相关论文: Towards Continual Reinforcement Learning for Quadr…

Reinforcement learning and probabilistic reasoning algorithms aim at learning from interaction experiences and reasoning with probabilistic contextual knowledge respectively. In this research, we develop algorithms for robot task…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…

After four decades of research there still exists a Classification accuracy gap of about 20% between our best Unsupervisedly Learned Representations methods and the accuracy rates achieved by intelligent animals. It thus may well be that we…

In many real-world scenarios, data to train machine learning models becomes available over time. Unfortunately, these models struggle to continually learn new concepts without forgetting what has been learnt in the past. This phenomenon is…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

Continual learning is a subfield of machine learning, which aims to allow machine learning models to continuously learn on new data, by accumulating knowledge without forgetting what was learned in the past. In this work, we take a step…

The combination of deep neural network models and reinforcement learning algorithms can make it possible to learn policies for robotic behaviors that directly read in raw sensory inputs, such as camera images, effectively subsuming both…

Despite remarkable achievements in artificial intelligence, the deployability of learning-enabled systems in high-stakes real-world environments still faces persistent challenges. For example, in safety-critical domains like autonomous…

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…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

Generalizing skill policies to novel conditions remains a key challenge in robot learning. Imitation learning methods, while data-efficient, are largely confined to the training region and consistently fail on input data outside it, leading…

This paper explores a deep learning based robot intelligent model that renders robots learn and reason for complex tasks. First, by constructing a network of environmental factor matrix to stimulate the learning process of the robot…

In this work we present a method for leveraging data from one source to learn how to do multiple new tasks. Task transfer is achieved using a self-model that encapsulates the dynamics of a system and serves as an environment for…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

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…