相关论文: Self-supervised Learning of Image Embedding for Co…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

We propose a new automated digital painting framework, based on a painting agent trained through reinforcement learning. To synthesize an image, the agent selects a sequence of continuous-valued actions representing primitive painting…

Intrinsic image decomposition, which is an essential task in computer vision, aims to infer the reflectance and shading of the scene. It is challenging since it needs to separate one image into two components. To tackle this, conventional…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

We demonstrate the first reinforcement-learning application for robots equipped with an event camera. Because of the considerably lower latency of the event camera, it is possible to achieve much faster control of robots compared with the…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Self-supervised learning (SSL) methods have achieved remarkable success in learning image representations allowing invariances in them - but therefore discarding transformation information that some computer vision tasks actually require.…

The success of deep learning in computer vision is rooted in the ability of deep networks to scale up model complexity as demanded by challenging visual tasks. As complexity is increased, so is the need for large amounts of labeled data to…

Reinforcement learning optimizes policies for expected cumulative reward. Need the supervision be so narrow? Reward is delayed and sparse for many tasks, making it a difficult and impoverished signal for end-to-end optimization. To augment…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

Hierarchical reinforcement learning deals with the problem of breaking down large tasks into meaningful sub-tasks. Autonomous discovery of these sub-tasks has remained a challenging problem. We propose a novel method of learning sub-tasks…

We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor…

Imitation learning enables robots to learn and replicate human behavior from training data. Recent advances in machine learning enable end-to-end learning approaches that directly process high-dimensional observation data, such as images.…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Reinforcement learning has the potential to automate the acquisition of behavior in complex settings, but in order for it to be successfully deployed, a number of practical challenges must be addressed. First, in real world settings, when…

Learning useful representations with little or no supervision is a key challenge in artificial intelligence. We provide an in-depth review of recent advances in representation learning with a focus on autoencoder-based models. To organize…

As discussed in previous studies, the efficacy of evolutionary or reinforcement learning algorithms for continuous control optimization can be enhanced by including a neural module dedicated to feature extraction trained through…