相关论文: Incremental procedural and sensorimotor learning i…

This paper presents a technical approach to robot learning of motor skills which combines active intrinsically motivated learning with imitation learning. Our architecture, called SGIM-D, allows efficient learning of high-dimensional…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

Endowing robots with the human ability to learn a growing set of skills over the course of a lifetime as opposed to mastering single tasks is an open problem in robot learning. While multi-task learning approaches have been proposed to…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Equipping agents with memory is essential for solving real-world long-horizon problems. However, most existing agent memory mechanisms rely on static and hand-crafted workflows. This limits the performance and generalization ability of…

We present an approach to sensorimotor control in immersive environments. Our approach utilizes a high-dimensional sensory stream and a lower-dimensional measurement stream. The cotemporal structure of these streams provides a rich…

Artificial perception is traditionally handled by hand-designing task specific algorithms. However, a truly autonomous robot should develop perceptive abilities on its own, by interacting with its environment, and adapting to new…

Humans are highly effective at utilizing prior knowledge to adapt to novel tasks, a capability that standard machine learning models struggle to replicate due to their reliance on task-specific training. Meta-learning overcomes this…

Self-improvement requires robotic systems to initially learn from human-provided data and then gradually enhance their capabilities through interaction with the environment. This is similar to how humans improve their skills through…

We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…

Biological intelligence can learn to solve many diverse tasks in a data efficient manner by re-using basic knowledge and skills from one task to another. Furthermore, many of such skills are acquired without explicit supervision in an…

Human-robot interaction requires robots to process language incrementally, adapting their actions in real-time based on evolving speech input. Existing approaches to language-guided robot motion planning typically assume fully specified…

As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…

Cognitive cooperative assistance in robot-assisted surgery holds the potential to increase quality of care in minimally invasive interventions. Automation of surgical tasks promises to reduce the mental exertion and fatigue of surgeons. In…

Nowadays, robots become a companion in everyday life. To be well-accepted by humans, robots should efficiently understand meanings of their partners' motions and body language, and respond accordingly. Learning concepts by imitation brings…

The adaptation to users' preferences and the ability to infer and interpret humans' beliefs and intents, which is known as the Theory of Mind (ToM), are two crucial aspects for achieving effective human-robot collaboration. Despite its…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…

Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…

In this paper, a novel process has been developed to realize high-level complex cognitive behaviors into reactive agents, efficiently. This method paves the way for deducting high-level reactive behaviors from low-level perceptive…