相关论文: Focused Adaptation of Dynamics Models for Deformab…

A key human ability is to decompose a scene into distinct objects and use their relationships to understand the environment. Object-centric learning aims to mimic this process in an unsupervised manner. Recently, the slot attention-based…

The optimal tracking problem is addressed in the robotics literature by using a variety of robust and adaptive control approaches. However, these schemes are associated with implementation limitations such as applicability in uncertain…

Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

Developing policies that can adjust to non-stationary environments is essential for real-world reinforcement learning applications. However, learning such adaptable policies in offline settings, with only a limited set of pre-collected…

Random Forest (RF) is a successful paradigm for learning classifiers due to its ability to learn from large feature spaces and seamlessly integrate multi-class classification, as well as the achieved accuracy and processing efficiency.…

Modern deep models are trained on large real-world datasets, where data quality varies and redundancy is common. Data-centric approaches such as dataset pruning have shown promise in improving training efficiency and model performance.…

Flexible manufacturing processes demand robots to easily adapt to changes in the environment and interact with humans. In such dynamic scenarios, robotic tasks may be programmed through learning-from-demonstration approaches, where a…

In recent years, imitation learning has made progress in the field of robotic manipulation. However, it still faces challenges when addressing complex long-horizon tasks with deformable objects, such as high-dimensional state spaces,…

Data-driven approaches to modeling physical systems fail to generalize to unseen systems that share the same general dynamics with the learning domain, but correspond to different physical contexts. We propose a new framework for this key…

Source-free domain-adaptive object detection is an interesting but scarcely addressed topic. It aims at adapting a source-pretrained detector to a distinct target domain without resorting to source data during adaptation. So far, there is…

In this work, we consider the task of improving the accuracy of dynamic models for model predictive control (MPC) in an online setting. Although prediction models can be learned and applied to model-based controllers, these models are often…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

This paper addresses source component shift adaptation, aiming to update predictions adapting to source component shifts for incoming data streams based on past training data. Existing online learning methods often fail to utilize recurring…

Prediction models frequently face the challenge of concept drift, in which the underlying data distribution changes over time, weakening performance. Examples can include models which predict loan default, or those used in healthcare…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…

Understanding the world in terms of objects and the possible interplays with them is an important cognition ability, especially in robotics manipulation, where many tasks require robot-object interactions. However, learning such a…