相关论文: Towards General Purpose Robots at Scale: Lifelong …

One of the challenges of open-ended learning in robots is the need to autonomously discover goals and learn skills to achieve them. However, when in lifelong learning settings, it is always desirable to generate sub-goals with their…

Despite outstanding success in vision amongst other domains, many of the recent deep learning approaches have evident drawbacks for robots. This manuscript surveys recent work in the literature that pertain to applying deep learning systems…

Humans and animals have the ability to continually acquire, fine-tune, and transfer knowledge and skills throughout their lifespan. This ability, referred to as lifelong learning, is mediated by a rich set of neurocognitive mechanisms that…

Continual learning is essential for all real-world applications, as frozen pre-trained models cannot effectively deal with non-stationary data distributions. The purpose of this study is to review the state-of-the-art methods that allow…

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due…

In lifelong learning, data are used to improve performance not only on the present task, but also on past and future (unencountered) tasks. While typical transfer learning algorithms can improve performance on future tasks, their…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

An important long-term goal in machine learning systems is to build learning agents that, like humans, can learn many tasks over their lifetime, and moreover use information from these tasks to improve their ability to do so efficiently. In…

Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Robots capable of performing manipulation tasks in a broad range of missions in unstructured environments can develop numerous applications to impact and enhance human life. Existing work in robot learning has shown success in applying…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

Lifelong learning algorithms enable models to incrementally acquire new knowledge without forgetting previously learned information. Contrarily, the field of machine unlearning focuses on explicitly forgetting certain previous knowledge…

Deep generative replay has emerged as a promising approach for continual learning in decision-making tasks. This approach addresses the problem of catastrophic forgetting by leveraging the generation of trajectories from previously…

Artificial autonomous agents and robots interacting in complex environments are required to continually acquire and fine-tune knowledge over sustained periods of time. The ability to learn from continuous streams of information is referred…