相关论文: Robot Fleet Learning via Policy Merging

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Federated learning learns from scattered data by fusing collaborative models from local nodes. However, due to chaotic information distribution, the model fusion may suffer from structural misalignment with regard to unmatched parameters.…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

In the expanding field of machine learning, federated learning has emerged as a pivotal methodology for distributed data environments, ensuring privacy while leveraging decentralized data sources. However, the heterogeneity of client data…

Emerging data-driven approaches, such as deep reinforcement learning (DRL), aim at on-the-field learning of powertrain control policies that optimize fuel economy and other performance metrics. Indeed, they have shown great potential in…

Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy…

The role of deep learning (DL) in robotics has significantly deepened over the last decade. Intelligent robotic systems today are highly connected systems that rely on DL for a variety of perception, control, and other tasks. At the same…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

This paper presents an innovative online portfolio selection model, situated within a meta-learning framework, that leverages a mixture policies strategy. The core idea is to simulate a fund that employs multiple fund managers, each skilled…

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and…

Recently, federated learning (FL) has emerged as a popular technique for edge AI to mine valuable knowledge in edge computing (EC) systems. To mitigate the computing/communication burden on resource-constrained workers and protect model…

Restrictive rules for data sharing in many industries have led to the development of federated learning. Federated learning is a machine-learning technique that allows distributed clients to train models collaboratively without the need to…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

We investigate the problem of transferring an expert policy from a source robot to multiple different robots. To solve this problem, we propose a method named $Meta$-$Evolve$ that uses continuous robot evolution to efficiently transfer the…

Autonomous vehicles (AVs) must interact with a diverse set of human drivers in heterogeneous geographic areas. Ideally, fleets of AVs should share trajectory data to continually re-train and improve trajectory forecasting models from…

Federated Learning (FL) is a distributed learning paradigm that can coordinate heterogeneous edge devices to perform model training without sharing private data. While prior works have focused on analyzing FL convergence with respect to…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…