相关论文: Intrinsic Robotic Introspection: Learning Internal…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Anticipating actions before they are executed is crucial for a wide range of practical applications, including autonomous driving and robotics. In this paper, we study the egocentric action anticipation task, which predicts future action…

In cooperative stochastic games multiple agents work towards learning joint optimal actions in an unknown environment to achieve a common goal. In many real-world applications, however, constraints are often imposed on the actions that can…

Current neural decoding methods typically aim at explaining behavior based on neural activity via supervised learning. However, since generally there is a strong connection between learning of subjects and their expectations on long-term…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

Efficient exploration has presented a long-standing challenge in reinforcement learning, especially when rewards are sparse. A developmental system can overcome this difficulty by learning from both demonstrations and self-exploration.…

We examine whether data generated by explanation techniques, which promote a process of self-reflection, can improve classifier performance. Our work is based on the idea that humans have the ability to make quick, intuitive decisions as…

Encoding models are used for predicting brain activity in response to sensory stimuli with the objective of elucidating how sensory information is represented in the brain. Encoding models typically comprise a nonlinear transformation of…

Catastrophic forgetting has a serious impact in reinforcement learning, as the data distribution is generally sparse and non-stationary over time. The purpose of this study is to investigate whether pseudorehearsal can increase performance…

Existing reinforcement learning (RL) methods struggle with long-horizon robotic manipulation tasks, particularly those involving sparse rewards. While action chunking is a promising paradigm for robotic manipulation, using RL to directly…

Interpreting the internal activations of neural networks can produce more faithful explanations of their behavior, but is difficult due to the complex structure of activation space. Existing approaches to scalable interpretability use…

The past few decades has seen increased interest in the application of social robots to interventions for Autism Spectrum Disorder as behavioural coaches [4]. We consider that robots embedded in therapies could also provide quantitative…

Learning internal reasoning processes is crucial for developing AI systems capable of sustained adaptation in dynamic real-world environments. However, most existing approaches primarily emphasize learning task-specific outputs or static…

This paper deals with the problem of inferring the signals and parameters that cause neural activity to occur. The ultimate challenge being to unveil brain's connectivity, here we focus on a microscopic vision of the problem, where single…

Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these interfaces often constrain the expert's ability to…

Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…

Self-improving agents aim to continuously acquire new capabilities with minimal supervision. However, current approaches face two key limitations: their self-improvement processes are often rigid, fail to generalize across tasks domains,…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

We propose a novel method for exploring the dynamics of physically based animated characters, and learning a task-agnostic action space that makes movement optimization easier. Like several previous papers, we parameterize actions as target…