Write Your Research provides practical resources for early-career researchers in the School of Technology, University of Cambridge. The resources were commissioned by the Department of Chemical Engineering and Biotechnology (CEB). Most of the resources were written by Anthony Haynes. 'Using social media' was written by Aoife Brophy Haney. 'Using bibliographic software' was written by Irenee…
A Key Challenge In Complex Visuomotor Control Is Learning Abstract Representations That Are Effective For Specifying Goals, Planning, And Generalization. To This End, We Introduce Universal Planning Networks (upn). Upns Embed Differentiable Planning Within A Goal-directed Policy. This Planning Computation Unrolls A Forward Model In A Latent Space And Infers An Optimal Action Plan Through Gradient Descent Trajectory Optimization. The Plan-by-gradient-descent Process And Its Underlying Representations Are Learned End-to-end To Directly Optimize A Supervised Imitation Learning Objective. We Find That The Representations Learned Are Not Only Effective For Goal-directed Visual Imitation Via Gradient-based Trajectory Optimization, But Can Also Provide A Metric For Specifying Goals Using Images. The Learned Representations Can Be Leveraged To Specify Distance-based Rewards To Reach New Target States For Model-free Reinforcement Learning, Resulting In Substantially More Effective Learning When Solving New Tasks Described Via Image-based Goals. We Were Able To Achieve Successful Transfer Of Visuomotor Planning Strategies Across Robots With Significantly Different Morphologies And Actuation Capabilities.
Today I successfully submitted my first paper to arXiv! We've submitted this paper to a journal, but it hasn't been published yet, so we wanted to get a pre-print up before advertising the corresponding software packages. Unfortunately, the process of submitting to arXiv wasn't painless. Now that I've figured out some of the quirks, however, hopefully your…
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P. Singer, F. Lemmerich, R. West, L. Zia, E. Wulczyn, M. Strohmaier, and J. Leskovec. Proceedings of the 26th International Conference on World Wide Web, page 1591--1600. Republic and Canton of Geneva, Switzerland, International World Wide Web Conferences Steering Committee, (2017)