相关论文: Task-Embedded Control Networks for Few-Shot Imitat…

We present a library to automatically embed signal processing and neural network predictions into the material robots are made of. Deep and shallow neural network models are first trained offline using state-of-the-art machine learning…

Dense object tracking, the ability to localize specific object points with pixel-level accuracy, is an important computer vision task with numerous downstream applications in robotics. Existing approaches either compute dense keypoint…

This article reviews meta-learning also known as learning-to-learn which seeks rapid and accurate model adaptation to unseen tasks with applications in highly automated AI, few-shot learning, natural language processing and robotics. Unlike…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

The goal of metric learning is to learn a function that maps samples to a lower-dimensional space where similar samples lie closer than dissimilar ones. Particularly, deep metric learning utilizes neural networks to learn such a mapping.…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

We consider the supervised training setting in which we learn task-specific word embeddings. We assume that we start with initial embeddings learned from unlabelled data and update them to learn task-specific embeddings for words in the…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…

The ability to learn from a small number of examples has been a difficult problem in machine learning since its inception. While methods have succeeded with large amounts of training data, research has been underway in how to accomplish…

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

Meta-learning, or "learning to learn," is a subfield of machine learning where the goal is to develop models and algorithms that can learn from various tasks and improve their learning process over time. Unlike traditional machine learning…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Most approaches in few-shot learning rely on costly annotated data related to the goal task domain during (pre-)training. Recently, unsupervised meta-learning methods have exchanged the annotation requirement for a reduction in few-shot…

Learning high quality class representations from few examples is a key problem in metric-learning approaches to few-shot learning. To accomplish this, we introduce a novel architecture where class representations are conditioned for each…

Few-shot learning, which aims at extracting new concepts rapidly from extremely few examples of novel classes, has been featured into the meta-learning paradigm recently. Yet, the key challenge of how to learn a generalizable classifier…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…