相关论文: Towards Exploiting Geometry and Time for Fast Off-…

Deep neural networks have demonstrated superior performance in short-term traffic forecasting. However, most existing traffic forecasting systems assume that the training and testing data are drawn from the same underlying distribution,…

Deep reinforcement learning (RL) algorithms have achieved great success on a wide variety of sequential decision-making tasks. However, many of these algorithms suffer from high sample complexity when learning from scratch using…

Meta-Reinforcement learning approaches aim to develop learning procedures that can adapt quickly to a distribution of tasks with the help of a few examples. Developing efficient exploration strategies capable of finding the most useful…

The ability to transfer a policy from one environment to another is a promising avenue for efficient robot learning in realistic settings where task supervision is not available. This can allow us to take advantage of environments well…

Transfer learning is a problem defined over two domains. These two domains share the same feature space and class label space, but have significantly different distributions. One domain has sufficient labels, named as source domain, and the…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

The ability to transfer knowledge from prior experiences to novel tasks stands as a pivotal capability of intelligent agents, including both humans and computational models. This principle forms the basis of transfer learning, where large…

This paper presents a novel multi-task learning-based method for unsupervised domain adaptation. Specifically, the source and target domain classifiers are jointly learned by considering the geometry of target domain and the divergence…

Offline reinforcement learning (RL) looks at learning how to optimally solve tasks using a fixed dataset of interactions from the environment. Many off-policy algorithms developed for online learning struggle in the offline setting as they…

To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large…

This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the multi-robot system to exploit universal physical constraints…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

This paper extends off-policy reinforcement learning to the multi-agent case in which a set of networked agents communicating with their neighbors according to a time-varying graph collaboratively evaluates and improves a target policy…

The goal of task transfer in reinforcement learning is migrating the action policy of an agent to the target task from the source task. Given their successes on robotic action planning, current methods mostly rely on two requirements:…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Transferring reinforcement learning policies trained in physics simulation to the real hardware remains a challenge, known as the "sim-to-real" gap. Domain randomization is a simple yet effective technique to address dynamics discrepancies…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Offline multi-task reinforcement learning aims to learn a unified policy capable of solving multiple tasks using only pre-collected task-mixed datasets, without requiring any online interaction with the environment. However, it faces…