相关论文: Hierarchical Behavioral Repertoires with Unsupervi…
Over the years, computer vision researchers have spent an immense amount of effort on designing image features for the visual object recognition task. We propose to incorporate this valuable experience to guide the task of training deep…
Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…
Classic algorithms and machine learning systems like neural networks are both abundant in everyday life. While classic computer science algorithms are suitable for precise execution of exactly defined tasks such as finding the shortest path…
Contemporary machine learning models, including large language models, exhibit remarkable capabilities in static tasks yet falter in non-stationary environments due to rigid architectures that hinder continual adaptation and lifelong…
Sequential recommendation requires the recommender to capture the evolving behavior characteristics from logged user behavior data for accurate recommendations. However, user behavior sequences are viewed as a script with multiple ongoing…
Animal behaviour is complex and the amount of data in the form of video, if extracted, is copious. Manual analysis of behaviour is massively limited by two insurmountable obstacles, the complexity of the behavioural patterns and human bias.…
Machine learning algorithms are everywhere, ranging from simple data analysis and pattern recognition tools used across the sciences to complex systems that achieve super-human performance on various tasks. Ensuring that they are…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
In this paper we address the problem of automatically discovering atomic actions in unsupervised manner from instructional videos. Instructional videos contain complex activities and are a rich source of information for intelligent agents,…
In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…
Neural algorithmic reasoning is an emerging area of machine learning focusing on building models that can imitate the execution of classic algorithms, such as sorting, shortest paths, etc. One of the main challenges is to learn algorithms…
Learning algorithms are enabling robots to solve increasingly challenging real-world tasks. These approaches often rely on demonstrations and reproduce the behavior shown. Unexpected changes in the environment may require using different…
We propose a framework for detecting action patterns from motion sequences and modeling the sensory-motor relationship of animals, using a generative recurrent neural network. The network has a discriminative part (classifying actions) and…
Hierarchical reinforcement learning (HRL) is a promising approach to extend traditional reinforcement learning (RL) methods to solve more complex tasks. Yet, the majority of current HRL methods require careful task-specific design and…
Learning long-range behaviors on complex high-dimensional agents is a fundamental problem in robot learning. For such tasks, we argue that transferring learned information from a morphologically simpler agent can massively improve the…
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…
We use ideas from distributed computing to study dynamic environments in which computational nodes, or decision makers, follow adaptive heuristics (Hart 2005), i.e., simple and unsophisticated rules of behavior, e.g., repeatedly "best…
Reinforcement learning is a machine learning approach based on behavioral psychology. It is focused on learning agents that can acquire knowledge and learn to carry out new tasks by interacting with the environment. However, a problem…