相关论文: Intrinsic Robotic Introspection: Learning Internal…

In this paper, we propose actor-director-critic, a new framework for deep reinforcement learning. Compared with the actor-critic framework, the director role is added, and action classification and action evaluation are applied…

This work presents an architecture that generates curiosity-driven goal-directed exploration behaviours for an image sensor of a microfarming robot. A combination of deep neural networks for offline unsupervised learning of low-dimensional…

In this work, we propose Behavior-Guided Actor-Critic (BAC), an off-policy actor-critic deep RL algorithm. BAC mathematically formulates the behavior of the policy through autoencoders by providing an accurate estimation of how frequently…

In a robot-centered smart home, the robot observes the home states with its own sensors, and then it can change certain object states according to an operator's commands for remote operations, or imitate the operator's behaviors in the…

In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…

Infants are experts at playing, with an amazing ability to generate novel structured behaviors in unstructured environments that lack clear extrinsic reward signals. We seek to mathematically formalize these abilities using a neural network…

Neurons can display highly variable dynamics. While such variability presumably supports the wide range of behaviors generated by the organism, their gene expressions are relatively stable in the adult brain. This suggests that neuronal…

Explainable reinforcement learning allows artificial agents to explain their behavior in a human-like manner aiming at non-expert end-users. An efficient alternative of creating explanations is to use an introspection-based method that…

In recent years many methods have been developed to understand the internal workings of neural networks, often by describing the function of individual neurons in the model. However, these methods typically only focus on explaining the very…

Reinforcement learning methods require careful design involving a reward function to obtain the desired action policy for a given task. In the absence of hand-crafted reward functions, prior work on the topic has proposed several methods…

We focus on a simulation-based optimization problem of choosing the best design from the feasible space. Although the simulation model can be queried with finite samples, its internal processing rule cannot be utilized in the optimization…

Neural nets are powerful function approximators, but the behavior of a given neural net, once trained, cannot be easily modified. We wish, however, for people to be able to influence neural agents' actions despite the agents never training…

Recurrent neural networks (RNNs) for reinforcement learning (RL) have shown distinct advantages, e.g., solving memory-dependent tasks and meta-learning. However, little effort has been spent on improving RNN architectures and on…

Learning about many things can provide numerous benefits to a reinforcement learning system. For example, learning many auxiliary value functions, in addition to optimizing the environmental reward, appears to improve both exploration and…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Humans acquire knowledge by observing the external world, but also by introspection. Introspection gives a person privileged access to their current state of mind (e.g., thoughts and feelings) that is not accessible to external observers.…

Vision-based deep learning perception fulfills a paramount role in robotics, facilitating solutions to many challenging scenarios, such as acrobatic maneuvers of autonomous unmanned aerial vehicles (UAVs) and robot-assisted high-precision…

Humans integrate multiple sensory modalities (e.g. visual and audio) to build a causal understanding of the physical world. In this work, we propose a novel type of intrinsic motivation for Reinforcement Learning (RL) that encourages the…

This paper contributes a first study into how different human users deliver simultaneous control and feedback signals during human-robot interaction. As part of this work, we formalize and present a general interactive learning framework…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…