相关论文: Similarity-Aware Skill Reproduction based on Multi…

During the last decades, learning a low-dimensional space with discriminative information for dimension reduction (DR) has gained a surge of interest. However, it's not accessible for these DR methods to achieve satisfactory performance…

In reinforcement learning with sparse rewards, demonstrations can accelerate learning, but determining when to imitate them remains challenging. We propose Smooth Policy Regularisation from Demonstrations (SPReD), a framework that addresses…

Federated learning (FL) has gain growing interests for its capability of learning from distributed data sources collectively without the need of accessing the raw data samples across different sources. So far FL research has mostly focused…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

The goal of programmatic Learning from Demonstration (LfD) is to learn a policy in a programming language that can be used to control a robot's behavior from a set of user demonstrations. This paper presents a new programmatic LfD algorithm…

In current deep learning paradigms, local training or the Standalone framework tends to result in overfitting and thus poor generalizability. This problem can be addressed by Distributed or Federated Learning (FL) that leverages a parameter…

To use new robot hardware in a new environment, it is necessary to develop a control program tailored to that specific robot in that environment. Considering the reusability of software among robots is crucial to minimize the effort…

The learning efficiency and generalization ability of an intelligent agent can be greatly improved by utilizing a useful set of skills. However, the design of robot skills can often be intractable in real-world applications due to the…

Learning from Demonstration~(LfD) should capture not only how a task is executed, but also its high-level task structure that explains the demonstrated behavior. As robots become more autonomous, such task representations must be…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Demonstration is an appealing way for humans to provide assistance to reinforcement-learning agents. Most approaches in this area view demonstrations primarily as sources of behavioral bias. But in sparse-reward tasks, humans seem to treat…

Methods for teaching motion skills to robots focus on training for a single skill at a time. Robots capable of learning from demonstration can considerably benefit from the added ability to learn new movement skills without forgetting what…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

Developing learning methods which do not discriminate subgroups in the population is a central goal of algorithmic fairness. One way to reach this goal is by modifying the data representation in order to meet certain fairness constraints.…

Federated learning is a distributed, privacy-aware learning scenario which trains a single model on data belonging to several clients. Each client trains a local model on its data and the local models are then aggregated by a central party.…

Defining similarity measures is a requirement for some machine learning methods. One such method is case-based reasoning (CBR) where the similarity measure is used to retrieve the stored case or set of cases most similar to the query case.…

Robot reinforcement learning from demonstrations (RLfD) assumes that expert data is abundant; this is usually unrealistic in the real world given data scarcity as well as high collection cost. Furthermore, imitation learning algorithms…

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its…

This paper provides a structured and practical roadmap for practitioners to integrate Learning from Demonstration (LfD ) into manufacturing tasks, with a specific focus on industrial manipulators. Motivated by the paradigm shift from mass…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…