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

The recent breakthroughs in computer vision have benefited from the availability of large representative datasets (e.g. ImageNet and COCO) for training. Yet, robotic vision poses unique challenges for applying visual algorithms developed…

Humans learn all their life long. They accumulate knowledge from a sequence of learning experiences and remember the essential concepts without forgetting what they have learned previously. Artificial neural networks struggle to learn…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

Dialog systems research has primarily been focused around two main types of applications - task-oriented dialog systems that learn to use clarification to aid in understanding a goal, and open-ended dialog systems that are expected to carry…

Humans can continuously learn new knowledge. However, machine learning models suffer from drastic dropping in performance on previous tasks after learning new tasks. Cognitive science points out that the competition of similar knowledge is…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the…

Machine learning, artificial intelligence and especially deep learning based approaches are often used to simplify or eliminate the burden of programming industrial robots. Using these approaches robots inherently learn a skill instead of…

Lifelong learning in artificial intelligence (AI) aims to mimic the biological brain's ability to continuously learn and retain knowledge, yet it faces challenges such as catastrophic forgetting. Recent neuroscience research suggests that…

Deep Reinforcement Learning (DRL) aims to create intelligent agents that can learn to solve complex problems efficiently in a real-world environment. Typically, two learning goals: adaptation and generalization are used for baselining DRL…

Continual learning (CL) is a particular machine learning paradigm where the data distribution and learning objective changes through time, or where all the training data and objective criteria are never available at once. The evolution of…

Robots still lag behind humans in their ability to generalize from limited experience, particularly when transferring learned behaviors to long-horizon tasks in unseen environments. We present the first method that enables robots to…

Adapting to task changes without forgetting previous knowledge is a key skill for intelligent systems, and a crucial aspect of lifelong learning. Swarm controllers, however, are typically designed for specific tasks, lacking the ability to…

In the past years, machine learning (ML) has become a popular approach to support self-adaptation. While ML techniques enable dealing with several problems in self-adaptation, such as scalable decision-making, they are also subject to…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

Attempts to train a comprehensive artificial intelligence capable of solving multiple tasks have been impeded by a chronic problem called catastrophic forgetting. Although simply replaying all previous data alleviates the problem, it…

This article reviews meta-learning also known as learning-to-learn which seeks rapid and accurate model adaptation to unseen tasks with applications in highly automated AI, few-shot learning, natural language processing and robotics. Unlike…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Long-horizon task planning is essential for the development of intelligent assistive and service robots. In this work, we investigate the applicability of a smaller class of large language models (LLMs), specifically GPT-2, in robotic task…