9,543 research outputs found
Time-Contrastive Networks: Self-Supervised Learning from Video
We propose a self-supervised approach for learning representations and
robotic behaviors entirely from unlabeled videos recorded from multiple
viewpoints, and study how this representation can be used in two robotic
imitation settings: imitating object interactions from videos of humans, and
imitating human poses. Imitation of human behavior requires a
viewpoint-invariant representation that captures the relationships between
end-effectors (hands or robot grippers) and the environment, object attributes,
and body pose. We train our representations using a metric learning loss, where
multiple simultaneous viewpoints of the same observation are attracted in the
embedding space, while being repelled from temporal neighbors which are often
visually similar but functionally different. In other words, the model
simultaneously learns to recognize what is common between different-looking
images, and what is different between similar-looking images. This signal
causes our model to discover attributes that do not change across viewpoint,
but do change across time, while ignoring nuisance variables such as
occlusions, motion blur, lighting and background. We demonstrate that this
representation can be used by a robot to directly mimic human poses without an
explicit correspondence, and that it can be used as a reward function within a
reinforcement learning algorithm. While representations are learned from an
unlabeled collection of task-related videos, robot behaviors such as pouring
are learned by watching a single 3rd-person demonstration by a human. Reward
functions obtained by following the human demonstrations under the learned
representation enable efficient reinforcement learning that is practical for
real-world robotic systems. Video results, open-source code and dataset are
available at https://sermanet.github.io/imitat
Fidelity-Weighted Learning
Training deep neural networks requires many training samples, but in practice
training labels are expensive to obtain and may be of varying quality, as some
may be from trusted expert labelers while others might be from heuristics or
other sources of weak supervision such as crowd-sourcing. This creates a
fundamental quality versus-quantity trade-off in the learning process. Do we
learn from the small amount of high-quality data or the potentially large
amount of weakly-labeled data? We argue that if the learner could somehow know
and take the label-quality into account when learning the data representation,
we could get the best of both worlds. To this end, we propose
"fidelity-weighted learning" (FWL), a semi-supervised student-teacher approach
for training deep neural networks using weakly-labeled data. FWL modulates the
parameter updates to a student network (trained on the task we care about) on a
per-sample basis according to the posterior confidence of its label-quality
estimated by a teacher (who has access to the high-quality labels). Both
student and teacher are learned from the data. We evaluate FWL on two tasks in
information retrieval and natural language processing where we outperform
state-of-the-art alternative semi-supervised methods, indicating that our
approach makes better use of strong and weak labels, and leads to better
task-dependent data representations.Comment: Published as a conference paper at ICLR 201
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