相关论文: Simple Kinematic Feedback Enhances Autonomous Lear…
Performing bimanual tasks with dual robotic setups can drastically increase the impact on industrial and daily life applications. However, performing a bimanual task brings many challenges, like synchronization and coordination of the…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Unsupervised self-rehabilitation exercises and physical training can cause serious injuries if performed incorrectly. We introduce a learning-based framework that identifies the mistakes made by a user and proposes corrective measures for…
Mixed-initiative systems allow users to interactively provide feedback to potentially improve system performance. Human feedback can correct model errors and update model parameters to dynamically adapt to changing data. Additionally, many…
Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On…
Current technologies have enabled us to track and quantify our physical state and behavior. Self-tracking aims to achieve increased awareness to decrease undesired behaviors and lead to a healthier lifestyle. However, inappropriately…
Classical autonomous navigation systems can control robots in a collision-free manner, oftentimes with verifiable safety and explainability. When facing new environments, however, fine-tuning of the system parameters by an expert is…
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…
This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding…
Performing machine learning with analog signals offers advantages in speed and energy efficiency, but sensitivity to component and measurement imperfections often foils training without a system-specific companion digital model. Here we…
Existing work on generating hints in Intelligent Tutoring Systems (ITS) focuses mostly on manual and non-personalized feedback. In this work, we explore automatically generated questions as personalized feedback in an ITS. Our personalized…
We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…
It is not until we become senior citizens do we recognise how much we took maintaining a simple standing posture for granted. It is truly fascinating to observe the magnitude of control the human brain exercises, in real time, to activate…
We explore a method for improving the performance of large language models through self-reflection and reinforcement learning. By incentivizing the model to generate better self-reflections when it answers incorrectly, we demonstrate that a…
Virtual reality simulation is becoming popular as a training platform in surgical education. However, one important aspect of simulation-based surgical training that has not received much attention is the provision of automated real-time…
Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…
While biological vision systems rely heavily on feedback connections to iteratively refine perception, most artificial neural networks remain purely feedforward, processing input in a single static pass. In this work, we propose a…
In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…