Zhenyang Chen

Shuo Cheng, Liqian Ma, Zhenyang Chen et al. · mit

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation, transferring policies to the real world is hampered by various simulation and real domain gaps. In this work, we propose a unified sim-and-real co-training framework for learning generalizable manipulation policies that primarily leverages simulation and only requires a few real-world demonstrations. Central to our approach is learning a domain-invariant, task-relevant feature space. Our key insight is that aligning the joint distributions of observations and their corresponding actions across domains provides a richer signal than aligning observations (marginals) alone. We achieve this by embedding an Optimal Transport (OT)-inspired loss within the co-training framework, and extend this to an Unbalanced OT framework to handle the imbalance between abundant simulation data and limited real-world examples. We validate our method on challenging manipulation tasks, showing it can leverage abundant simulation data to achieve up to a 30% improvement in the real-world success rate and even generalize to scenarios seen only in simulation.

Jinbo Song, Chao Chang, Fei Sun et al.

We present Graph Attention Collaborative Similarity Embedding (GACSE), a new recommendation framework that exploits collaborative information in the user-item bipartite graph for representation learning. Our framework consists of two parts: the first part is to learn explicit graph collaborative filtering information such as user-item association through embedding propagation with attention mechanism, and the second part is to learn implicit graph collaborative information such as user-user similarities and item-item similarities through auxiliary loss. We design a new loss function that combines BPR loss with adaptive margin and similarity loss for the similarities learning. Extensive experiments on three benchmarks show that our model is consistently better than the latest state-of-the-art models.

Yi Yang, Andy Chen, Xiaoming Chen et al.

Implementing large-scale deep neural networks with high computational complexity on low-cost IoT devices may inevitably be constrained by limited computation resource, making the devices hard to respond in real-time. This disjunction makes the state-of-art deep learning algorithms, i.e. CNN (Convolutional Neural Networks), incompatible with IoT world. We present a low-bit (range from 8-bit to 1-bit) scheme with our local quantization region algorithm. We use models in Caffe model zoo as our example tasks to evaluate the effect of our low precision data representation scheme. With the available of local quantization region, we find implementations on top of those schemes could greatly retain the model accuracy, besides the reduction of computational complexity. For example, our 8-bit scheme has no drops on top-1 and top-5 accuracy with 2x speedup on Intel Edison IoT platform. Implementations based on our 4-bit, 2-bit or 1-bit scheme are also applicable to IoT devices with advances of low computational complexity. For example, the drop on our task is only 0.7% when using 2-bit scheme, a scheme which could largely save transistors. Making low-bit scheme usable here opens a new door for further optimization on commodity IoT controller, i.e. extra speed-up could be achieved by replacing multiply-accumulate operations with the proposed table look-up operations. The whole study offers a new approach to relief the challenge of bring advanced deep learning algorithm to resource constrained low-cost IoT device.