相关论文: Robot Program Parameter Inference via Differentiab…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

We propose a novel sparse sliced inverse regression method based on random projections in a large $p$ small $n$ setting. Embedded in a generalized eigenvalue framework, the proposed approach finally reduces to parallel execution of…

Informed learning is an emerging field in machine learning that aims to compensate for insufficient data with prior knowledge. Shape knowledge covers many types of prior knowledge concerning the relationship of a function's output with…

Simulation-Based Inference (SBI) is an approach to statistical inference where simulations from an assumed model are used to construct estimators and confidence sets. SBI is often used when the likelihood is intractable and to construct…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

Probabilistic programming has emerged as a powerful paradigm in statistics, applied science, and machine learning: by decoupling modelling from inference, it promises to allow modellers to directly reason about the processes generating…

We propose a Geometry-aware Policy Imitation (GPI) approach that rethinks imitation learning by treating demonstrations as geometric curves rather than collections of state-action samples. From these curves, GPI derives distance fields that…

Indirect simultaneous positioning (ISP), where internal tissue points are placed at desired locations indirectly through the manipulation of boundary points, is a type of subtask frequently performed in robotic surgeries. Although…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

In this paper we propose a novel gradient algorithm to learn a policy from an expert's observed behavior assuming that the expert behaves optimally with respect to some unknown reward function of a Markovian Decision Problem. The…

We describe a method for the identification of models for dynamical systems from observational data. The method is based on the concept of symbolic regression and uses genetic programming to evolve a system of ordinary differential…

The ability to transfer skills across tasks has the potential to scale up reinforcement learning (RL) agents to environments currently out of reach. Recently, a framework based on two ideas, successor features (SFs) and generalised policy…

Implicit neural representation has opened up new possibilities for inverse rendering. However, existing implicit neural inverse rendering methods struggle to handle strongly illuminated scenes with significant shadows and indirect…

This paper presents a new technique for induction motor parameter identification. The proposed technique is based on a simple startup test using a standard V/F inverter. The recorded startup currents are compared to that obtained by…

Machine learning has been widely applied in many aspects, but training a machine learning model is increasingly difficult. There are more optimization problems named "black-box" where the relationship between model parameters and outcomes…

Self-supervised pretraining (SSP) has emerged as a popular technique in machine learning, enabling the extraction of meaningful feature representations without labelled data. In the realm of computer vision, pretrained vision transformers…

The methodology of Software-Defined Robotics hierarchical-based and stand-alone framework can be designed and implemented to program and control different sets of robots, regardless of their manufacturers' parameters and specifications,…

Model inversion, which aims to reconstruct the original training data from pre-trained discriminative models, is especially useful when the original training data is unavailable due to privacy, usage rights, or size constraints. However,…

Tuning parameters of a non-differentiable or black-box compute is challenging. Existing methods rely mostly on random sampling or grid sampling from the parameter space. Further, with all the current methods, it is not possible to supply…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…