相关论文: Learning from Demonstration with Implicit Nonlinea…

The aim of this study is to investigate an automated industrial manipulation pipeline, where assembly tasks can be flexibly adapted to production without the need for a robotic expert, both for the vision system and the robot program. The…

We present a comprehensive examination of learning methodologies employed for the structural identification of dynamical systems. These techniques are designed to elucidate emergent phenomena within intricate systems of interacting agents.…

With the concept of teaching being introduced to the machine learning community, a teacher model start using dynamic loss functions to teach the training of a student model. The dynamic intends to set adaptive loss functions to different…

Finding an efficient way to adapt robot trajectory is a priority to improve overall performance of robots. One approach for trajectory planning is through transferring human-like skills to robots by Learning from Demonstrations (LfD). The…

When deep learning models are sequentially trained on new data, they tend to abruptly lose performance on previously learned tasks, a critical failure known as catastrophic forgetting. This challenge severely limits the deployment of AI in…

Exemplar-free class-incremental learning using a backbone trained from scratch and starting from a small first task presents a significant challenge for continual representation learning. Prototype-based approaches, when continually…

Combined with demonstrations, deep reinforcement learning can efficiently develop policies for manipulators. However, it takes time to collect sufficient high-quality demonstrations in practice. And human demonstrations may be unsuitable…

This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…

The Linear Threshold Model (LTM) is widely used to study the propagation of collective behaviors as complex contagions. However, its dependence on discrete states and timesteps restricts its ability to capture the multiple time-scales…

The key to reconciling the polynomial-time intractability of many machine learning tasks in the worst case with the surprising solvability of these tasks by heuristic algorithms in practice seems to be exploiting restrictions on real-world…

Mathematical modeling is an essential step, for example, to analyze the transient behavior of a dynamical process and to perform engineering studies such as optimization and control. With the help of first-principles and expert knowledge, a…

Learning from Demonstration (LfD) is a well-established problem in Reinforcement Learning (RL), which aims to facilitate rapid RL by leveraging expert demonstrations to pre-train the RL agent. However, the limited availability of expert…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

Learning from human demonstrations can facilitate automation but is risky because the execution of the learned policy might lead to collisions and other failures. Adding explicit constraints to avoid unsafe states is generally not possible…

In robotics, Learning from Demonstration (LfD) aims to transfer skills to robots by using multiple demonstrations of the same task. These demonstrations are recorded and processed to extract a consistent skill representation. This process…

Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain of Learning from Demonstration (LfD). However, these…

Representation learning in dynamic graphs is a challenging problem because the topology of graph and node features vary at different time. This requires the model to be able to effectively capture both graph topology information and…

We present a data-driven modeling strategy to overcome improperly modeled dynamics for systems exhibiting complex spatio-temporal behaviors. We propose a Deep Learning framework to resolve the differences between the true dynamics of the…

Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…

In continual learning from demonstration (CLfD), a robot learns a sequence of real-world motion skills continually from human demonstrations. Recently, hypernetworks have been successful in solving this problem. In this paper, we perform an…