相关论文: Robot Fleet Learning via Policy Merging

Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key challenges in policy learning involves handling complex,…

Many current behavior generation methods struggle to handle real-world traffic situations as they do not scale well with complexity. However, behaviors can be learned off-line using data-driven approaches. Especially, reinforcement learning…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…

Federated learning (FL) enables edge-devices to collaboratively learn a model without disclosing their private data to a central aggregating server. Most existing FL algorithms require models of identical architecture to be deployed across…

We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…

This paper studies how global dynamics and knowledge of high-level features can inform decision-making for robots in flow-like environments. Specifically, we investigate how coherent sets, an environmental feature found in these…

Large-scale online ride-sharing platforms have substantially transformed our lives by reallocating transportation resources to alleviate traffic congestion and promote transportation efficiency. An efficient fleet management strategy not…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Machine learning algorithms can perform well when trained on large datasets. While large organisations often have considerable data assets, it can be difficult for these assets to be unified in a manner that makes training possible. Data is…

Integrating knowledge across different domains is an essential feature of human learning. Learning paradigms such as transfer learning, meta-learning, and multi-task learning reflect the human learning process by exploiting the prior…

Federated learning has emerged as a promising approach for training machine learning models on decentralized data sources while preserving data privacy. However, challenges such as communication bottlenecks, heterogeneity of client devices,…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

Federated Learning (FL) is an emerging distributed machine learning paradigm, where the collaborative training of a model involves dynamic participation of devices to achieve broad objectives. In contrast, classical machine learning (ML)…

We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capabilities of robotic systems. Predictive models provide an…

In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that…

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…

Federated Learning is a distributed machine learning approach that enables geographically distributed data silos to collaboratively learn a joint machine learning model without sharing data. Most of the existing work operates on…

Centralized learning requires data to be aggregated at a central server, which poses significant challenges in terms of data privacy and bandwidth consumption. Federated learning presents a compelling alternative, however, vanilla federated…