相关论文: Controllability-Aware Unsupervised Skill Discovery

Common-sense physical reasoning is an essential ingredient for any intelligent agent operating in the real-world. For example, it can be used to simulate the environment, or to infer the state of parts of the world that are currently…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…

The prevalent approaches of unsupervised 3D object detection follow cluster-based pseudo-label generation and iterative self-training processes. However, the challenge arises due to the sparsity of LiDAR scans, which leads to pseudo-labels…

Conversational machine reading (CMR) tools have seen a rapid progress in the recent past. The current existing tools rely on the supervised learning technique which require labeled dataset for their training. The supervised technique…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Acquiring abilities in the absence of a task-oriented reward function is at the frontier of reinforcement learning research. This problem has been studied through the lens of empowerment, which draws a connection between option discovery…

Designing provably safe control is a core problem in trustworthy autonomy. However, most prior work in this regard assumes either that the system dynamics are known or deterministic, or that the state and action space are finite,…

This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…

This paper presents a technique called evolving self-supervised neural networks - neural networks that can teach themselves, intrinsically motivated, without external supervision or reward. The proposed method presents some sort-of paradigm…

Robot manipulation relying on learned object-centric descriptors became popular in recent years. Visual descriptors can easily describe manipulation task objectives, they can be learned efficiently using self-supervision, and they can…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

Self-supervised learning aims to learn representations from the data itself without explicit manual supervision. Existing efforts ignore a crucial aspect of self-supervised learning - the ability to scale to large amount of data because…

We consider the problem of safely exploring a static and unknown environment while learning valid control barrier functions (CBFs) from sensor data. Existing works either assume known environments, target specific dynamics models, or use…

Semi-supervised object detection (SSOD) aims to facilitate the training and deployment of object detectors with the help of a large amount of unlabeled data. Though various self-training based and consistency-regularization based SSOD…

Stripe-like space target detection (SSTD) is crucial for space situational awareness. Traditional unsupervised methods often fail in low signal-to-noise ratio and variable stripe-like space targets scenarios, leading to weak generalization.…

The ability to continuously acquire new knowledge and skills is crucial for autonomous agents. Existing methods are typically based on either fixed-size models that struggle to learn a large number of diverse behaviors, or growing-size…

In this thesis, we explore the use of complex systems to study learning and adaptation in natural and artificial systems. The goal is to develop autonomous systems that can learn without supervision, develop on their own, and become…

Machine Unlearning is rising as a new field, driven by the pressing necessity of ensuring privacy in modern artificial intelligence models. This technique primarily aims to eradicate any residual influence of a specific subset of data from…

Robots must know how to be gentle when they need to interact with fragile objects, or when the robot itself is prone to wear and tear. We propose an approach that enables deep reinforcement learning to train policies that are gentle, both…