相关论文: Learning from Demonstration with Weakly Supervised…

Representation disentanglement is an important goal of representation learning that benefits various downstream tasks. To achieve this goal, many unsupervised learning representation disentanglement approaches have been developed. However,…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

Supervised machine learning based state-of-the-art computer vision techniques are in general data hungry and pose the challenges of not having adequate computing resources and of high costs involved in human labeling efforts. Training data…

In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the underlying distribution of object properties necessary for…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Human behavior is a continuous stochastic spatio-temporal process which is governed by semantic actions and affordances as well as latent factors. Therefore, video-based human activity modeling is concerned with a number of tasks such as…

Future superhuman models will surpass the ability of humans and humans will only be able to \textit{weakly} supervise superhuman models. To alleviate the issue of lacking high-quality data for model alignment, some works on weak-to-strong…

Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…

Imitation learning through a demonstration interface is expected to learn policies for robot automation from intuitive human demonstrations. However, due to the differences in human and robot movement characteristics, a human expert might…

Recognizing human activities in a sequence is a challenging area of research in ubiquitous computing. Most approaches use a fixed size sliding window over consecutive samples to extract features---either handcrafted or learned…

Learning from Demonstration (LfD) is a popular approach that allows humans to teach robots new skills by showing the correct way(s) of performing the desired skill. Human-provided demonstrations, however, are not always optimal and the…

A goal of unsupervised machine learning is to build representations of complex high-dimensional data, with simple relations to their properties. Such disentangled representations make easier to interpret the significant latent factors of…

One of the main arguments behind studying disentangled representations is the assumption that they can be easily reused in different tasks. At the same time finding a joint, adaptable representation of data is one of the key challenges in…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

In the weakly supervised learning paradigm, labeling functions automatically assign heuristic, often noisy, labels to data samples. In this work, we provide a method for learning from weak labels by separating two types of complementary…

Objective: To automatically create large labeled training datasets and reduce the efforts of feature engineering for training accurate machine learning models for clinical information extraction. Materials and Methods: We propose a distant…

Applied mathematics and machine computations have raised a lot of hope since the recent success of supervised learning. Many practitioners in industries have been trying to switch from their old paradigms to machine learning. Interestingly,…

The advancement of robots, particularly those functioning in complex human-centric environments, relies on control solutions that are driven by machine learning. Understanding how learning-based controllers make decisions is crucial since…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…