相关论文: Efficient transfer learning and online adaptation …

Transferring knowledge from one environment to another is an essential ability of intelligent systems. Nevertheless, when two environments are different, naively transferring all knowledge may deteriorate the performance, a phenomenon known…

Attaining prototypical features to represent class distributions is well established in representation learning. However, learning prototypes online from streaming data proves a challenging endeavor as they rapidly become outdated, caused…

Model-based offline reinforcement learning (RL), which builds a supervised transition model with logging dataset to avoid costly interactions with the online environment, has been a promising approach for offline policy optimization. As the…

Accuracy and generalization capabilities are key objectives when learning dynamical system models. To obtain such models from limited data, current works exploit prior knowledge and assumptions about the system. However, the fusion of…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

Offline Reinforcement Learning (RL) enables policy learning without active interactions, making it especially appealing for self-driving tasks. Recent successes of Transformers inspire casting offline RL as sequence modeling, which,…

In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model.…

To successfully apply trained neural network models to new domains, powerful transfer learning solutions are essential. We propose to introduce a novel cross-domain latent modulation mechanism to a variational autoencoder framework so as to…

The availability of abundant labeled data in recent years led the researchers to introduce a methodology called transfer learning, which utilizes existing data in situations where there are difficulties in collecting new annotated data.…

Transfer learning is known to perform efficiently in many applications empirically, yet limited literature reports the mechanism behind the scene. This study establishes both formal derivations and heuristic analysis to formulate the theory…

We are interested in solving the problem of imitation learning with a limited amount of real-world expert data. Existing offline imitation methods often struggle with poor data coverage and severe performance degradation. We propose a…

A self-adaptive system can modify its own structure and behavior at runtime based on its perception of the environment, of itself and of its requirements. To develop a self-adaptive system, software developers codify knowledge about the…

Enhancing the sustainability and efficiency of wireless sensor networks (WSN) in dynamic and unpredictable environments requires adaptive communication and energy harvesting strategies. We propose a novel adaptive control strategy for WSNs…

Reinforcement Learning (RL) enables an intelligent agent to optimise its performance in a task by continuously taking action from an observed state and receiving a feedback from the environment in form of rewards. RL typically uses tables…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Discovering all useful solutions for a given task is crucial for transferable RL agents, to account for changes in the task or transition dynamics. This is not considered by classical RL algorithms that are only concerned with finding the…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Generative models such as diffusion have been employed as world models in offline reinforcement learning to generate synthetic data for more effective learning. Existing work either generates diffusion models one-time prior to training or…

Transfer learning is a popular approach to bypassing data limitations in one domain by leveraging data from another domain. This is especially useful in robotics, as it allows practitioners to reduce data collection with physical robots,…