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

We propose a technique for multi-task learning from demonstration that trains the controller of a low-cost robotic arm to accomplish several complex picking and placing tasks, as well as non-prehensile manipulation. The controller is a…

Learning to generate a task-aware base learner proves a promising direction to deal with few-shot learning (FSL) problem. Existing methods mainly focus on generating an embedding model utilized with a fixed metric (eg, cosine distance) for…

A central goal of unsupervised learning is to acquire representations from unlabeled data or experience that can be used for more effective learning of downstream tasks from modest amounts of labeled data. Many prior unsupervised learning…

Meta-reinforcement learning algorithms can enable autonomous agents, such as robots, to quickly acquire new behaviors by leveraging prior experience in a set of related training tasks. However, the onerous data requirements of meta-training…

Existing meta-learning based few-shot learning (FSL) methods typically adopt an episodic training strategy whereby each episode contains a meta-task. Across episodes, these tasks are sampled randomly and their relationships are ignored. In…

Few-shot learning is the process of learning novel classes using only a few examples and it remains a challenging task in machine learning. Many sophisticated few-shot learning algorithms have been proposed based on the notion that networks…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Few-shot classification aims to learn to classify new object categories well using only a few labeled examples. Transferring feature representations from other models is a popular approach for solving few-shot classification problems. In…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Few-shot deep learning is a topical challenge area for scaling visual recognition to open ended growth of unseen new classes with limited labeled examples. A promising approach is based on metric learning, which trains a deep embedding to…

Task embeddings in multi-layer perceptrons for multi-task learning and inductive transfer learning in renewable power forecasts have recently been introduced. In many cases, this approach improves the forecast error and reduces the required…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…

Majority of the modern meta-learning methods for few-shot classification tasks operate in two phases: a meta-training phase where the meta-learner learns a generic representation by solving multiple few-shot tasks sampled from a large…

Developing algorithms that are able to generalize to a novel task given only a few labeled examples represents a fundamental challenge in closing the gap between machine- and human-level performance. The core of human cognition lies in the…

Successful deployment of multi-agent reinforcement learning often requires agents to adapt their behaviour. In this work, we discuss the problem of teamwork adaptation in which a team of agents needs to adapt their policies to solve novel…

In this paper we explore few-shot imitation learning for control problems, which involves learning to imitate a target policy by accessing a limited set of offline rollouts. This setting has been relatively under-explored despite its…

We consider the task of few shot link prediction on graphs. The goal is to learn from a distribution over graphs so that a model is able to quickly infer missing edges in a new graph after a small amount of training. We show that current…