相关论文: GRP Model for Sensorimotor Learning

Existing deep learning models may encounter great challenges in handling graph structured data. In this paper, we introduce a new deep learning model for graph data specifically, namely the deep loopy neural network. Significantly different…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive…

The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…

In recent years, there has been a growing interest in mapping data from different domains to graph structures. Among others, neural network models such as the multi-layer perceptron (MLP) can be modeled as graphs. In fact, MLPs can be…

Understanding and predicting articulated actions is important in robot learning. However, common architectures such as MLPs and Transformers lack inductive biases that reflect the underlying kinematic structure of articulated systems. To…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Vehicle trajectory prediction plays a vital role in intelligent transportation systems and autonomous driving, as it significantly affects vehicle behavior planning and control, thereby influencing traffic safety and efficiency. Numerous…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Deep Reinforcement Learning has enabled the learning of policies for complex tasks in partially observable environments, without explicitly learning the underlying model of the tasks. While such model-free methods achieve considerable…

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…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Understanding how animals learn is a central challenge in neuroscience, with growing relevance to the development of animal- or human-aligned artificial intelligence. However, existing approaches tend to assume fixed parametric forms for…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

We propose a new family of neural networks to predict the behaviors of physical systems by learning their underpinning constraints. A neural projection operator lies at the heart of our approach, composed of a lightweight network with an…

What is the role of real-time control and learning in the formation of social conventions? To answer this question, we propose a computational model that matches human behavioral data in a social decision-making game that was analyzed both…

A cognitive model of human learning provides information about skills a learner must acquire to perform accurately in a task domain. Cognitive models of learning are not only of scientific interest, but are also valuable in adaptive online…

Neural architectures inspired by our own human cognitive system, such as the recently introduced world models, have been shown to outperform traditional deep reinforcement learning (RL) methods in a variety of different domains. Instead of…

We present a general framework to autonomously achieve a task, where autonomy is acquired by learning sensorimotor patterns of a robot, while it is interacting with its environment. To accomplish the task, using the learned sensorimotor…