相关论文: Learning to Sequence and Blend Robot Skills via Di…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

In this report we review memory-based meta-learning as a tool for building sample-efficient strategies that learn from past experience to adapt to any task within a target class. Our goal is to equip the reader with the conceptual…

In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…

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…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Classification is an important task in many fields including biomedical research and machine learning. Traditionally, a classification rule is constructed based a bunch of labeled data. Recently, due to technological innovation and…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Learning to make decisions from observed data in dynamic environments remains a problem of fundamental importance in a number of fields, from artificial intelligence and robotics, to medicine and finance. This paper concerns the problem of…

This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and…

Robot design optimization, imitation learning and system identification share a common problem which requires optimization over robot or task parameters at the same time as optimizing the robot motion. To solve these problems, we can use…

Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…

Recently, semantic video segmentation gained high attention especially for supporting autonomous driving systems. Deep learning methods made it possible to implement real time segmentation and object identification algorithms on videos.…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction. NTP takes as input a task specification (e.g.,…

Our goal is to provide a review of deep learning methods which provide insight into structured high-dimensional data. Rather than using shallow additive architectures common to most statistical models, deep learning uses layers of…

Job scheduling is a well-known Combinatorial Optimization problem with endless applications. Well planned schedules bring many benefits in the context of automated systems: among others, they limit production costs and waste. Nevertheless,…

Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…

Machine learning techniques have enabled robots to learn narrow, yet complex tasks and also perform broad, yet simple skills with a wide variety of objects. However, learning a model that can both perform complex tasks and generalize to…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…