相关论文: Cross Domain Policy Transfer with Effect Cycle-Con…

The ability to act in multiple environments and transfer previous knowledge to new situations can be considered a critical aspect of any intelligent agent. Towards this goal, we define a novel method of multitask and transfer learning that…

Methods of transfer learning try to combine knowledge from several related tasks (or domains) to improve performance on a test task. Inspired by causal methodology, we relax the usual covariate shift assumption and assume that it holds true…

Practical learning-based autonomous driving models must be capable of generalizing learned behaviors from simulated to real domains, and from training data to unseen domains with unusual image properties. In this paper, we investigate…

With the proliferation of social media platforms and e-commerce sites, several cross-domain collaborative filtering strategies have been recently introduced to transfer the knowledge of user preferences across domains. The main challenge of…

The performance of a machine learning model degrades when it is applied to data from a similar but different domain than the data it has initially been trained on. To mitigate this domain shift problem, domain adaptation (DA) techniques…

Transfer Learning (TL) has shown great potential to accelerate Reinforcement Learning (RL) by leveraging prior knowledge from past learned policies of relevant tasks. Existing transfer approaches either explicitly computes the similarity…

Traditional controllers have limitations as they rely on prior knowledge about the physics of the problem, require modeling of dynamics, and struggle to adapt to abnormal situations. Deep reinforcement learning has the potential to address…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

Transfer reinforcement learning (RL) methods leverage on the experience collected on a set of source tasks to speed-up RL algorithms. A simple and effective approach is to transfer samples from source tasks and include them into the…

We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using…

Animals are able to imitate each others' behavior, despite their difference in biomechanics. In contrast, imitating the other similar robots is a much more challenging task in robotics. This problem is called cross domain imitation…

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…

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…

Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…

We present a scalable framework for cross-embodiment humanoid robot control by learning a shared latent representation that unifies motion across humans and diverse humanoid platforms, including single-arm, dual-arm, and legged humanoid…

In real-life applications, machine learning models often face scenarios where there is a change in data distribution between training and test domains. When the aim is to make predictions on distributions different from those seen at…

In the robotics literature, different knowledge transfer approaches have been proposed to leverage the experience from a source task or robot -- real or virtual -- to accelerate the learning process on a new task or robot. A commonly made…

In dynamic decision-making scenarios across business and healthcare, leveraging sample trajectories from diverse populations can significantly enhance reinforcement learning (RL) performance for specific target populations, especially when…