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1 code implementation • 21 Oct 2022 • Brandon Amos

I show that combining amortized approximations to the conjugate with a solver for fine-tuning significantly improves the quality of transport maps learned for the Wasserstein-2 benchmark by Korotin et al. (2021a) and is able to model many 2-dimensional couplings and flows considered in the literature.

no code implementations • 12 Oct 2022 • Qinqing Zheng, Mikael Henaff, Brandon Amos, Aditya Grover

For this setting, we develop and study a simple meta-algorithmic pipeline that learns an inverse dynamics model on the labelled data to obtain proxy-labels for the unlabelled data, followed by the use of any offline RL algorithm on the true and proxy-labelled trajectories.

1 code implementation • 19 Jul 2022 • Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision.

no code implementations • 11 Jul 2022 • Heli Ben-Hamu, samuel cohen, Joey Bose, Brandon Amos, Aditya Grover, Maximilian Nickel, Ricky T. Q. Chen, Yaron Lipman

Continuous Normalizing Flows (CNFs) are a class of generative models that transform a prior distribution to a model distribution by solving an ordinary differential equation (ODE).

1 code implementation • 20 Jun 2022 • Eugene Vinitsky, Nathan Lichtlé, Xiaomeng Yang, Brandon Amos, Jakob Foerster

We introduce Nocturne, a new 2D driving simulator for investigating multi-agent coordination under partial observability.

1 code implementation • 10 Jun 2022 • Brandon Amos, samuel cohen, Giulia Luise, Ievgen Redko

We study the use of amortized optimization to predict optimal transport (OT) maps from the input measures, which we call Meta OT.

1 code implementation • 14 Mar 2022 • Ricky T. Q. Chen, Brandon Amos, Maximilian Nickel

Mapping between discrete and continuous distributions is a difficult task and many have had to resort to heuristical approaches.

1 code implementation • 1 Feb 2022 • Brandon Amos

This framing enables us easily see, for example, that the amortized inference in variational autoencoders is conceptually identical to value gradients in control and reinforcement learning as they both use fully-amortized models with an objective-based loss.

no code implementations • 23 Nov 2021 • Jack Richter-Powell, Jonathan Lorraine, Brandon Amos

The gradients of convex functions are expressive models of non-trivial vector fields.

1 code implementation • ICLR 2022 • Arnaud Fickinger, samuel cohen, Stuart Russell, Brandon Amos

Cross-domain imitation learning studies how to leverage expert demonstrations of one agent to train an imitation agent with a different embodiment or morphology.

1 code implementation • NeurIPS 2021 • Arnaud Fickinger, Hengyuan Hu, Brandon Amos, Stuart Russell, Noam Brown

Lookahead search has been a critical component of recent AI successes, such as in the games of chess, go, and poker.

no code implementations • 29 Sep 2021 • samuel cohen, Brandon Amos, Marc Peter Deisenroth, Mikael Henaff, Eugene Vinitsky, Denis Yarats

In this setting, we explore recipes for imitation learning based on adversarial learning and optimal transport.

no code implementations • 29 Sep 2021 • Aaron Lou, Maximilian Nickel, Mustafa Mukadam, Brandon Amos

We present Deep Riemannian Manifolds, a new class of neural network parameterized Riemannian manifolds that can represent and learn complex geometric structures.

1 code implementation • ICML Workshop AutoML 2021 • Shobha Venkataraman, Brandon Amos

Fixed-point iterations are at the heart of numerical computing and are often a computational bottleneck in real-time applications that typically need a fast solution of moderate accuracy.

1 code implementation • 18 Jun 2021 • samuel cohen, Brandon Amos, Yaron Lipman

Modeling distributions on Riemannian manifolds is a crucial component in understanding non-Euclidean data that arises, e. g., in physics and geology.

1 code implementation • 5 May 2021 • Anselm Paulus, Michal Rolínek, Vít Musil, Brandon Amos, Georg Martius

Bridging logical and algorithmic reasoning with modern machine learning techniques is a fundamental challenge with potentially transformative impact.

3 code implementations • 20 Apr 2021 • Luis Pineda, Brandon Amos, Amy Zhang, Nathan O. Lambert, Roberto Calandra

MBRL-Lib is designed as a platform for both researchers, to easily develop, debug and compare new algorithms, and non-expert user, to lower the entry-bar of deploying state-of-the-art algorithms.

Model-based Reinforcement Learning
reinforcement-learning
**+1**

no code implementations • 14 Feb 2021 • samuel cohen, Alexander Terenin, Yannik Pitcan, Brandon Amos, Marc Peter Deisenroth, K S Sesh Kumar

To construct this distance, we introduce a characterization of the one-dimensional multi-marginal Kantorovich problem and use it to highlight a number of properties of the sliced multi-marginal Wasserstein distance.

no code implementations • 1 Jan 2021 • Tom Sercu, Robert Verkuil, Joshua Meier, Brandon Amos, Zeming Lin, Caroline Chen, Jason Liu, Yann Lecun, Alexander Rives

We propose the Neural Potts Model objective as an amortized optimization problem.

