相关论文: Neural Task Success Classifiers for Robotic Manipu…

The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

Learning models of artificial intelligence can nowadays perform very well on a large variety of tasks. However, in practice different task environments are best handled by different learning models, rather than a single, universal,…

Machine learning models are typically deployed in a test setting that differs from the training setting, potentially leading to decreased model performance because of domain shift. If we could estimate the performance that a pre-trained…

Deep neural networks are highly effective when a large number of labeled samples are available but fail with few-shot classification tasks. Recently, meta-learning methods have received much attention, which train a meta-learner on massive…

The successful application of modern machine learning for time series classification is often hampered by limitations in quality and quantity of available training data. To overcome these limitations, available domain expert knowledge in…

Conventional classifiers are trained and evaluated using balanced data sets in which all classes are equally present. Classifiers are now trained on large data sets such as ImageNet, and are now able to classify hundreds (if not thousands)…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

The ability to learn new concepts with small amounts of data is a critical aspect of intelligence that has proven challenging for deep learning methods. Meta-learning has emerged as a promising technique for leveraging data from previous…

Efficient action prediction is of central importance for the fluent workflow between humans and equally so for human-robot interaction. To achieve prediction, actions can be encoded by a series of events, where every event corresponds to a…

Imitation learning has been commonly applied to solve different tasks in isolation. This usually requires either careful feature engineering, or a significant number of samples. This is far from what we desire: ideally, robots should be…

Machine learning methods adapt the parameters of a model, constrained to lie in a given model class, by using a fixed learning procedure based on data or active observations. Adaptation is done on a per-task basis, and retraining is needed…

Typically a classifier trained on a given dataset (source domain) does not performs well if it is tested on data acquired in a different setting (target domain). This is the problem that domain adaptation (DA) tries to overcome and, while…

We introduce a new representation learning algorithm suited to the context of domain adaptation, in which data at training and test time come from similar but different distributions. Our algorithm is directly inspired by theory on domain…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Few-shot learning aims to adapt knowledge learned from previous tasks to novel tasks with only a limited amount of labeled data. Research literature on few-shot learning exhibits great diversity, while different algorithms often excel at…

Standard meta-learning for representation learning aims to find a common representation to be shared across multiple tasks. The effectiveness of these methods is often limited when the nuances of the tasks' distribution cannot be captured…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…