相关论文: Adaptation and Robust Learning of Probabilistic Mo…

This paper presents a modular framework for motion planning using movement primitives. Central to the approach is Contraction Theory, a modular stability tool for nonlinear dynamical systems. The approach extends prior methods by achieving…

In recent years, model collapse has become a critical issue in language model training, making it essential to understand the underlying mechanisms driving this phenomenon. In this paper, we investigate recursive parametric model training…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

Stochastic human motion prediction aims to forecast multiple plausible future motions given a single pose sequence from the past. Most previous works focus on designing elaborate losses to improve the accuracy, while the diversity is…

Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of collecting robot-centric data, especially for tasks requiring…

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…

Automatically recognizing the e-learning activities is an important task for improving the online learning process. Probabilistic graphical models such as hidden Markov models and conditional random fields have been successfully used in…

Human motion prediction is a stochastic process: Given an observed sequence of poses, multiple future motions are plausible. Existing approaches to modeling this stochasticity typically combine a random noise vector with information about…

Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes.…

Reinforcement learning in large-scale environments is challenging due to the many possible actions that can be taken in specific situations. We have previously developed a means of constraining, and hence speeding up, the search process…

Robot kinematics data, despite being a high dimensional process, is highly correlated, especially when considering motions grouped in certain primitives. These almost linear correlations within primitives allow us to interpret the motions…

Learning generalizable insertion skills in a data-efficient manner has long been a challenge in the robot learning community. While the current state-of-the-art methods with reinforcement learning (RL) show promising performance in…

Pre-trained protein language models have demonstrated significant applicability in different protein engineering task. A general usage of these pre-trained transformer models latent representation is to use a mean pool across residue…

Achieving robust locomotion on complex terrains remains a challenge due to high dimensional control and environmental uncertainties. This paper introduces a teacher prior framework based on the teacher student paradigm, integrating…

Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots with a fixed set of innate MPs is insufficient to deploy…

Meta-learning for few-shot learning entails acquiring a prior over previous tasks and experiences, such that new tasks be learned from small amounts of data. However, a critical challenge in few-shot learning is task ambiguity: even when a…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

This study addresses the predictive limitation of probabilistic circuits and introduces transformations as a remedy to overcome it. We demonstrate this limitation in robotic scenarios. We motivate that independent component analysis is a…