相关论文: A New Autoregressive Neural Network Model with Com…

Animals learn to predict external contingencies from experience through a process of conditioning. A natural mechanism for conditioning is stimulus substitution, whereby the neuronal response to a stimulus with no prior behavioral…

Neural Network movement controllers promise a variety of advantages over conventional control methods, however, they are not widely adopted due to their inability to produce reliably precise movements. This research explores a bilateral…

While imitation learning has shown impressive results in single-task robot manipulation, scaling it to multi-task settings remains a fundamental challenge due to issues such as suboptimal demonstrations, trajectory noise, and behavioral…

Imitation learning aims to extract knowledge from human experts' demonstrations or artificially created agents in order to replicate their behaviors. Its success has been demonstrated in areas such as video games, autonomous driving,…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Reinforcement Learning (RL) has been successful in various domains like robotics, game playing, and simulation. While RL agents have shown impressive capabilities in their specific tasks, they insufficiently adapt to new tasks. In…

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to…

Successful applications of reinforcement learning in real-world problems often require dealing with partially observable states. It is in general very challenging to construct and infer hidden states as they often depend on the agent's…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

Spoken Language Understanding (SLU), a core component of the task-oriented dialogue system, expects a shorter inference latency due to the impatience of humans. Non-autoregressive SLU models clearly increase the inference speed but suffer…

The problem of Learning from Demonstration is targeted at learning to perform tasks based on observed examples. One approach to Learning from Demonstration is Inverse Reinforcement Learning, in which actions are observed to infer rewards.…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

To go from (passive) process monitoring to active process control, an effective AI system must learn about the behavior of the complex system from very limited training data, forming an ad-hoc digital twin with respect to process inputs and…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…