Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from scratch for each robot hardware due to the high sample complexity of modern state-of-the-art algorithms. We propose a novel approach called Hardware Conditioned Policies where we train a universal policy conditioned on a vector representation of robot hardware. We considered robots in simulation with varied dynamics, kinematic structure, kinematic lengths and degrees-of-freedom. First, we use the kinematic structure directly as the hardware encoding and show great zero-shot transfer to completely novel robots not seen during training. For robots with lower zero-shot success rate, we also demonstrate that fine-tuning the policy network is significantly more sample-efficient than training a model from scratch. In tasks where knowing the agent dynamics is important for success, we learn an embedding for robot hardware and show that policies conditioned on the encoding of hardware tend to generalize and transfer well. Videos of experiments are available at: https://sites.google.com/view/robot-transfer-hcp.

Zero-Shot Learning (ZSL) is generally achieved via aligning the semantic relationships between the visual features and the corresponding class semantic descriptions. However, using the global features to represent fine-grained images may lead to sub-optimal results since they neglect the discriminative differences of local regions. Besides, different regions contain distinct discriminative information. The important regions should contribute more to the prediction. To this end, we propose a novel stacked semantics-guided attention (S2GA) model to obtain semantic relevant features by using individual class semantic features to progressively guide the visual features to generate an attention map for weighting the importance of different local regions. Feeding both the integrated visual features and the class semantic features into a multi-class classification architecture, the proposed framework can be trained end-to-end. Extensive experimental results on CUB and NABird datasets show that the proposed approach has a consistent improvement on both fine-grained zero-shot classification and retrieval tasks.

A technical challenge of deep learning is recognizing target classes without seen data. Zero-shot learning leverages semantic representations such as attributes or class prototypes to bridge source and target classes. Existing standard zero-shot learning methods may be prone to overfitting the seen data of source classes as they are blind to the semantic representations of target classes. In this paper, we study generalized zero-shot learning that assumes accessible to target classes for unseen data during training, and prediction on unseen data is made by searching on both source and target classes. We propose a novel Deep Calibration Network (DCN) approach towards this generalized zero-shot learning paradigm, which enables simultaneous calibration of deep networks on the confidence of source classes and uncertainty of target classes. Our approach maps visual features of images and semantic representations of class prototypes to a common embedding space such that the compatibility of seen data to both source and target classes are maximized. We show superior accuracy of our approach over the state of the art on benchmark datasets for generalized zero-shot learning, including AwA, CUB, SUN, and aPY.

Neural Information Processing Systems http://nips.cc/

Neural Information Processing Systems http://nips.cc/

Zero-shot learning leverages semantic representations such as attributes or class prototypes to bridge source and target classes.

As AI shifts from leveraging information provided by humans to making decisions on their behalf, tech leaders must weave an intelligent data fabric to unlock the full potential of agentic AI while shoring up enterprise-wide resilience. Digital resilience--the ability to prevent, withstand, and recover from digital disruptions--has long been a strategic priority for enterprises. With the rise of agentic AI, the urgency for robust resilience is greater than ever. Agentic AI represents a new generation of autonomous systems capable of proactive planning, reasoning, and executing tasks with minimal human intervention. As these systems shift from experimental pilots to core elements of business operations, they offer new opportunities but also introduce new challenges when it comes to ensuring digital resilience. That's because the autonomy, speed, and scale at which agentic AI operates can amplify the impact of even minor data inconsistencies, fragmentation, or security gaps.

In this paper, we take initial steps towards correcting predictive errors of ViTs, particularly those arising from subpopulation shifts.

An important corollary of successful task decomposition amongst experts is that layers are easier to debug and edit. Biased or unsafe behaviors can be better localized to specific experts' subcomputation, facilitating manual correction or surgery in a way that minimally affects the other functionality of the network. Addressing such behaviors is particularly crucial in the context of foundation models; being often fine-tuned as black boxes pre-trained on unknown, potentially imbalanced data distributions.

Why an AI'godfather' is quitting Meta after 12 years Just a couple of weeks ago, one of the godfathers of artificial intelligence was in St James's Palace being handed an award from King Charles for his work in artificial intelligence (AI). Professor Yann LeCun was being honoured along with six other recipients for his contributions to the field, which have been credited as advancing deep learning. But Mr LeCun is at odds with some of the AI world over the future of the generation-defining technology. And now he is going all-in on his idea of advanced machine intelligence after announcing he is leaving his role as Meta's chief AI scientist to start a new firm. During his 12 years at the company, Prof LeCun won the prestigious Turing Award and witnessed several flurries of excitement around AI - not least the most recent boom in generative AI accelerated by rival OpenAI's launch of ChatGPT in late 2022.