Portrait of Florian Golemo

Florian Golemo

fgolemo@gmail.com
Postdoctorate - McGill University
Supervisor
Chris Pal
Research Topics
Computer Vision
Website
Google Scholar
GitHub

Publications

Sequoia: A Software Framework to Unify Continual Learning Research
Fabrice Normandin
Florian Golemo
Oleksiy Ostapenko
Pau Rodriguez
Matthew D Riemer
J. Hurtado
Lucas Cecchi
Khimya Khetarpal
Dominic Zhao
Ryan Lindeborg
Timothee LESORT
David Vazquez
Laurent Charlin
Irina Rish
Massimo Caccia
The field of Continual Learning (CL) seeks to develop algorithms that accumulate knowledge and skills over time through interaction with non… (see more)-stationary environments. In practice, a plethora of evaluation procedures (settings) and algorithmic solutions (methods) exist, each with their own potentially disjoint set of assumptions. This variety makes measuring progress in CL difficult. We propose a taxonomy of settings, where each setting is described as a set of assumptions. A tree-shaped hierarchy emerges from this view, where more general settings become the parents of those with more restrictive assumptions. This makes it possible to use inheritance to share and reuse research, as developing a method for a given setting also makes it directly applicable onto any of its children. We instantiate this idea as a publicly available software framework called Sequoia, which features a wide variety of settings from both the Continual Supervised Learning (CSL) and Continual Reinforcement Learning (CRL) domains. Sequoia also includes a growing suite of methods which are easy to extend and customize, in addition to more specialized methods from external libraries. We hope that this new paradigm and its first implementation can help unify and accelerate research in CL. You can help us grow the tree by visiting (this GitHub URL).
2021-08-02
ArXiv (preprint)
openreview.net
openreview.net
Touch-based Curiosity for Sparse-Reward Tasks
Sai Rajeswar
Cyril Ibrahim
Nitin Surya
Florian Golemo
David Vazquez
Aaron Courville
Pedro O. Pinheiro
2021-04-01
ArXiv (preprint)
arxiv.org
arxiv.org
Active Domain Randomization
Bhairav Mehta
Manfred Diaz
Florian Golemo
Chris Pal
Liam Paull
Domain randomization is a popular technique for improving domain transfer, often used in a zero-shot setting when the target domain is unkno… (see more)wn or cannot easily be used for training. In this work, we empirically examine the effects of domain randomization on agent generalization. Our experiments show that domain randomization may lead to suboptimal, high-variance policies, which we attribute to the uniform sampling of environment parameters. We propose Active Domain Randomization, a novel algorithm that learns a parameter sampling strategy. Our method looks for the most informative environment variations within the given randomization ranges by leveraging the discrepancies of policy rollouts in randomized and reference environment instances. We find that training more frequently on these instances leads to better overall agent generalization. In addition, when domain randomization and policy transfer fail, Active Domain Randomization offers more insight into the deficiencies of both the chosen parameter ranges and the learned policy, allowing for more focused debugging. Our experiments across various physics-based simulated and a real-robot task show that this enhancement leads to more robust, consistent policies.
2020-05-12
Proceedings of the Conference on Robot Learning (published)
proceedings.mlr.press
arxiv.org
Pix2Shape: Towards Unsupervised Learning of 3D Scenes from Images Using a View-Based Representation
Sai Rajeswar
Fahim Mannan
Florian Golemo
Jérôme Parent-Lévesque
David Vazquez
Derek Nowrouzezahrai
Aaron Courville
2020-03-20
International Journal of Computer Vision (published)
doi.org
arxiv.org
Unsupervised Learning of Dense Visual Representations
Pedro O. Pinheiro
Amjad Almahairi
Ryan Y. Benmalek
Florian Golemo
Aaron Courville
arxiv.org
Sim-to-Real Transfer with Neural-Augmented Robot Simulation
Florian Golemo
Adrien Ali Taiga
Aaron Courville
Pierre-Yves Oudeyer
Despite the recent successes of deep reinforcement learning, teaching complex motor skills to a physical robot remains a hard problem. While… (see more) learning directly on a real system is usually impractical, doing so in simulation has proven to be fast and safe. Nevertheless, because of the "reality gap," policies trained in simulation often perform poorly when deployed on a real system. In this work, we introduce a method for training a recurrent neural network on the differences between simulated and real robot trajectories and then using this model to augment the simulator. This Neural-Augmented Simulation (NAS) can be used to learn control policies that transfer significantly better to real environments than policies learned on existing simulators. We demonstrate the potential of our approach through a set of experiments on the Mujoco simulator with added backlash and the Poppy Ergo Jr robot. NAS allows us to learn policies that are competitive with ones that would have been learned directly on the real robot.
2018-10-23
Proceedings of The 2nd Conference on Robot Learning (published)
proceedings.mlr.press
HoME: a Household Multimodal Environment
Simon Brodeur
Ethan Perez
Ankesh Anand
Florian Golemo
Luca Celotti
Florian Strub
Jean Rouat
Hugo Larochelle
Aaron Courville
We introduce HoME: a Household Multimodal Environment for artificial agents to learn from vision, audio, semantics, physics, and interaction… (see more) with objects and other agents, all within a realistic context. HoME integrates over 45,000 diverse 3D house layouts based on the SUNCG dataset, a scale which may facilitate learning, generalization, and transfer. HoME is an open-source, OpenAI Gym-compatible platform extensible to tasks in reinforcement learning, language grounding, sound-based navigation, robotics, multi-agent learning, and more. We hope HoME better enables artificial agents to learn as humans do: in an interactive, multimodal, and richly contextualized setting.
2018-01-01
ICLR (Workshop) (published)
openreview.net
openreview.net