相关论文: Deep Kernels for Optimizing Locomotion Controllers

Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic…

Reinforcement learning (RL) applications, where an agent can simply learn optimal behaviors by interacting with the environment, are quickly gaining tremendous success in a wide variety of applications from controlling simple pendulums to…

In this chapter, we discuss recent work on learning sparse approximations to high-dimensional functions on data, where the target functions may be scalar-, vector- or even Hilbert space-valued. Our main objective is to study how the…

Decarbonization of the transport sector sets increasingly strict demands to maximize thermal efficiency and minimize greenhouse gas emissions of Internal Combustion Engines. This has led to complex engines with a surge in the number of…

We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Many computer vision systems require low-cost segmentation algorithms based on deep learning, either because of the enormous size of input images or limited computational budget. Common solutions uniformly downsample the input images to…

We introduce Hyperparameter Controller (HyperController), a computationally efficient algorithm for hyperparameter optimization during training of reinforcement learning neural networks. HyperController optimizes hyperparameters quickly…

Deep metric learning aims to construct an embedding space where samples of the same class are close to each other, while samples of different classes are far away from each other. Most existing deep metric learning methods attempt to…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

This paper presents a method for identifying mechanical parameters of robots or objects, such as their mass and friction coefficients. Key features are the use of off-the-shelf physics engines and the adaptation of a Bayesian optimization…

We explore learning-based approaches for feedback control of a dexterous five-finger hand performing non-prehensile manipulation. First, we learn local controllers that are able to perform the task starting at a predefined initial state.…

This paper studies an intriguing phenomenon related to the good generalization performance of estimators obtained by using large learning rates within gradient descent algorithms. First observed in the deep learning literature, we show that…

In this paper we develop a dynamic form of Bayesian optimization for machine learning models with the goal of rapidly finding good hyperparameter settings. Our method uses the partial information gained during the training of a machine…

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…

Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of controllers for systems with complex dynamics and modest…

Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…

This paper proposes online sampling in the parameter space of a neural network for GPU-accelerated motion planning of autonomous vehicles. Neural networks are used as controller parametrization since they can handle nonlinear non-convex…

Quantum Monte-Carlo simulations of hybrid quantum-classical models such as the double exchange Hamiltonian require calculating the density of states of the quantum degrees of freedom at every step. Unfortunately, the computational…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…