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Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard…

Many aspects of the study of protein folding and dynamics have been affected by the recent advances in machine learning. Methods for the prediction of protein structures from their sequences are now heavily based on machine learning tools.…

This paper attempts to address the issues of machine learning in its current implementation. It is known that machine learning algorithms require a significant amount of data for training purposes, whereas recent developments in deep…

Humans activate muscles to shape the mechanical interaction with their environment, but can they harness this control mechanism to best sense the environment? We investigated how participants adapt their muscle activation to visual and…

Model-free deep reinforcement learning algorithms have been shown to be capable of learning a wide range of robotic skills, but typically require a very large number of samples to achieve good performance. Model-based algorithms, in…

When learning behavior, training data is often generated by the learner itself; this can result in unstable training dynamics, and this problem has particularly important applications in safety-sensitive real-world control tasks such as…

Meta-learning has enabled learning statistical models that can be quickly adapted to new prediction tasks. Motivated by use-cases in personalized federated learning, we study the often overlooked aspect of the modern meta-learning…

Reinforcement learning methods have recently been very successful at performing complex sequential tasks like playing Atari games, Go and Poker. These algorithms have outperformed humans in several tasks by learning from scratch, using only…

Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…

Assistive robots have the potential to help people perform everyday tasks. However, these robots first need to learn what it is their user wants them to do. Teaching assistive robots is hard for inexperienced users, elderly users, and users…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering 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…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Human teams are able to easily perform collaborative manipulation tasks. However, for a robot and human to simultaneously manipulate an extended object is a difficult task using existing methods from the literature. Our approach in this…

The benefit of multi-task learning over single-task learning relies on the ability to use relations across tasks to improve performance on any single task. While sharing representations is an important mechanism to share information across…

We show that there may exist an inherent tension between the goal of adversarial robustness and that of standard generalization. Specifically, training robust models may not only be more resource-consuming, but also lead to a reduction of…

Recent evidence has shown that, contrary to expectations, it is difficult for users, especially novices, to teach robots tasks through LfD. This paper introduces a framework that leverages MT algorithms to train novices to become better…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Efficiently tackling multiple tasks within complex environment, such as those found in robot manipulation, remains an ongoing challenge in robotics and an opportunity for data-driven solutions, such as reinforcement learning (RL).…