相关论文: Improving Task-Parameterised Movement Learning Gen…

Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-scale robotic policies still remain sensitive to key sources…

Radio propagation modeling is essential in telecommunication research, as radio channels result from complex interactions with environmental objects. Recently, Machine Learning has been attracting attention as a potential alternative to…

Unsupervised learning has been widely used in many real-world applications. One of the simplest and most important unsupervised learning models is the Gaussian mixture model (GMM). In this work, we study the multi-task learning problem on…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

\noindent Hyper-parameter selection is a central practical problem in modern machine learning, governing regularization strength, model capacity, and robustness choices. Cross-validation is often computationally prohibitive at scale, while…

Imitation learning for robotic tasks has relied primarily on policies trained only on successful demonstrations, although failures are unavoidable during human data collection. Many existing approaches for exploiting failure data require…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Learning performance data describe correct and incorrect answers or problem-solving attempts in adaptive learning, such as in intelligent tutoring systems (ITSs). Learning performance data tend to be highly sparse (80\%\(\sim\)90\% missing…

Although Gaussian processes (GPs) with deep kernels have been successfully used for meta-learning in regression tasks, its uncertainty estimation performance can be poor. We propose a meta-learning method for calibrating deep kernel GPs for…

Meta-learning has proven to be a powerful paradigm for transferring the knowledge from previous tasks to facilitate the learning of a novel task. Current dominant algorithms train a well-generalized model initialization which is adapted to…

Sophisticated trajectory prediction models that effectively mimic team dynamics have many potential uses for sports coaches, broadcasters and spectators. However, through experiments on soccer data we found that it can be surprisingly…

This survey provides a comparative analysis of feature-based and GAN-based approaches to learning from demonstrations, with a focus on the structure of reward functions and their implications for policy learning. Feature-based methods offer…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

Learning models of user behaviour is an important problem that is broadly applicable across many application domains requiring human-robot interaction. In this work we show that it is possible to learn a generative model for distinct user…

Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when…

This paper addresses the problem of cross-dataset generalization of 3D human pose estimation models. Testing a pre-trained 3D pose estimator on a new dataset results in a major performance drop. Previous methods have mainly addressed this…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

The rapid growth of earth observation systems calls for a scalable approach to interpolate remote-sensing observations. These methods in principle, should acquire more information about the observed field as data grows. Gaussian processes…

Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by means of coaching. Adopting a similar framework for…