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

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

This paper introduces self-paced task selection to multitask learning, where instances from more closely related tasks are selected in a progression of easier-to-harder tasks, to emulate an effective human education strategy, but applied to…

Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system,…

This paper explores a deep learning based robot intelligent model that renders robots learn and reason for complex tasks. First, by constructing a network of environmental factor matrix to stimulate the learning process of the robot…

In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilistic and Bayesian to frequentist approaches. Meanwhile, ample…

Deep neural networks have recently achieved state of the art performance thanks to new training algorithms for rapid parameter estimation and new regularization methods to reduce overfitting. However, in practice the network architecture…

Quality-Diversity (QD) algorithms are powerful exploration algorithms that allow robots to discover large repertoires of diverse and high-performing skills. However, QD algorithms are sample inefficient and require millions of evaluations.…

Robot manipulation in real-world settings often requires adapting the robot's behavior to the current situation, such as by changing the sequences in which policies execute to achieve the desired task. Problematically, however, we show that…

How do neural networks trained over sequences acquire the ability to perform structured operations, such as arithmetic, geometric, and algorithmic computation? To gain insight into this question, we introduce the sequential group…

We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…

Robotic surface-interaction tasks, such as spray painting or welding, require both accurate geometric planning and precise motion execution. While modern motion planners generate valid geometric paths, they often lack the expert motor…

Artificial intelligence has made remarkable progress in handling complex tasks, thanks to advances in hardware acceleration and machine learning algorithms. However, to acquire more accurate outcomes and solve more complex issues,…

We propose an active learning architecture for robots, capable of organizing its learning process to achieve a field of complex tasks by learning sequences of motor policies, called Intrinsically Motivated Procedure Babbling (IM-PB). The…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Task sequencing (TS) is one of the core open problems in Deep Learning, arising in a plethora of real-world domains, from robotic assembly lines to autonomous driving. Unfortunately, prior work has not convincingly demonstrated the…

For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

The ubiquity of AI leads to situations where humans and AI work together, creating the need for learning-to-defer algorithms that determine how to partition tasks between AI and humans. We work to improve learning-to-defer algorithms when…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…