相关论文: Looking for a better fit? An Incremental Learning …

The increasing availability and diversity of multimodal data in recommender systems offer new avenues for enhancing recommendation accuracy and user satisfaction. However, these systems must contend with high-dimensional, sparse user-item…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

In this paper, we address the problem of reference tracking for uncertain nonlinear systems. Since collecting data from the target system (i.e., the system of interest) is often challenging, our objective is to design optimal controllers…

Fast execution of contact-rich manipulation is critical for practical deployment, yet providing fast demonstrations for imitation learning (IL) remains challenging: humans cannot demonstrate at high speed, and naively accelerating…

Scene understanding and object recognition is a difficult to achieve yet crucial skill for robots. Recently, Convolutional Neural Networks (CNN), have shown success in this task. However, there is still a gap between their performance on…

We study the problem of inverse reinforcement learning (IRL) with the added twist that the learner is assisted by a helpful teacher. More formally, we tackle the following algorithmic question: How could a teacher provide an informative…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Generating realistic human motions that naturally respond to both spoken language and physical objects is crucial for interactive digital experiences. Current methods, however, address speech-driven gestures or object interactions…

Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…

The recent adoption of artificial intelligence in socio-technical systems raises concerns about the black-box nature of the resulting decisions in fields such as hiring, finance, admissions, etc. If data subjects -- such as job applicants,…

Human drivers exhibit individual preferences regarding driving style. Adapting autonomous vehicles to these preferences is essential for user trust and satisfaction. However, existing end-to-end driving approaches often rely on predefined…

Existing progress in object keypoint estimation primarily benefits from the conventional supervised learning paradigm based on numerous data labeled with pre-defined keypoints. However, these well-trained models can hardly detect the…

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…

Experience-driven learning has emerged as a promising paradigm for enabling agents to improve from interaction trajectories by accumulating and reusing past experience. However, existing approaches are predominantly developed in textual…

Continual learning is essential for adapting models to new tasks while retaining previously acquired knowledge. While existing approaches predominantly focus on uni-modal data, multi-modal learning offers substantial benefits by utilizing…

Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…

General-purpose trajectory planning algorithms for automated driving utilize complex reward functions to perform a combined optimization of strategic, behavioral, and kinematic features. The specification and tuning of a single reward…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

In open-world environments, human-object interactions (HOIs) evolve continuously, challenging conventional closed-world HOI detection models. Inspired by humans' ability to progressively acquire knowledge, we explore incremental HOI…