Meeting Notes 23.03.2022

Meeting Details

Date : 23 March 2021

Time : 10:00 – 11:00

Location : Chair of CPS, Montanuniverität Leoben

Participants: Univ.-Prof. Dr. Elmar Rueckert, Fotios Lygerakis

Agenda

1. Discuss idea for adding contrastive loss to a(n) (variational)autoencoder
2. Getting started with real robots

Topic 1: Discuss idea for adding contrastive loss to a(n) (variational) autoencoder

• Test different architectures
  • Compare the proposed architecture(contrastive AE) with normal contrastive or (V)AEs
  • (future) integrateprior knowledge
• Explore different ways to update the weights (gradient flow)
  • contrastive loss flows or not through the decoder
• check the learning stability
  • we need stable update rules
• Derive the equations from Information Theoretic Principles
  • e.g. ELBO

Topic 2: Getting started with real robots

• Talk with Vedant and join his project
• Do the FE tutorials on Gazebo

Next Steps

• Derive the Information Theoretic equations
• Start building AEs and Contrastive loss networks
• Do the FE Panda tutorials

Literature

[1] Srinivas, Aravind, Michael Laskin, and Pieter Abbeel. “Curl: Contrastive
unsupervised representations for reinforcement learning.” arXiv preprint arXiv:2004.04136 (2020).

[2] https://www.deeplearningbook.org/contents/autoencoders.html

Next Meeting

TBA