相关论文: Teaching robots to perceive time -- A reinforcemen…

In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…

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…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…

Animals and humans make decisions based on their expected outcomes. Since relevant outcomes are often delayed, perceiving delays and choosing between earlier versus later rewards (intertemporal decision-making) is an essential component of…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

The term "nexting" has been used by psychologists to refer to the propensity of people and many other animals to continually predict what will happen next in an immediate, local, and personal sense. The ability to "next" constitutes a basic…

According to the dominant view, time in perceptual decision making is used for integrating new sensory evidence. Based on a probabilistic framework, we investigated the alternative hypothesis that time is used for gradually refining an…

We study reinforcement learning in settings where sampling an action from the policy must be done concurrently with the time evolution of the controlled system, such as when a robot must decide on the next action while still performing the…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Robots and animals both experience the world through their bodies and senses. Their embodiment constrains their experiences, ensuring they unfold continuously in space and time. As a result, the experiences of embodied agents are…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

It has always been expected that a robot can be easily deployed to unknown scenarios, accomplishing robotic grasping tasks without human intervention. Nevertheless, existing grasp detection approaches are typically off-body techniques and…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Time perception research has advanced significantly over the years. However, some areas remain largely unexplored. This study addresses two such under-explored areas in timing research: (1) A quantitative analysis of time perception at an…