相关论文: Uncertainty-based Modulation for Lifelong Learning

Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…

The rapid evolution of artificial intelligence (AI) has shifted from static, data-driven models to dynamic systems capable of perceiving and interacting with real-world environments. Despite advancements in pattern recognition and symbolic…

Neural dynamical systems with stable attractor structures, such as point attractors and continuous attractors, are hypothesized to underlie meaningful temporal behavior that requires working memory. However, working memory may not support…

Continual learning is essential for all real-world applications, as frozen pre-trained models cannot effectively deal with non-stationary data distributions. The purpose of this study is to review the state-of-the-art methods that allow…

In the brain, learning signals change over time and synaptic location, and are applied based on the learning history at the synapse, in the complex process of neuromodulation. Learning in artificial neural networks, on the other hand, is…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

Artificial intelligence (AI) is moving increasingly beyond prediction to support decisions in complex, uncertain, and dynamic environments. This shift creates a natural intersection with operations research and management sciences (OR/MS),…

The recent successes of deep learning and deep reinforcement learning have firmly established their statuses as state-of-the-art artificial learning techniques. However, longstanding drawbacks of these approaches, such as their poor sample…

Embodied task planning requires agents to execute long-horizon, goal-directed actions in complex 3D environments, where success depends on both immediate perception and accumulated experience across tasks. However, most existing LLM-based…

As robotics continues to advance, the need for adaptive and continuously-learning embodied agents increases, particularly in the realm of assistance robotics. Quick adaptability and long-term information retention are essential to operate…

Catastrophic forgetting and capacity saturation are the central challenges of any parametric lifelong learning system. In this work, we study these challenges in the context of sequential supervised learning with an emphasis on recurrent…

Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to…

Identifying uncertainty and taking mitigating actions is crucial for safe and trustworthy reinforcement learning agents, especially when deployed in high-risk environments. In this paper, risk sensitivity is promoted in a model-based…

In order for reinforcement learning techniques to be useful in real-world decision making processes, they must be able to produce robust performance from limited data. Deep policy optimization methods have achieved impressive results on…

Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy…

The advent of large language models (LLMs) has catalyzed a transformative shift in artificial intelligence, paving the way for advanced intelligent agents capable of sophisticated reasoning, robust perception, and versatile action across…

It has been a long-standing goal in machine learning, as well as in AI more generally, to develop life-long learning systems that learn many different tasks over time, and reuse insights from tasks learned, "learning to learn" as they do…

Resistive memory (RM) based neuromorphic systems can emulate synaptic plasticity and thus support continual learning, but they generally lack biologically inspired mechanisms for active forgetting, which are critical for meeting modern data…

In lifelong learning, tasks (or classes) to be learned arrive sequentially over time in arbitrary order. During training, knowledge from previous tasks can be captured and transferred to subsequent ones to improve sample efficiency. We…