相关论文: Experiential Robot Learning with Accelerated Neuro…

Deep reinforcement learning (DRL) algorithms have proven effective in robot navigation, especially in unknown environments, by directly mapping perception inputs into robot control commands. However, most existing methods ignore the local…

Interpretation of Deep Neural Networks (DNNs) training as an optimal control problem with nonlinear dynamical systems has received considerable attention recently, yet the algorithmic development remains relatively limited. In this work, we…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Stochastic gradient descent-based algorithms are widely used for training deep neural networks but often suffer from slow convergence. To address the challenge, we leverage the framework of the alternating direction method of multipliers…

In the realm of efficient on-device learning under extreme memory and computation constraints, a significant gap in successful approaches persists. Although considerable effort has been devoted to efficient inference, the main obstacle to…

Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…

The demands on visual recognition systems do not end with the complexity offered by current large-scale image datasets, such as ImageNet. In consequence, we need curious and continuously learning algorithms that actively acquire knowledge…

Neural prediction offers a promising approach to forecasting the individual variability of neurocognitive functions and disorders and providing prognostic indicators for personalized invention. However, it is challenging to translate neural…

On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the…

Due to the sparse rewards and high degree of environment variation, reinforcement learning approaches such as Deep Deterministic Policy Gradient (DDPG) are plagued by issues of high variance when applied in complex real world environments.…

Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…

The deep supervised and reinforcement learning paradigms (among others) have the potential to endow interactive multimodal social robots with the ability of acquiring skills autonomously. But it is still not very clear yet how they can be…

We implement stacked denoising autoencoders, a class of neural networks that are capable of learning powerful representations of high dimensional data. We describe stochastic gradient descent for unsupervised training of autoencoders, as…

Convolutional Neural Network (CNN) has become the most used method for image classification tasks. During its training the learning rate and the gradient are two key factors to tune for influencing the convergence speed of the model. Usual…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

In recent years, deep learning has been connected with optimal control as a way to define a notion of a continuous underlying learning problem. In this view, neural networks can be interpreted as a discretization of a parametric Ordinary…

Recent developments and emerging use cases, such as smart Internet of Things (IoT) and Edge AI, have sparked considerable interest in the training of neural networks over fully decentralized (serverless) networks. One of the major…

Back-propagation is a popular machine learning algorithm that uses gradient descent in training neural networks for supervised learning, but can be very slow. A number of algorithms have been developed to speed up convergence and improve…

This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…