相关论文: Sequence-based Multimodal Apprenticeship Learning …

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Incorporating additional sensory modalities such as tactile and audio into foundational robotic models poses significant challenges due to the curse of dimensionality. This work addresses this issue through modality selection. We propose a…

Although reinforcement learning has seen tremendous success recently, this kind of trial-and-error learning can be impractical or inefficient in complex environments. The use of demonstrations, on the other hand, enables agents to benefit…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…

Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on predefined gaits, while model-free approaches lack explicit…

A multi-modal machine learning system uses multiple unique data sources and types to improve its performance. This article proposes a system that combines results from several types of models, all of which are trained on different data…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

We introduce a novel sequential modeling approach which enables learning a Large Vision Model (LVM) without making use of any linguistic data. To do this, we define a common format, "visual sentences", in which we can represent raw images…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the…

Large Language Model-based multi-agent systems (MAS) have shown remarkable progress in solving complex tasks through collaborative reasoning and inter-agent critique. However, existing approaches typically treat each task in isolation,…

Representation learning becomes especially important for complex systems with multimodal data sources such as cameras or sensors. Recent advances in reinforcement learning and optimal control make it possible to design control algorithms on…

We introduce Perception Learning (PeL), a paradigm that optimizes an agent's sensory interface $f_\phi:\mathcal{X}\to\mathcal{Z}$ using task-agnostic signals, decoupled from downstream decision learning $g_\theta:\mathcal{Z}\to\mathcal{Y}$.…

Multi-agent reinforcement learning (MARL) methods often suffer from high sample complexity, limiting their use in real-world problems where data is sparse or expensive to collect. Although latent-variable world models have been employed to…

Multimodal learning has mainly focused on learning large models on, and fusing feature representations from, different modalities for better performances on downstream tasks. In this work, we take a detour from this trend and study the…

Humans are capable of learning a new behavior by observing others perform the skill. Robots can also implement this by imitation learning. Furthermore, if with external guidance, humans will master the new behavior more efficiently. So how…

Multi-label image recognition with partial labels (MLR-PL) is designed to train models using a mix of known and unknown labels. Traditional methods rely on semantic or feature correlations to create pseudo-labels for unidentified labels…

This paper investigates federated multimodal learning (FML) assisted by unmanned aerial vehicles (UAVs) with a focus on minimizing system latency and providing convergence analysis. In this framework, UAVs are distributed throughout the…

Machine learning (ML) is about computational methods that enable machines to learn concepts from experience. In handling a wide variety of experience ranging from data instances, knowledge, constraints, to rewards, adversaries, and lifelong…

State-space models (SSMs) offer a powerful framework for dynamical system analysis, wherein the temporal dynamics of the system are assumed to be captured through the evolution of the latent states, which govern the values of the…