相关论文: Provable Hierarchical Lifelong Learning with a Ske…

In lifelong learning systems based on artificial neural networks, one of the biggest obstacles is the inability to retain old knowledge as new information is encountered. This phenomenon is known as catastrophic forgetting. In this paper,…

Model-free reinforcement learning algorithms have exhibited great potential in solving single-task sequential decision-making problems with high-dimensional observations and long horizons, but are known to be hard to generalize across…

Self-organization is ubiquitous in nature and mind. However, machine learning and theories of cognition still barely touch the subject. The hurdle is that general patterns are difficult to define in terms of dynamical equations and…

It is challenging learning from demonstrated observation-only trajectories in a non-time-aligned environment because most imitation learning methods aim to imitate experts by following the demonstration step-by-step. However, aligned…

We introduce the eigentask framework for lifelong learning. An eigentask is a pairing of a skill that solves a set of related tasks, paired with a generative model that can sample from the skill's input space. The framework extends…

We present a modular approach for learning policies for navigation over long planning horizons from language input. Our hierarchical policy operates at multiple timescales, where the higher-level master policy proposes subgoals to be…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Neural memory enables fast adaptation to new tasks with just a few training samples. Existing memory models store features only from the single last layer, which does not generalize well in presence of a domain shift between training and…

Humans have the capability, aided by the expressive compositionality of their language, to learn quickly by demonstration. They are able to describe unseen task-performing procedures and generalize their execution to other contexts. In this…

Continual learning refers to the capability of a machine learning model to learn and adapt to new information, without compromising its performance on previously learned tasks. Although several studies have investigated continual learning…

We propose a lifelong learning system that has the ability to reuse and transfer knowledge from one task to another while efficiently retaining the previously learned knowledge-base. Knowledge is transferred by learning reusable skills to…

According to cognitive psychology and related disciplines, the development of complex problem-solving behaviour in biological agents depends on hierarchical cognitive mechanisms. Hierarchical reinforcement learning is a promising…

During modeling of dynamical systems, often two or more model architectures are combined to obtain a more powerful or efficient model regarding a specific application area. This covers the combination of multiple machine learning…

Compared with traditional deep learning techniques, continual learning enables deep neural networks to learn continually and adaptively. Deep neural networks have to learn new tasks and overcome forgetting the knowledge obtained from the…

Humans can continuously learn new knowledge. However, machine learning models suffer from drastic dropping in performance on previous tasks after learning new tasks. Cognitive science points out that the competition of similar knowledge is…

Training deep feature hierarchies to solve supervised learning tasks has achieved state of the art performance on many problems in computer vision. However, a principled way in which to train such hierarchies in the unsupervised setting has…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

We provide a summary over architectural approaches that can be used to construct dependable learning-enabled autonomous systems, with a focus on automated driving. We consider three technology pillars for architecting dependable autonomy,…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Recent research efforts in lifelong learning propose to grow a mixture of models to adapt to an increasing number of tasks. The proposed methodology shows promising results in overcoming catastrophic forgetting. However, the theory behind…