相关论文: Mimicking the Behaviour of Idiotypic AIS Robot Con…

For AI systems to be useful to humans, they must understand and act in accordance with our values and preferences. Since specifying preferences is a hard task, inverse reinforcement learning (IRL) aims to develop methods that allow for…

We consider an improper reinforcement learning setting where a learner is given $M$ base controllers for an unknown Markov decision process, and wishes to combine them optimally to produce a potentially new controller that can outperform…

The goal of imitation learning is to mimic expert behavior from demonstrations, without access to an explicit reward signal. A popular class of approach infers the (unknown) reward function via inverse reinforcement learning (IRL) followed…

This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…

We consider a problem of learning the reward and policy from expert examples under unknown dynamics. Our proposed method builds on the framework of generative adversarial networks and introduces the empowerment-regularized maximum-entropy…

Biological neurons and their in-silico emulations for neuromorphic artificial intelligence (AI) use extraordinarily energy-efficient mechanisms, such as spike-based communication and local synaptic plasticity. It remains unclear whether…

While grasps must satisfy the grasping stability criteria, good grasps depend on the specific manipulation scenario: the object, its properties and functionalities, as well as the task and grasp constraints. In this paper, we consider such…

Existing quadrupedal locomotion learning paradigms usually rely on extensive domain randomization to alleviate the sim2real gap and enhance robustness. It trains policies with a wide range of environment parameters and sensor noises to…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Use-dependent bias is a phenomenon in human sensorimotor behavior whereby movements become biased towards previously repeated actions. Despite being well-documented, the reason why this phenomenon occurs is not yet clearly understood. Here,…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…

Mammals can generate autonomous behaviors in various complex environments through the coordination and interaction of activities at different levels of their central nervous system. In this paper, we propose a novel hierarchical learning…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Mobile robot navigation in dynamic human environments requires policies that balance adaptability to diverse behaviors with compliance to safety constraints. We hypothesize that integrating data-driven rewards with rule-based objectives…

Contemporary robots have become exceptionally skilled at achieving specific tasks in structured environments. However, they often fail when faced with the limitless permutations of real-world unstructured environments. This motivates…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…