相关论文: Learning to Learn in Simulation

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

Although there are many approaches to implement intrinsically motivated artificial agents, the combined usage of multiple intrinsic drives remains still a relatively unexplored research area. Specifically, we hypothesize that a mechanism…

Extraterrestrial rovers with a general-purpose robotic arm have many potential applications in lunar and planetary exploration. Introducing autonomy into such systems is desirable for increasing the time that rovers can spend gathering…

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

Multicopter drones are becoming a key platform in several application domains, enabling precise on-the-spot sensing and/or actuation. We focus on the case where the drone must process the sensor data in order to decide, depending on the…

Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…

One obstacle to applying reinforcement learning algorithms to real-world problems is the lack of suitable reward functions. Designing such reward functions is difficult in part because the user only has an implicit understanding of the task…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

In this paper, we study the task of embodied interactive learning for object detection. Given a set of environments (and some labeling budget), our goal is to learn an object detector by having an agent select what data to obtain labels…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

With the implementation of reinforcement learning (RL) algorithms, current state-of-art autonomous vehicle technology have the potential to get closer to full automation. However, most of the applications have been limited to game domains…

Intrinsic rewards have been increasingly used to mitigate the sparse reward problem in single-agent reinforcement learning. These intrinsic rewards encourage the agent to look for novel experiences, guiding the agent to explore the…

Sparsity of rewards while applying a deep reinforcement learning method negatively affects its sample-efficiency. A viable solution to deal with the sparsity of rewards is to learn via intrinsic motivation which advocates for adding an…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

This paper explores a deep learning based robot intelligent model that renders robots learn and reason for complex tasks. First, by constructing a network of environmental factor matrix to stimulate the learning process of the robot…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…