相关论文: Learning task-agnostic representation via toddler-…

In decision making tasks under uncertainty, humans display characteristic biases in seeking, integrating, and acting upon information relevant to the task. Here, we reexamine data from previous carefully designed experiments, collected at…

Humans naturally decompose their environment into entities at the appropriate level of abstraction to act in the world. Allowing machine learning algorithms to derive this decomposition in an unsupervised way has become an important line of…

We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information…

Active learning agents typically employ a query selection algorithm which solely considers the agent's learning objectives. However, this may be insufficient in more realistic human domains. This work uses imitation learning to enable an…

Compressed sensing techniques enable efficient acquisition and recovery of sparse, high-dimensional data signals via low-dimensional projections. In this work, we propose Uncertainty Autoencoders, a learning framework for unsupervised…

Active learning aims to develop label-efficient algorithms by sampling the most representative queries to be labeled by an oracle. We describe a pool-based semi-supervised active learning algorithm that implicitly learns this sampling…

In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

In this work we tackle the problem of child engagement estimation while children freely interact with a robot in their room. We propose a deep-based multi-view solution that takes advantage of recent developments in human pose detection. We…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Often, labeling large amount of data is challenging due to high labeling cost limiting the application domain of deep learning techniques. Active learning (AL) tackles this by querying the most informative samples to be annotated among…

Continual learning for reinforcement learning agents remains a significant challenge, particularly in preserving and leveraging existing information without an external signal to indicate changes in tasks or environments. In this study, we…

We identify an issue in multi-task learnable compression, in which a representation learned for one task does not positively contribute to the rate-distortion performance of a different task as much as expected, given the estimated amount…

We propose to learn tasks directly from visual demonstrations by learning to predict the outcome of human and robot actions on an environment. We enable a robot to physically perform a human demonstrated task without knowledge of the…

In lifelong learning, a learner faces a sequence of tasks with shared structure and aims to identify and leverage it to accelerate learning. We study the setting where such structure is captured by a common representation of data. Unlike…

Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations. Meta-imitation learning is a promising approach towards…

This work presents an incremental learning approach for autonomous agents to learn new tasks in a non-stationary environment. Updating a DNN model-based agent to learn new target tasks requires us to store past training data and needs a…

Auxiliary tasks improve the representations learned by deep reinforcement learning agents. Analytically, their effect is reasonably well understood; in practice, however, their primary use remains in support of a main learning objective,…

Decision making via sequence modeling aims to mimic the success of language models, where actions taken by an embodied agent are modeled as tokens to predict. Despite their promising performance, it remains unclear if embodied sequence…