaches for learning action-conditioned dynamics has
demonstrated promise for generalization and interpretability. However, existing
approaches suffer from structural limitations and optimization difficulties for
common environments with multiple dynamic objects. In this paper, we present a
novel self-supervised learning framework, called Multi-level Abstraction
Object-oriented Predictor (MAOP), which employs a three-level learning
architecture that enables efficient object-based dynamics learning from raw
visual observations. We also design a spatial-temporal relational reasoning
mechanism for MAOP to support instance-level dynamics learning and handle
partial observability. Our results show that MAOP significantly outperforms
previous methods in terms of sample efficiency and generalization over novel
environments for learning environment models. We also demonstrate that learned
dynamics models enable efficient planning in unseen environments, comparable to
true environment models. In addition, MAOP learns semantically and visually
interpretable disentangled representations.Comment: Accepted to the Thirthy-Fourth AAAI Conference On Artificial
Intelligence (AAAI), 202
Dual Skipping Networks
Inspired by the recent neuroscience studies on the left-right asymmetry of
the human brain in processing low and high spatial frequency information, this
paper introduces a dual skipping network which carries out coarse-to-fine
object categorization. Such a network has two branches to simultaneously deal
with both coarse and fine-grained classification tasks. Specifically, we
propose a layer-skipping mechanism that learns a gating network to predict
which layers to skip in the testing stage. This layer-skipping mechanism endows
the network with good flexibility and capability in practice. Evaluations are
conducted on several widely used coarse-to-fine object categorization
benchmarks, and promising results are achieved by our proposed network model.Comment: CVPR 2018 (poster); fix typ
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