相关论文: Active Learning of Abstract Plan Feasibility

Long-horizon embodied planning is challenging because the world does not only change through an agent's actions: exogenous processes (e.g., water heating, dominoes cascading) unfold concurrently with the agent's actions. We propose a…

This paper proposes an active learning (AL) algorithm to solve regression problems based on inverse-distance weighting functions for selecting the feature vectors to query. The algorithm has the following features: (i) supports both…

Learning agents that excel at sequential decision-making tasks must continuously resolve the problem of exploration and exploitation for optimal learning. However, such interactions with the environment online might be prohibitively…

Machine learning models are widely regarded as a way forward to tackle multi-query challenges that arise once expensive black-box simulations such as computational fluid dynamics are investigated. However, ensuring the desired level of…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Long-horizon robotic manipulation poses significant challenges for autonomous systems, requiring extended reasoning, precise execution, and robust error recovery across complex sequential tasks. Current approaches, whether based on static…

Multi-agent path finding (MAPF) is the problem of planning conflict-free paths from the designated start locations to goal positions for multiple agents. It underlies a variety of real-world tasks, including multi-robot coordination,…

The costly human effort required to prepare the training data of machine learning (ML) models hinders their practical development and usage in software engineering (ML4Code), especially for those with limited budgets. Therefore, efficiently…

The paper studies the highly prototypical Fictitious Play (FP) algorithm, as well as a broad class of learning processes based on best-response dynamics, that we refer to as FP-type algorithms. A well-known shortcoming of FP is that, while…

To identify a stationary action profile for a population of competitive agents, each executing private strategies, we introduce a novel active-learning scheme where a centralized external observer (or entity) can probe the agents' reactions…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set…

Advances in robotic skill acquisition have made it possible to build general-purpose libraries of learned skills for downstream manipulation tasks. However, naively executing these skills one after the other is unlikely to succeed without…

We propose a novel active learning framework for activity recognition using wearable sensors. Our work is unique in that it takes physical and cognitive limitations of the oracle into account when selecting sensor data to be annotated by…

Active learning shows promise to decrease test bench time for model-based drivability calibration. This paper presents a new strategy for active output selection, which suits the needs of calibration tasks. The strategy is actively learning…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

We present an active learning architecture that allows a robot to actively learn which data collection strategy is most efficient for acquiring motor skills to achieve multiple outcomes, and generalise over its experience to achieve new…

Classical learning assumes the learner is given a labeled data sample, from which it learns a model. The field of Active Learning deals with the situation where the learner begins not with a training sample, but instead with resources that…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

Although research has produced promising results demonstrating the utility of active inference (AIF) in Markov decision processes (MDPs), there is relatively less work that builds AIF models in the context of environments and problems that…