相关论文: Deep Generative Models in Robotics: A Survey on Le…

In high dimensional settings, density estimation algorithms rely crucially on their inductive bias. Despite recent empirical success, the inductive bias of deep generative models is not well understood. In this paper we propose a framework…

Deep learning has become a popular tool for medical image analysis, but the limited availability of training data remains a major challenge, particularly in the medical field where data acquisition can be costly and subject to privacy…

In imitation learning, robots are supposed to learn from demonstrations of the desired behavior. Most of the work in imitation learning for swarm robotics provides the demonstrations as rollouts of an existing policy. In this work, we…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Deep learning has allowed a paradigm shift in pattern recognition, from using hand-crafted features together with statistical classifiers to using general-purpose learning procedures for learning data-driven representations, features, and…

A generative model is a statistical model that is able to generate new data instances from previously observed ones. In the context of business processes, a generative model creates new execution traces from a set of historical traces, also…

The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…

Machine Learning algorithms have had a profound impact on the field of computer science over the past few decades. These algorithms performance is greatly influenced by the representations that are derived from the data in the learning…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Robot learning from demonstration (LfD) is a research paradigm that can play an important role in addressing the issue of scaling up robot learning. Since this type of approach enables non-robotics experts can teach robots new knowledge…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

Deep generative models have achieved great success in areas such as image, speech, and natural language processing in the past few years. Thanks to the advances in graph-based deep learning, and in particular graph representation learning,…

The field of deep generative modeling has grown rapidly in the last few years. With the availability of massive amounts of training data coupled with advances in scalable unsupervised learning paradigms, recent large-scale generative models…

While deep generative models (DGMs) have gained popularity, their susceptibility to biases and other inefficiencies that lead to undesirable outcomes remains an issue. With their growing complexity, there is a critical need for early…

Video generation models have emerged as high-fidelity models of the physical world, capable of synthesizing high-quality videos capturing fine-grained interactions between agents and their environments conditioned on multi-modal user…