相关论文: Intrinsic Robotic Introspection: Learning Internal…

Humans and animals explore their environment and acquire useful skills even in the absence of clear goals, exhibiting intrinsic motivation. The study of intrinsic motivation in artificial agents is concerned with the following question:…

Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…

Exploration under sparse reward is a long-standing challenge of model-free reinforcement learning. The state-of-the-art methods address this challenge by introducing intrinsic rewards to encourage exploration in novel states or uncertain…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Recent advancements in Large Language Models (LLMs) have demonstrated substantial capabilities in enhancing communication and coordination in multi-robot systems. However, existing methods often struggle to achieve efficient collaboration…

To gain a deeper understanding of the behavior and learning dynamics of (deep) artificial neural networks, it is valuable to employ mathematical abstractions and models. These tools provide a simplified perspective on network performance…

To enable humanoid robots to share our social space we need to develop technology for easy interaction with the robots using multiple modes such as speech, gestures and share our emotions with them. We have targeted this research towards…

In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

A fundamental challenge in machine learning today is to build a model that can learn from few examples. Here, we describe a reservoir based spiking neural model for learning to recognize actions with a limited number of labeled videos.…

Positive affect has been linked to increased interest, curiosity and satisfaction in human learning. In reinforcement learning, extrinsic rewards are often sparse and difficult to define, intrinsically motivated learning can help address…

Autonomous robots need to be able to adapt to unforeseen situations and to acquire new skills through trial and error. Reinforcement learning in principle offers a suitable methodological framework for this kind of autonomous learning.…

A new method for the unsupervised learning of sparse representations using autoencoders is proposed and implemented by ordering the output of the hidden units by their activation value and progressively reconstructing the input in this…

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…

Humans can leverage hierarchical structures to split a task into sub-tasks and solve problems efficiently. Both imitation and reinforcement learning or a combination of them with hierarchical structures have been proven to be an efficient…

We present a novel intrinsically motivated agent that learns how to control the environment in the fastest possible manner by optimizing learning progress. It learns what can be controlled, how to allocate time and attention, and the…