相关论文: Embodiment dictates learnability in neural control…

Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework…

Catastrophic forgetting (CF) poses a significant challenge in machine learning, where a model forgets previously learned information upon learning new tasks. Despite the advanced capabilities of Large Language Models (LLMs), they continue…

Training a neural network model can be a lifelong learning process and is a computationally intensive one. A severe adverse effect that may occur in deep neural network models is that they can suffer from catastrophic forgetting during…

Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…

Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tasks. However, they often fail during deployment due to noisy…

Efficient continual learning techniques have been a topic of significant research over the last few years. A fundamental problem with such learning is severe degradation of performance on previously learned tasks, known also as catastrophic…

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…

In recent years, neural networks have demonstrated an outstanding ability to achieve complex learning tasks across various domains. However, they suffer from the "catastrophic forgetting" problem when they face a sequence of learning tasks,…

One of the major limitations of deep learning models is that they face catastrophic forgetting in an incremental learning scenario. There have been several approaches proposed to tackle the problem of incremental learning. Most of these…

A growing number of state-of-the-art transfer learning methods employ language models pretrained on large generic corpora. In this paper we present a conceptually simple and effective transfer learning approach that addresses the problem of…

Deep learning has proved to be a successful paradigm for solving many challenges in machine learning. However, deep neural networks fail when trained sequentially on multiple tasks, a shortcoming known as catastrophic forgetting in the…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Matching animal-like flexibility in recognition and the ability to quickly incorporate new information remains difficult. Limits are yet to be adequately addressed in neural models and recognition algorithms. This work proposes a…

Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodiment knowledge transfer. In this work, we focus on accelerating…

Robots are used in more and more complex environments, and are expected to be able to adapt to changes and unknown situations. The easiest and quickest way to adapt is to change the control system of the robot, but for increasingly complex…

Typically, loss functions, regularization mechanisms and other important aspects of training parametric models are chosen heuristically from a limited set of options. In this paper, we take the first step towards automating this process,…

When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible tasks. Robots might similarly unlock a range of additional…

While reinforcement learning (RL) holds great potential for decision making in the real world, it suffers from a number of unique difficulties which often need specific consideration. In particular: it is highly non-stationary; suffers from…

Lifelong learning capabilities are crucial for artificial autonomous agents operating on real-world data, which is typically non-stationary and temporally correlated. In this work, we demonstrate that dynamically grown networks outperform…

Continual learning seeks to enable machine learning systems to solve an increasing corpus of tasks sequentially. A critical challenge for continual learning is forgetting, where the performance on previously learned tasks decreases as new…