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Optimal control of complex environments with robotic systems faces two complementary and intertwined challenges: efficient organization of sensory state information and far-sighted action planning. Because the reinforcement learning…

Observational learning is a type of learning that occurs as a function of observing, retaining and possibly replicating or imitating the behaviour of another agent. It is a core mechanism appearing in various instances of social learning…

1. Spatial memory plays a role in the way animals perceive their environments, resulting in memory-informed movement patterns that are observable to ecologists. Developing mathematical techniques to understand how animals use memory in…

Multi-legged robots offer enhanced stability in complex terrains, yet autonomously learning natural and robust motions in such environments remains challenging. Drawing inspiration from animals' progressive learning patterns, from simple to…

While humans and animals learn incrementally during their lifetimes and exploit their experience to solve new tasks, standard deep reinforcement learning methods specialize to solve only one task at a time. As a result, the information they…

Reinforcement learning has shown great promise in robotics thanks to its ability to develop efficient robotic control procedures through self-training. In particular, reinforcement learning has been successfully applied to solving the…

Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or…

Hippocampal reverse replay is thought to contribute to learning, and particularly reinforcement learning, in animals. We present a computational model of learning in the hippocampus that builds on a previous model of the…

We assume that we are given a time series of data from a dynamical system and our task is to learn the flow map of the dynamical system. We present a collection of results on how to enforce constraints coming from the dynamical system in…

Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…

Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical optimization methods as well as into formalizations from…

The ability to estimate temporal relationships is critical for both animals and artificial agents. Cognitive science and neuroscience provide remarkable insights into behavioral and neural aspects of temporal credit assignment. In…

In current state-of-the-art commercial first person shooter games, computer controlled bots, also known as non player characters, can often be easily distinguishable from those controlled by humans. Tell-tale signs such as failed…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Mind perception in robots has been an understudied construct in human-robot interaction (HRI) compared to similar concepts such as anthropomorphism and the intentional stance. In a series of three experiments, we identify two factors that…

Most cognitive architectures rely on discrete representation, both in space (e.g., objects) and in time (e.g., events). However, a robot interaction with the world is inherently continuous, both in space and in time. The segmentation of the…

Reinforcement Learning has emerged as a strong alternative to solve optimization tasks efficiently. The use of these algorithms highly depends on the feedback signals provided by the environment in charge of informing about how good (or…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

In socially assistive robotics, an important research area is the development of adaptation techniques and their effect on human-robot interaction. We present a meta-learning based policy gradient method for addressing the problem of…

Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur and how long it should take. While symbolic temporal relations…