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Robots must verbalize their past experiences when users ask "Where did you put my keys?" or "Why did the task fail?" Yet maintaining life-long episodic memory (EM) from continuous multimodal perception quickly exceeds storage limits and…

Reinforcement learning agents often forget details of the past, especially after delays or distractor tasks. Agents with common memory architectures struggle to recall and integrate across multiple timesteps of a past event, or even to…

Speech emotion recognition (SER) has received a great deal of attention in recent years in the context of spontaneous conversations. While there have been notable results on datasets like the well known corpus of naturalistic dyadic…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Neural processes have recently emerged as a class of powerful neural latent variable models that combine the strengths of neural networks and stochastic processes. As they can encode contextual data in the network's function space, they…

This paper presents a novel approach to Multi-Agent Reinforcement Learning (MARL) that combines cooperative task decomposition with the learning of reward machines (RMs) encoding the structure of the sub-tasks. The proposed method helps…

Classical theory in reinforcement learning (RL) predominantly focuses on the single task setting, where an agent learns to solve a task through trial-and-error experience, given access to data only from that task. However, many recent…

Many robotic applications require the agent to perform long-horizon tasks in partially observable environments. In such applications, decision making at any step can depend on observations received far in the past. Hence, being able to…

The hallmark of human intelligence is the self-evolving ability to master new skills by learning from past experiences. However, current AI agents struggle to emulate this self-evolution: fine-tuning is computationally expensive and prone…

This paper argues that continual learning methods can benefit by splitting the capacity of the learner across multiple models. We use statistical learning theory and experimental analysis to show how multiple tasks can interact with each…

Most existing deep multi-task learning models are based on parameter sharing, such as hard sharing, hierarchical sharing, and soft sharing. How choosing a suitable sharing mechanism depends on the relations among the tasks, which is not…

The idea of reusing information from previously learned tasks (source tasks) for the learning of new tasks (target tasks) has the potential to significantly improve the sample efficiency reinforcement learning agents. In this work, we…

Multi-step manipulation tasks where robots interact with their environment and must apply process forces based on the perceived situation remain challenging to learn and prone to execution errors. Accurately simulating these tasks is also…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Recent studies on catastrophic forgetting during sequential learning typically focus on fixing the accuracy of the predictions for a previously learned task. In this paper we argue that the outputs of neural networks are subject to rapid…

In this paper, we propose a continual learning (CL) technique that is beneficial to sequential task learners by improving their retained accuracy and reducing catastrophic forgetting. The principal target of our approach is the automatic…

This paper discusses a system that accelerates reinforcement learning by using transfer from related tasks. Without such transfer, even if two tasks are very similar at some abstract level, an extensive re-learning effort is required. The…

Humans and most animals inherently possess a distinctive capacity to continually acquire novel experiences and accumulate worldly knowledge over time. This ability, termed continual learning, is also critical for deep neural networks (DNNs)…

The ability to act in multiple environments and transfer previous knowledge to new situations can be considered a critical aspect of any intelligent agent. Towards this goal, we define a novel method of multitask and transfer learning that…

Attention mechanism has gained great success in vision recognition. Many works are devoted to improving the effectiveness of attention mechanism, which finely design the structure of the attention operator. These works need lots of…