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Continual learning has become a trending topic in machine learning. Recent studies have discovered an interesting phenomenon called loss of plasticity, referring to neural networks gradually losing the ability to learn new tasks. However,…
Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive…
Face Recognition (FR) systems have been shown to be vulnerable to morphing attacks. We examine exactly how challenging morphs can become. By showing a worst-case construction in the embedding space of an FR system and using a mapping from…
The morphological systems of natural languages are replete with examples of the same devices used for multiple purposes: (1) the same type of morphological process (for example, suffixation for both noun case and verb tense) and (2)…
A self-adaptive system can modify its own structure and behavior at runtime based on its perception of the environment, of itself and of its requirements. To develop a self-adaptive system, software developers codify knowledge about the…
A model of an organism as an autonomous intelligent system has been proposed. This model was used to analyze learning of an organism in various environmental conditions. Processes of learning were divided into two types: strong and weak…
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning methods to a particular problem set has become an established and…
Human perception of the empirical world involves recognizing the diverse appearances, or 'modalities', of underlying objects. Despite the longstanding consideration of this perspective in philosophy and cognitive science, the study of…
Deep Learning has implemented a wide range of applications and has become increasingly popular in recent years. The goal of multimodal deep learning is to create models that can process and link information using various modalities. Despite…
Machine learning methods can be a valuable aid in the scientific process, but they need to face challenging settings where data come from inhomogeneous experimental conditions. Recent meta-learning methods have made significant progress in…
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as dogs, which display a variety of agile skills and can use the…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Difficulty adjustment in practice exercises has been shown to be beneficial for learning. However, previous research has mostly investigated close-ended tasks, which do not offer the students multiple ways to reach a valid solution.…
The musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex flexible body is difficult. Although we have developed an online acquisition method of the nonlinear relationship between joints and…
In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as knives, forks and spoons. Similarly, robots may benefit from…
Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…
The intelligent behavior of robots does not emerge solely from control systems, but from the tight coupling between body and brain, a principle known as embodied intelligence. Designing soft robots that leverage this interaction remains a…
Exploratoration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding accelerating skill and knowledge acquisition. In developmental robotics, this approach…
While the animals' Fin-to-Limb evolution has been well-researched in biology, such morphological transformation remains under-adopted in the modern design of advanced robotic limbs. This paper investigates a novel class of overconstrained…