相关论文: Task-Agnostic Learning to Accomplish New Tasks

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…

Reinforcement Learning (RL) in various decision-making tasks of machine learning provides effective results with an agent learning from a stand-alone reward function. However, it presents unique challenges with large amounts of environment…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

Machine Learning (ML) models struggle with data that changes over time or across domains due to factors such as noise, occlusion, illumination, or frequency, unlike humans who can learn from such non independent and identically distributed…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…

Active learning (AL) is a widely-used training strategy for maximizing predictive performance subject to a fixed annotation budget. In AL one iteratively selects training examples for annotation, often those for which the current model is…

Active Learning (AL) is a well-known standard method for efficiently obtaining annotated data by first labeling the samples that contain the most information based on a query strategy. In the past, a large variety of such query strategies…

Central to the development of universal learning systems is the ability to solve multiple tasks without retraining from scratch when new data arrives. This is crucial because each task requires significant training time. Addressing the…

Reinforcement learning (RL) is well known for requiring large amounts of data in order for RL agents to learn to perform complex tasks. Recent progress in model-based RL allows agents to be much more data-efficient, as it enables them to…

Reinforcement learning (RL) is a sub-domain of machine learning, mainly concerned with solving sequential decision-making problems by a learning agent that interacts with the decision environment to improve its behavior through the reward…

We introduce TAM-RL (Task Aware Modulation using Representation Learning), a novel multimodal meta-learning framework for few-shot learning in heterogeneous systems, designed for science and engineering problems where entities share a…

Class incremental learning (CIL) is a challenging setting of continual learning, which learns a series of tasks sequentially. Each task consists of a set of unique classes. The key feature of CIL is that no task identifier (or task-id) is…

Task and motion planning (TAMP) for robotics manipulation necessitates long-horizon reasoning involving versatile actions and skills. While deterministic actions can be crafted by sampling or optimizing with certain constraints, planning…

Multi-task learning is central to many real-world applications. Unfortunately, obtaining labelled data for all tasks is time-consuming, challenging, and expensive. Active Learning (AL) can be used to reduce this burden. Existing techniques…

Auxiliary Learning (AL) is a form of multi-task learning in which a model trains on auxiliary tasks to boost performance on a primary objective. While AL has improved generalization across domains such as navigation, image classification,…

Reinforcement Learning (RL) bears the promise of being a game-changer in many applications. However, since most of the literature in the field is currently focused on opaque models, the use of RL in high-stakes scenarios, where…

In recent years, the development of robotics and artificial intelligence (AI) systems has been nothing short of remarkable. As these systems continue to evolve, they are being utilized in increasingly complex and unstructured environments,…

The effectiveness of model training heavily relies on the quality of available training resources. However, budget constraints often impose limitations on data collection efforts. To tackle this challenge, we introduce causal exploration in…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

We present the problem of inverse constraint learning (ICL), which recovers constraints from demonstrations to autonomously reproduce constrained skills in new scenarios. However, ICL suffers from an ill-posed nature, leading to inaccurate…