相关论文: Experience Selection Using Dynamics Similarity for…

Multi-modal affect recognition models leverage complementary information in different modalities to outperform their uni-modal counterparts. However, due to the unavailability of modality-specific sensors or data, multi-modal models may not…

Does progress in simulation translate to progress on robots? If one method outperforms another in simulation, how likely is that trend to hold in reality on a robot? We examine this question for embodied PointGoal navigation, developing…

Integrating knowledge across different domains is an essential feature of human learning. Learning paradigms such as transfer learning, meta-learning, and multi-task learning reflect the human learning process by exploiting the prior…

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…

Meta-learning methods perform well on new within-distribution tasks but often fail when adapting to out-of-distribution target tasks, where transfer from source tasks can induce negative transfer. We propose a causally-aware Bayesian…

A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…

Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…

This paper presents a novel method for embedding transfer, a task of transferring knowledge of a learned embedding model to another. Our method exploits pairwise similarities between samples in the source embedding space as the knowledge,…

Imitation learning from human motion capture (MoCap) data provides a promising way to train humanoid robots. However, due to differences in morphology, such as varying degrees of joint freedom and force limits, exact replication of human…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Imitation learning practitioners have often noted that conditioning policies on previous actions leads to a dramatic divergence between "held out" error and performance of the learner in situ. Interactive approaches can provably address…

Deep imitation learning is promising for robot manipulation because it only requires demonstration samples. In this study, deep imitation learning is applied to tasks that require force feedback. However, existing demonstration methods have…

Imitation learning has gained immense popularity because of its high sample-efficiency. However, in real-world scenarios, where the trajectory distribution of most of the tasks dynamically shifts, model fitting on continuously aggregated…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

In data-driven decision-making in marketing, healthcare, and education, it is desirable to utilize a large amount of data from existing ventures to navigate high-dimensional feature spaces and address data scarcity in new ventures. We…

In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…

Knowledge transfer between heterogeneous source and target networks and tasks has received a lot of attention in recent times as large amounts of quality labeled data can be difficult to obtain in many applications. Existing approaches…

Transfer learning is a common practice that alleviates the need for extensive data to train neural networks. It is performed by pre-training a model using a source dataset and fine-tuning it for a target task. However, not every source…

A key question in Reinforcement Learning is which representation an agent can learn to efficiently reuse knowledge between different tasks. Recently the Successor Representation was shown to have empirical benefits for transferring…

A fundamental challenge in artificial intelligence is learning useful representations of data that yield good performance on a downstream task, without overfitting to spurious input features. Extracting such task-relevant predictive…