相关论文: Visual Episodic Memory-based Exploration

The problem of object localization and recognition on autonomous mobile robots is still an active topic. In this context, we tackle the problem of learning a model of visual saliency directly on a robot. This model, learned and improved…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

In model-based learning, an agent's model is commonly defined over transitions between consecutive states of an environment even though planning often requires reasoning over multi-step timescales, with intermediate states either…

Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…

A strong preference for novelty emerges in infancy and is prevalent across the animal kingdom. When incorporated into reinforcement-based machine learning algorithms, visual novelty can act as an intrinsic reward signal that vastly…

In the near future, more and more machines will perform tasks in the vicinity of human spaces or support them directly in their spatially bound activities. In order to simplify the verbal communication and the interaction between robotic…

The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…

A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…

Exploration in sparse reward reinforcement learning remains an open challenge. Many state-of-the-art methods use intrinsic motivation to complement the sparse extrinsic reward signal, giving the agent more opportunities to receive feedback…

Despite the significant success at enabling robots with autonomous behaviors makes deep reinforcement learning a promising approach for robotic object search task, the deep reinforcement learning approach severely suffers from the nature…

Effective exploration is critical for reinforcement learning agents in environments with sparse rewards or high-dimensional state-action spaces. Recent works based on state-visitation counts, curiosity and entropy-maximization generate…

With the growing utility of today's conversational virtual assistants, the importance of user motivation in human-AI interaction is becoming more obvious. However, previous studies in this and related fields, such as human-computer…

Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of…

Findings in recent years on the sensitivity of convolutional neural networks to additive noise, light conditions and to the wholeness of the training dataset, indicate that this technology still lacks the robustness needed for the…

Growing neuropsychological and neurophysiological evidence suggests that the visual cortex uses parts-based representations to encode, store and retrieve relevant objects. In such a scheme, objects are represented as a set of spatially…

In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…

We present an introspective framework inspired by the process of how humans perform introspection. Our working assumption is that neural network activations encode information, and building internal states from these activations can improve…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…