相关论文: Towards a Framework for Comparing the Complexity o…

We identify an issue in multi-task learnable compression, in which a representation learned for one task does not positively contribute to the rate-distortion performance of a different task as much as expected, given the estimated amount…

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…

As robots are increasingly deployed in real-world scenarios, a key question is how to best transfer knowledge learned in one environment to another, where shifting constraints and human preferences render adaptation challenging. A central…

In this work, we contribute a large-scale study benchmarking the performance of multiple motion-based learning from demonstration approaches. Given the number and diversity of existing methods, it is critical that comprehensive empirical…

Active learning is a decision-making process. In both abstract and physical settings, active learning demands both analysis and action. This is a review of active learning in robotics, focusing on methods amenable to the demands of embodied…

As robots gain capabilities to enter our human-centric world, they require formalism and algorithms that enable smart and efficient interactions. This is challenging, especially for robotic manipulators with complex tasks that may require…

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…

Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…

When reasoning about actions, e.g., by means of task planning or agent programming with Golog, the robot's actions are typically modeled on an abstract level, where complex actions such as picking up an object are treated as atomic…

We consider a multitask learning problem, in which several predictors are learned jointly. Prior research has shown that learning the relations between tasks, and between the input features, together with the predictor, can lead to better…

We investigate replicable learning algorithms. Ideally, we would like to design algorithms that output the same canonical model over multiple runs, even when different runs observe a different set of samples from the unknown data…

Sentence simplification is the task of rewriting texts so they are easier to understand. Recent research has applied sequence-to-sequence (Seq2Seq) models to this task, focusing largely on training-time improvements via reinforcement…

Text simplification reduces the language complexity of professional content for accessibility purposes. End-to-end neural network models have been widely adopted to directly generate the simplified version of input text, usually functioning…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

Multi-Task Learning is a learning paradigm that uses correlated tasks to improve performance generalization. A common way to learn multiple tasks is through the hard parameter sharing approach, in which a single architecture is used to…

As the complexity of multi-robot systems grows to incorporate a greater number of robots, more complex tasks, and longer time horizons, the solutions to such problems often become too complex to be fully intelligible to human users. In this…

Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…

When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire…

The code performance of industrial robots is typically analyzed through CPU metrics, which overlook the physical impact of code on robot behavior. This study introduces a novel framework for assessing robot program performance from an…

The theory of computational complexity focuses on functions and, hence, studies programs whose interactive behavior is reduced to a simple question/answer pattern. We propose a broader theory whose ultimate goal is expressing and analyzing…