15,921 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
Representation Learning by Learning to Count
We introduce a novel method for representation learning that uses an
artificial supervision signal based on counting visual primitives. This
supervision signal is obtained from an equivariance relation, which does not
require any manual annotation. We relate transformations of images to
transformations of the representations. More specifically, we look for the
representation that satisfies such relation rather than the transformations
that match a given representation. In this paper, we use two image
transformations in the context of counting: scaling and tiling. The first
transformation exploits the fact that the number of visual primitives should be
invariant to scale. The second transformation allows us to equate the total
number of visual primitives in each tile to that in the whole image. These two
transformations are combined in one constraint and used to train a neural
network with a contrastive loss. The proposed task produces representations
that perform on par or exceed the state of the art in transfer learning
benchmarks.Comment: ICCV 2017(oral
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