相关论文: Controllability-Aware Unsupervised Skill Discovery

Quality-Diversity algorithms provide efficient mechanisms to generate large collections of diverse and high-performing solutions, which have shown to be instrumental for solving downstream tasks. However, most of those algorithms rely on a…

Unsupervised Skill Discovery (USD) allows agents to autonomously learn diverse behaviors without task-specific rewards. While recent USD methods have shown promise, their application to real-world robotics remains underexplored. In this…

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…

Change detection for remote sensing images is widely applied for urban change detection, disaster assessment and other fields. However, most of the existing CNN-based change detection methods still suffer from the problem of inadequate…

Unsupervised goal-conditioned reinforcement learning (GCRL) is a promising paradigm for developing diverse robotic skills without external supervision. However, existing unsupervised GCRL methods often struggle to cover a wide range of…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

To successfully tackle challenging manipulation tasks, autonomous agents must learn a diverse set of skills and how to combine them. Recently, self-supervised agents that set their own abstract goals by exploiting the discovered structure…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Unsupervised learning is a discipline of machine learning which aims at discovering patterns in big data sets or classifying the data into several categories without being trained explicitly. We show that unsupervised learning techniques…

One of the main challenges in the vision-based grasping is the selection of feasible grasp regions while interacting with novel objects. Recent approaches exploit the power of the convolutional neural network (CNN) to achieve accurate…

Continual self-supervised learning (CSSL) methods have gained increasing attention in remote sensing (RS) due to their capability to learn new tasks sequentially from continuous streams of unlabeled data. Existing CSSL methods, while…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…

Deep convolutional neural networks (CNNs) have demonstrated remarkable success in computer vision by supervisedly learning strong visual feature representations. However, training CNNs relies heavily on the availability of exhaustive…

We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…

Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…

Training automated agents to complete complex tasks in interactive environments is challenging: reinforcement learning requires careful hand-engineering of reward functions, imitation learning requires specialized infrastructure and access…

We address the problem of discovering part segmentations of articulated objects without supervision. In contrast to keypoints, part segmentations provide information about part localizations on the level of individual pixels. Capturing both…

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…