Our new paper "Learning End-to-end Autonomous Driving using Guided Auxiliary Supervision", outlines a Multi-Task Learning from Demonstration framework for end-to-end autonomous driving in urban environments.
With @AdithyaSub86 and Anbumani Subramanian.
arxiv.org/abs/1808.10393
Deep RL, from images, conditioned on user-specified goals, trains in a few hours on real robots:
sites.google.com/site/visualrlw…
Key idea: let the robot "practice" goals that it proposes to itself to learn more about the world.
w/ @Vitchyr Ashvin Nair, M. Dalal, S. Bahl, S. Lin
You know what's better than video games for testing your RL algorithms? Why, a framework where you can easily make new games and levels! You can now use General Video Game AI @gvgai with @OpenAI gym. In a first paper, we test deep RL algos on GVGAI games.
arxiv.org/abs/1806.02448
Few-shot learning problems can be ambiguous. Now MAML can handle the ambiguity by sampling multiple classifiers via a Bayesian formulation of meta-learning. We call it PLATIPUS: arxiv.org/abs/1806.02817
w/ @chelseabfinn and @imkelvinxu
some ambiguous celeba task:
Complete draft of a new textbook for NLP: github.com/jacobeisenstei…
Thanks to everyone who gave me edits and corrections! Stop me at #NAACL2018 and I'll buy you a beer or a beignet.
Hamiltonian variational auto-encoder: arxiv.org/abs/1805.11328. Using results from SMC samplers, we provide guidelines for Salimans-Welling MCMC/Variational setup. Based on Hamiltonian importance sampling ideas, we then provide a data-informed normalizing flow. Tempering is key.
Seems like really simple model-based RL methods can do just as well at convergence as model-free RL, if uncertainty is handled properly, with orders of magnitude fewer samples: sites.google.com/view/drl-in-a-…
with Kurtland Chua, @RCalandra, Rowan McAllister
Inverse RL + meta-learning: if you've inferred goals from observing other agents' actions in the past, you should be better at inferring new goals more quickly. Meta-learning seems like a natural fit for IRL: arxiv.org/abs/1805.12573
(w/ @imkelvinxu Ratner, Dragan, @chelseabfinn)
This paper shows how to make adversarial examples with GANs. No need for a norm ball constraint. They look unperturbed to a human observer but break a model trained to resist large perturbations. arxiv.org/pdf/1805.07894…
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I study topics in AI (machine learning, robotics & computer vision).
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