相关论文: CASOG: Conservative Actor-critic with SmOoth Gradi…

Solving sequential decision prediction problems, including those in imitation learning settings, requires mitigating the problem of covariate shift. The standard approach, DAgger, relies on capturing expert behaviour in all states that the…

Many robot manipulation skills can be represented with deterministic characteristics and there exist efficient techniques for learning parameterized motor plans for those skills. However, one of the active research challenge still remains…

We introduce biased gradient oracles to capture a setting where the function measurements have an estimation error that can be controlled through a batch size parameter. Our proposed oracles are appealing in several practical contexts, for…

Unsupervised object-centric learning from videos is a promising approach towards learning compositional representations that can be applied to various downstream tasks, such as prediction and reasoning. Recently, it was shown that…

Localization of the narrowest position of the vessel and corresponding vessel and remnant vessel delineation in carotid ultrasound (US) are essential for carotid stenosis grading (CSG) in clinical practice. However, the pipeline is…

We propose a novel criterion for evaluating user input for human-robot interfaces for known tasks. We use the mode insertion gradient (MIG)---a tool from hybrid control theory---as a filtering criterion that instantaneously assesses the…

The distributional perspective on reinforcement learning (RL) has given rise to a series of successful Q-learning algorithms, resulting in state-of-the-art performance in arcade game environments. However, it has not yet been analyzed how…

In recent years, deep off-policy actor-critic algorithms have become a dominant approach to reinforcement learning for continuous control. One of the primary drivers of this improved performance is the use of pessimistic value updates to…

Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…

With the increasing demand for efficient and flexible robotic exploration solutions, Reinforcement Learning (RL) is becoming a promising approach in the field of autonomous robotic exploration. However, current RL-based exploration…

In this paper, we introduce Haptic-Informed ACT, an advanced robotic system for pseudo oocyte manipulation, integrating multimodal information and Action Chunking with Transformers (ACT). Traditional automation methods for oocyte transfer…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Offline-to-online (O2O) reinforcement learning (RL) pre-trains models on offline data and refines policies through online fine-tuning. However, existing O2O RL algorithms typically require maintaining the tedious offline datasets to…

Video salient object detection (VSOD) aims to locate and segment the most attractive object by exploiting both spatial cues and temporal cues hidden in video sequences. However, spatial and temporal cues are often unreliable in real-world…

In this paper we propose a novel gradient algorithm to learn a policy from an expert's observed behavior assuming that the expert behaves optimally with respect to some unknown reward function of a Markovian Decision Problem. The…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Deep Q-learning algorithms often suffer from poor gradient estimations with an excessive variance, resulting in unstable training and poor sampling efficiency. Stochastic variance-reduced gradient methods such as SVRG have been applied to…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…