相关论文: Learning Relevant Features for Manipulation Skills…

Learning generalizable skills in robotic manipulation has long been challenging due to real-world sized observation and action spaces. One method for addressing this problem is attention focus -- the robot learns where to attend its sensors…

Preference-based learning of reward functions, where the reward function is learned using comparison data, has been well studied for complex robotic tasks such as autonomous driving. Existing algorithms have focused on learning reward…

This article reviews meta-learning also known as learning-to-learn which seeks rapid and accurate model adaptation to unseen tasks with applications in highly automated AI, few-shot learning, natural language processing and robotics. Unlike…

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an…

Learning from small data sets is critical in many practical applications where data collection is time consuming or expensive, e.g., robotics, animal experiments or drug design. Meta learning is one way to increase the data efficiency of…

In meta-learning an agent extracts knowledge from observed tasks, aiming to facilitate learning of novel future tasks. Under the assumption that future tasks are 'related' to previous tasks, the accumulated knowledge should be learned in a…

Meta-learning stands for 'learning to learn' such that generalization to new tasks is achieved. Among these methods, Gradient-based meta-learning algorithms are a specific sub-class that excel at quick adaptation to new tasks with limited…

Meta-learning algorithms produce feature extractors which achieve state-of-the-art performance on few-shot classification. While the literature is rich with meta-learning methods, little is known about why the resulting feature extractors…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learning (RL). However, these methods often have high…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

General-purpose robotic systems must master a large repertoire of diverse skills to be useful in a range of daily tasks. While reinforcement learning provides a powerful framework for acquiring individual behaviors, the time needed to…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

With the increasing presence of robots in our every-day environments, improving their social skills is of utmost importance. Nonetheless, social robotics still faces many challenges. One bottleneck is that robotic behaviors need to be often…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…

Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…

Meta-learning, or learning to learn, is a machine learning approach that utilizes prior learning experiences to expedite the learning process on unseen tasks. As a data-driven approach, meta-learning requires meta-features that represent…