相关论文: Evaluating Continual Learning on a Home Robot

Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

In recent years, Artificial Intelligence techniques have emerged as useful tools for solving various engineering problems that were not possible or convenient to handle by traditional methods. AI has directly influenced many areas of…

Training deep neural networks at the edge on light computational devices, embedded systems and robotic platforms is nowadays very challenging. Continual learning techniques, where complex models are incrementally trained on small batches of…

Meta-reinforcement learning (Meta-RL) facilitates rapid adaptation to unseen tasks but faces challenges in long-horizon environments. Skill-based approaches tackle this by decomposing state-action sequences into reusable skills and…

Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural language instructions, but doing so requires tedious human…

Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new environment and set of tasks to encourage development of tactile reinforcement…

Supervised Continual learning involves updating a deep neural network (DNN) from an ever-growing stream of labeled data. While most work has focused on overcoming catastrophic forgetting, one of the major motivations behind continual…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Continual learning is an emerging subject in machine learning that aims to solve multiple tasks presented sequentially to the learner without forgetting previously learned tasks. Recently, many deep learning based approaches have been…

Continual learning (CL) is a new online learning technique over sequentially generated streaming data from different tasks, aiming to maintain a small forgetting loss on previously-learned tasks. Existing work focuses on reducing the…

The widespread success of artificial intelligence in fields like natural language processing and computer vision has not yet fully transferred to robotics, where progress is hindered by the lack of large-scale training data and the…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

This paper presents a work-in-progress on a learn-ing system that will provide robotics students with a personalized learning environment. This addresses both the scarcity of skilled robotics instructors, particularly in community colleges…

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…

Autonomous open-ended learning is a relevant approach in machine learning and robotics, allowing the design of artificial agents able to acquire goals and motor skills without the necessity of user assigned tasks. A crucial issue for this…

Even though intelligent systems such as Siri or Google Assistant are enjoyable (and useful) dialog partners, users can only access predefined functionality. Enabling end-users to extend the functionality of intelligent systems will be the…

Robot learning holds the promise of learning policies that generalize broadly. However, such generalization requires sufficiently diverse datasets of the task of interest, which can be prohibitively expensive to collect. In other fields,…

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…

Deep Reinforcement Learning (DeepRL) methods have been widely used in robotics to learn about the environment and acquire behaviors autonomously. Deep Interactive Reinforcement Learning (DeepIRL) includes interactive feedback from an…