相关论文: Autonomous Curiosity for Real-Time Training Onboar…

Agents in real-world scenarios like automated driving deal with uncertainty in their environment, in particular due to perceptual uncertainty. Although, reinforcement learning is dedicated to autonomous decision-making under uncertainty…

Although there are many approaches to implement intrinsically motivated artificial agents, the combined usage of multiple intrinsic drives remains still a relatively unexplored research area. Specifically, we hypothesize that a mechanism…

When encountering novel objects, humans are able to infer a wide range of physical properties such as mass, friction and deformability by interacting with them in a goal driven way. This process of active interaction is in the same spirit…

This paper introduces a novel combination of scheduling control on a flexible robot manufacturing cell with curiosity based reinforcement learning. Reinforcement learning has proved to be highly successful in solving tasks like robotics and…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

Reinforcement Learning (RL) agents often exhibit learning behaviors that are not intuitively interpretable by human observers, which can result in suboptimal feedback in collaborative teaching settings. Yet, how humans perceive and…

This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…

Exploration is a prerequisite for learning useful behaviors in sparse-reward, long-horizon tasks, particularly within 3D environments. Curiosity-driven reinforcement learning addresses this via intrinsic rewards derived from the mismatch…

Robots can learn the right reward function by querying a human expert. Existing approaches attempt to choose questions where the robot is most uncertain about the human's response; however, they do not consider how easy it will be for the…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

We present a robotic exploration technique in which the goal is to learn to a visual model and be able to distinguish between different terrains and other visual components in an unknown environment. We use ROST, a realtime online…

Observational learning is a type of learning that occurs as a function of observing, retaining and possibly replicating or imitating the behaviour of another agent. It is a core mechanism appearing in various instances of social learning…

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

It is common to implicitly assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is itself a major challenge. We address the problem of learning to look around:…

Humans and animals explore their environment and acquire useful skills even in the absence of clear goals, exhibiting intrinsic motivation. The study of intrinsic motivation in artificial agents is concerned with the following question:…

Curiosity-based reward schemes can present powerful exploration mechanisms which facilitate the discovery of solutions for complex, sparse or long-horizon tasks. However, as the agent learns to reach previously unexplored spaces and the…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…