相关论文: Back to Reality for Imitation Learning

Although the notion of task similarity is potentially interesting in a wide range of areas such as curriculum learning or automated planning, it has mostly been tied to transfer learning. Transfer is based on the idea of reusing the…

User's intentions may be expressed through spontaneous gesturing, which have been seen only a few times or never before. Recognizing such gestures involves one shot gesture learning. While most research has focused on the recognition of the…

This article surveys reinforcement learning approaches in social robotics. Reinforcement learning is a framework for decision-making problems in which an agent interacts through trial-and-error with its environment to discover an optimal…

There is an analogy between machine learning systems and economic entities in that they are both adaptive, and their behaviour is specified in a more-or-less explicit way. It appears that the area of AI that is most analogous to the…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

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…

Imitation learning enables agents to reuse and adapt the hard-won expertise of others, offering a solution to several key challenges in learning behavior. Although it is easy to observe behavior in the real-world, the underlying actions may…

Robots of the future are going to exhibit increasingly human-like and super-human intelligence in a myriad of different tasks. They are also likely going to fail and be incompliant with human preferences in increasingly subtle ways. Towards…

Artificial intelligence recently had a great advancements caused by the emergence of new processing power and machine learning methods. Having said that, the learning capability of artificial intelligence is still at its infancy comparing…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

When a robot learns from human examples, most approaches assume that the human partner provides examples of optimal behavior. However, there are applications in which the robot learns from non-expert humans. We argue that the robot should…

Time perception is the phenomenological experience of time by an individual. In this paper, we study how to replicate neural mechanisms involved in time perception, allowing robots to take a step towards temporal cognition. Our framework…

The robotics research field lacks formalized definitions and frameworks for evaluating advanced capabilities including generalizability (the ability for robots to perform tasks under varied contexts) and reproducibility (the performance of…

To collaborate well with robots, we must be able to understand their decision making. Humans naturally infer other agents' beliefs and desires by reasoning about their observable behavior in a way that resembles inverse reinforcement…

AI technologies, including deep learning, large-language models have gone from one breakthrough to the other. As a result, we are witnessing growing excitement in robotics at the prospect of leveraging the potential of AI to tackle some of…

Machine learning models are vulnerable to adversarial attacks, including attacks that leak information about the model's training data. There has recently been an increase in interest about how to best address privacy concerns, especially…

Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not…

Real-world reinforcement learning (RL) environments, whether in robotics or industrial settings, often involve non-visual observations and require not only efficient but also reliable and thus interpretable and flexible RL approaches. To…

Self-Modeling is the process by which an agent, such as an animal or machine, learns to create a predictive model of its own dynamics. Once captured, this self-model can then allow the agent to plan and evaluate various potential behaviors…

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…