4 papers
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning
David Brandfonbrener, Stephen Tu, Avi Singh +4
We consider how to most efficiently leverage teleoperator time to collect data for learning robust image-based value functions and policies for sparse reward robotic tasks. To acco…
Evaluating representations by the complexity of learning low-loss predictors
William F. Whitney, Min Jae Song, David Brandfonbrener +2
We consider the problem of evaluating representations of data for use in solving a downstream task. We propose to measure the quality of a representation by the complexity of learn…
Geometric Insights into the Convergence of Nonlinear TD Learning
David Brandfonbrener, Joan Bruna
While there are convergence guarantees for temporal difference (TD) learning when using linear function approximators, the situation for nonlinear models is far less understood, an…
Two-vertex generators of Jacobians of graphs
David Brandfonbrener, Pat Devlin, Netanel Friedenberg +4
We give necessary and sufficient conditions under which the Jacobian of a graph is generated by a divisor that is the difference of two vertices. This answers a question posed by B…