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Recently, diverse primitive skills have been learned by adopting the entropy as intrinsic reward, which further shows that new practical skills can be produced by combining a variety of primitive skills. This is essentially skill transfer, very useful for learning high-level skills but quite challenging due to the low efficiency of transferring primitive skills. In this paper, we propose a novel efficient skill transfer method, where we learn independent skills and only independent components of skills are transferred instead of the whole set of skills. More concretely, independent components of skills are obtained through independent component analysis (ICA), which always have a smaller amount (or lower dimension) compared with their mixtures. With a lower dimension, independent skill transfer (IST) exhibits a higher efficiency on learning a given task. Extensive experiments including three robotic tasks demonstrate the effectiveness and high efficiency of our proposed IST method in comparison to direct primitive-skill transfer and conventional reinforcement learning.

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The purpose of few-shot recognition is to recognize novel categories with a limited number of labeled examples in each class. To encourage learning from a supplementary view, recent approaches have introduced auxiliary semantic modalities into effective metric-learning frameworks that aim to learn a feature similarity between training samples (support set) and test samples (query set). However, these approaches only augment the representations of samples with available semantics while ignoring the query set, which loses the potential for the improvement and may lead to a shift between the modalities combination and the pure-visual representation. In this paper, we devise an attributes-guided attention module (AGAM) to utilize human-annotated attributes and learn more discriminative features. This plug-and-play module enables visual contents and corresponding attributes to collectively focus on important channels and regions for support set. And the feature selection is also achieved for query set with only visual information while the attributes are not available. Therefore, representations from both sets are improved in a finegrained manner. Moreover, an attention alignment mechanism is proposed to distill knowledge from the guidance of attributes to the pure-visual branch for samples without attributes. Extensive experiments and analysis show that our proposed module can significantly improve simple metricbased approaches to achieve state-of-the-art performance on different datasets and settings. 1 * Corresponding author.1 The code will be made publicly available upon acceptance.