SamCoding
My understanding: The Q-head predicts whether to stop early or not to reduce training times (by not always having to complete the full number of deep supervision steps).
The complication: When working in batches:
- Either, the Q-head is computed over the entire batch and averaged (which could early stopping of reasoning steps when most items in batch are complete but some aren't, meaning that those incomplete samples aren't trained on fully)
- Or, the Q-head is computed over entire batch and samples that are complete are dropped.
The first option has issues obvious as discussed.
The second option is problematic because it's complex to implement and frameworks tend to want fixed sizes for batches.
If we go with just running for the maximum number of deep supervision steps every time to avoid these issues, the Q-head becomes useless (assuming you don't want to use it during inference).
I really appreciate any help anyone can give me in understanding how they get around this, either in the original paper or in practice in more recent research.
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There is nothing wrong with the LEGO stuff, the EV3 for Education kit is a great place to start and teaches you programming too in a Scratch-like interface. There are also some great books like "The LEGO Power Functions Idea Book, Volume 1: Machines and Mechanisms" by Yoshihito Isogawa, which taught me so much. The advantage of LEGO is that it is really easily reusable (although expensive to begin with) so reduces repeating costs.
Beyond that, if you have access to any machines, try starting to learn CAD software and buy a 3D printer, you'll be able to make so much from that. It's not so budget-friendly, but it's a great option. Then try building some cool mechanisms to develop your understanding of the principles, such as the ones below:
- https://www.youtube.com/watch?v=lXO69eRWkkY - https://youtube.com/playlist?list=PLq_UHnXWA4jI_gSAW9rvOr-I5... - And the ones in the aforementioned book "The LEGO Power Functions Idea Book, Volume 1: Machines and Mechanisms" - you don't have to do this all in LEGO, it shows some neat mechanisms.
I wasn't homeschooled, so I got to create some projects at school which were great fun. You can try the following out of plywood, modelling card and a few motors (there's tonnes of electronics tutorials online, all you need is some basic materials, a soldering iron and a ventilated space to solder in). Our challenges were:
- Using only 3 motors, create a crane that can pick up small objects. Use gears to increase mechanical advantage. - Using cables/string, create a robot hand like at (https://www.youtube.com/watch?app=desktop&v=FCkWexqO2LU). How can you motorise it? How can you improve its accuracy?
For electronics and programming, I'd recommend the Raspberry Pi. It's easy to use with components. Someone I know is also starting a startup called Electrotilez that teaches you electronical engineering (https://www.linkedin.com/company/electrotilez/?originalSubdo...) so I'd recommend checking their product out once it launches.
So now you have the fundamentals nailed, try entering a competition! These are so exciting and have taught me so much. You also meet people that enable your future career. Some great ones include:
- PA Raspberry Pi Awards (ages 8-18, split into age categories) - Samsung Solve for Tomorrow (ages 16-25, in 2 age categories) - Samsung Solve for Tomorrow Next Gen (ages 11-15) - The Big Bang Competition
So to learn, it really depends where you're starting.
If you have programming experience in another language, this is a great starting point from Tech With Tim (https://www.youtube.com/watch?v=VchuKL44s6E).
If you've never programmed before, this one can be a bit more accessible (but is still very brief and concise) - (https://www.youtube.com/watch?v=kqtD5dpn9C8).
A good roadmap once you have the fundamentals can be found here (https://www.youtube.com/watch?v=St48epdRDZw).