相关论文: Learning and Extrapolation of Robotic Skills using…

This paper proposes a simple but highly efficient expansion-based model for continual learning. The recent feature transformation, masking and factorization-based methods are efficient, but they grow the model only over the global or shared…

Much like humans, robots should have the ability to leverage knowledge from previously learned tasks in order to learn new tasks quickly in new and unfamiliar environments. Despite this, most robot learning approaches have focused on…

Conventional continual pretraining (CPT) for large language model (LLM) domain adaptation often suffers from catastrophic forgetting and limited domain capacity. Existing strategies adopt layer expansion, introducing additional trainable…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

When cast into the Deep Reinforcement Learning framework, many robotics tasks require solving a long horizon and sparse reward problem, where learning algorithms struggle. In such context, Imitation Learning (IL) can be a powerful approach…

This work presents a novel loss function for learning nonlinear Model Predictive Control policies via Imitation Learning. Standard approaches to Imitation Learning neglect information about the expert and generally adopt a loss function…

In this paper, we introduce a novel concept for learning of the parameters in a neural network. Our idea is grounded on modeling a learning problem that addresses a trade-off between (i) satisfying local objectives at each node and (ii)…

Machine learning has revolutionized materials property prediction, yet fails catastrophically when extrapolating beyond training distributions-precisely the capability required for discovering unprecedented materials. Graph neural networks…

Imitation learning is a popular method for teaching robots new behaviors. However, most existing methods focus on teaching short, isolated skills rather than long, multi-step tasks. To bridge this gap, imitation learning algorithms must not…

Many successful deep learning architectures are equivariant to certain transformations in order to conserve parameters and improve generalization: most famously, convolution layers are equivariant to shifts of the input. This approach only…

Meta-learning enables algorithms to quickly learn a newly encountered task with just a few labeled examples by transferring previously learned knowledge. However, the bottleneck of current meta-learning algorithms is the requirement of a…

This paper explores learning emulators for parameter estimation with uncertainty estimation of high-dimensional dynamical systems. We assume access to a computationally complex simulator that inputs a candidate parameter and outputs a…

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can…

When using recurrent neural networks (RNNs) it is common practice to apply trained models to sequences longer than those seen in training. This "extrapolating" usage deviates from the traditional statistical learning setup where guarantees…

We study the knowledge extrapolation problem to embed new components (i.e., entities and relations) that come with emerging knowledge graphs (KGs) in the federated setting. In this problem, a model trained on an existing KG needs to embed…

Deep Reinforcement Learning (RL) has demonstrated success in solving complex sequential decision-making problems by integrating neural networks with the RL framework. However, training deep RL models poses several challenges, such as the…

In the last few years, the solution to Knowledge Graph (KG) completion via learning embeddings of entities and relations has attracted a surge of interest. Temporal KGs(TKGs) extend traditional Knowledge Graphs (KGs) by associating static…

Modern learning systems excel at interpolation but struggle to generalize to unseen tasks outside the training distribution's support. This failure occurs even in simple settings, such as handling task parameters beyond the training range,…

One challenge of motion generation using robot learning from demonstration techniques is that human demonstrations follow a distribution with multiple modes for one task query. Previous approaches fail to capture all modes or tend to…

Learning curve extrapolation predicts neural network performance from early training epochs and has been applied to accelerate AutoML, facilitating hyperparameter tuning and neural architecture search. However, existing methods typically…