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Register a new userCAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context
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Wenyu Zhang
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can generalize over a number of these objects is highly desirable. In this paper, we study the problem of designing deep learning agents which can generalize their models of the physical world by building context-aware learning models. The purpose of these agents is to quickly adapt and/or generalize their notion of physics of interaction in the real world based on certain features about the interacting objects that provide different contexts to the predictive models. With this motivation, we present context-aware zero shot learning (CAZSL, pronounced as casual) models, an approach utilizing a Siamese network architecture, embedding space masking and regularization based on context variables which allows us to learn a model that can generalize to different parameters or features of the interacting objects. We test our proposed learning algorithm on the recently released Omnipush datatset that allows testing of meta-learning capabilities using low-dimensional data. Codes for CAZSL are available at https://www.merl.com/research/license/CAZSL.
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Few-shot learning aims to classify unseen classes with a few training examples. While recent works have shown that standard mini-batch training with a carefully designed training strategy can improve generalization ability for unseen classes, well-known problems in deep networks such as memorizing training statistics have been less explored for few-shot learning. To tackle this issue, we propose self-augmentation that consolidates self-mix and self-distillation. Specifically, we exploit a regional dropout technique called self-mix, in which a patch of an image is substituted into other values in the same image. Then, we employ a backbone network that has auxiliary branches with its own classifier to enforce knowledge sharing. Lastly, we present a local representation learner to further exploit a few training examples for unseen classes. Experimental results show that the proposed method outperforms the state-of-the-art methods for prevalent few-shot benchmarks and improves the generalization ability.
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We introduce a new RL problem where the agent is required to generalize to a previously-unseen environment characterized by a subtask graph which describes a set of subtasks and their dependencies. Unlike existing hierarchical multitask RL approaches that explicitly describe what the agent should do at a high level, our problem only describes properties of subtasks and relationships among them, which requires the agent to perform complex reasoning to find the optimal subtask to execute. To solve this problem, we propose a neural subtask graph solver (NSGS) which encodes the subtask graph using a recursive neural network embedding. To overcome the difficulty of training, we propose a novel non-parametric gradient-based policy, graph reward propagation, to pre-train our NSGS agent and further finetune it through actor-critic method. The experimental results on two 2D visual domains show that our agent can perform complex reasoning to find a near-optimal way of executing the subtask graph and generalize well to the unseen subtask graphs. In addition, we compare our agent with a Monte-Carlo tree search (MCTS) method showing that our method is much more efficient than MCTS, and the performance of NSGS can be further improved by combining it with MCTS.
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