1 code implementation • ICLR 2021 • Ricky T. Q. Chen, Brandon Amos, Maximilian Nickel

We propose a new class of parameterizations for spatio-temporal point processes which leverage Neural ODEs as a computational method and enable flexible, high-fidelity models of discrete events that are localized in continuous time and space.

1 code implementation • ICLR 2021 • Ricky T. Q. Chen, Brandon Amos, Maximilian Nickel

The existing Neural ODE formulation relies on an explicit knowledge of the termination time.

no code implementations • NeurIPS Workshop LMCA 2020 • Anselm Paulus, Michal Rolinek, Vít Musil, Brandon Amos, Georg Martius

Bridging logical and algorithmic reasoning with modern machine learning techniques is a fundamental challenge with potentially transformative impact.

1 code implementation • 28 Aug 2020 • Brandon Amos, Samuel Stanton, Denis Yarats, Andrew Gordon Wilson

For over a decade, model-based reinforcement learning has been seen as a way to leverage control-based domain knowledge to improve the sample-efficiency of reinforcement learning agents.

1 code implementation • 22 Jun 2020 • Samuel Cohen, Giulia Luise, Alexander Terenin, Brandon Amos, Marc Peter Deisenroth

Dynamic time warping (DTW) is a useful method for aligning, comparing and combining time series, but it requires them to live in comparable spaces.

1 code implementation • ICLR 2020 • Nathan Lambert, Brandon Amos, Omry Yadan, Roberto Calandra

In our experiments, we study this objective mismatch issue and demonstrate that the likelihood of one-step ahead predictions is not always correlated with control performance.

Model-based Reinforcement Learning
reinforcement-learning
**+1**

1 code implementation • NeurIPS 2019 • Akshay Agrawal, Brandon Amos, Shane Barratt, Stephen Boyd, Steven Diamond, Zico Kolter

In this paper, we propose an approach to differentiating through disciplined convex programs, a subclass of convex optimization problems used by domain-specific languages (DSLs) for convex optimization.

3 code implementations • 3 Oct 2019 • Edward Grefenstette, Brandon Amos, Denis Yarats, Phu Mon Htut, Artem Molchanov, Franziska Meier, Douwe Kiela, Kyunghyun Cho, Soumith Chintala

Many (but not all) approaches self-qualifying as "meta-learning" in deep learning and reinforcement learning fit a common pattern of approximating the solution to a nested optimization problem.

3 code implementations • 2 Oct 2019 • Denis Yarats, Amy Zhang, Ilya Kostrikov, Brandon Amos, Joelle Pineau, Rob Fergus

A promising approach is to learn a latent representation together with the control policy.

1 code implementation • ICML 2020 • Brandon Amos, Denis Yarats

We study the cross-entropy method (CEM) for the non-convex optimization of a continuous and parameterized objective function and introduce a differentiable variant that enables us to differentiate the output of CEM with respect to the objective function's parameters.

1 code implementation • 20 Jun 2019 • Brandon Amos, Vladlen Koltun, J. Zico Kolter

We propose the Limited Multi-Label (LML) projection layer as a new primitive operation for end-to-end learning systems.

2 code implementations • NeurIPS 2018 • Brandon Amos, Ivan Dario Jimenez Rodriguez, Jacob Sacks, Byron Boots, J. Zico Kolter

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces.

no code implementations • NeurIPS 2018 • Noam Brown, Tuomas Sandholm, Brandon Amos

This paper introduces a principled way to conduct depth-limited solving in imperfect-information games by allowing the opponent to choose among a number of strategies for the remainder of the game at the depth limit.

no code implementations • ICLR 2018 • Brandon Amos, Laurent Dinh, Serkan Cabi, Thomas Rothörl, Sergio Gómez Colmenarejo, Alistair Muldal, Tom Erez, Yuval Tassa, Nando de Freitas, Misha Denil

We show that models trained to predict proprioceptive information about the agent's body come to represent objects in the external world.

1 code implementation • NeurIPS 2017 • Priya L. Donti, Brandon Amos, J. Zico Kolter

With the increasing popularity of machine learning techniques, it has become common to see prediction algorithms operating within some larger process.

6 code implementations • ICML 2017 • Brandon Amos, J. Zico Kolter

This paper presents OptNet, a network architecture that integrates optimization problems (here, specifically in the form of quadratic programs) as individual layers in larger end-to-end trainable deep networks.

3 code implementations • ICML 2017 • Brandon Amos, Lei Xu, J. Zico Kolter

We show that many existing neural network architectures can be made input-convex with a minor modification, and develop specialized optimization algorithms tailored to this setting.

2 code implementations • 1 Jan 2016 • Brandon Amos, Bartosz Ludwiczuk, Mahadev Satyanarayanan

Cameras are becoming ubiquitous in the Internet of Things (IoT) and can use face recognition technology to improve context.

Ranked #7 on Face Verification on Labeled Faces in the Wild

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