相关论文: An Interpretable Neural Control Network with Adapt…

Continual locomotion learning faces four challenges: incomprehensibility, sample inefficiency, lack of knowledge exploitation, and catastrophic forgetting. Thus, this work introduces Growable Online Locomotion Learning Under Multicondition…

Apprenticeship learning has recently attracted a wide attention due to its capability of allowing robots to learn physical tasks directly from demonstrations provided by human experts. Most previous techniques assumed that the state space…

In the context of human-in-the-loop Machine Learning applications, like Decision Support Systems, interpretability approaches should provide actionable insights without making the users wait. In this paper, we propose Accelerated…

Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…

Reproducing the diverse and agile locomotion skills of animals has been a longstanding challenge in robotics. While manually-designed controllers have been able to emulate many complex behaviors, building such controllers involves a…

We propose a simple yet robust stochastic answer network (SAN) that simulates multi-step reasoning in machine reading comprehension. Compared to previous work such as ReasoNet which used reinforcement learning to determine the number of…

Model-Agnostic Meta-Learning (MAML), a popular gradient-based meta-learning framework, assumes that the contribution of each task or instance to the meta-learner is equal. Hence, it fails to address the domain shift between base and novel…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Supervised Machine Learning (SML) algorithms, such as Gradient Boosting, Random Forest, and Neural Networks, have become popular in recent years due to their superior predictive performance over traditional statistical methods. However,…

Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…

Explainability of neural network prediction is essential to understand feature importance and gain interpretable insight into neural network performance. However, explanations of neural network outcomes are mostly limited to visualization,…

We introduce MoNet, a novel functionally modular network for self-supervised and interpretable end-to-end learning. By leveraging its functional modularity with a latent-guided contrastive loss function, MoNet efficiently learns…

Model agnostic meta-learning (MAML) is a popular state-of-the-art meta-learning algorithm that provides good weight initialization of a model given a variety of learning tasks. The model initialized by provided weight can be fine-tuned to…

Learning light-weight yet expressive deep networks in both image synthesis and image recognition remains a challenging problem. Inspired by a more recent observation that it is the data-specificity that makes the multi-head self-attention…

Deep neural state-space models (SSMs) provide a powerful tool for modeling dynamical systems solely using operational data. Typically, neural SSMs are trained using data collected from the actual system under consideration, despite the…

Neural networks require a large amount of annotated data to learn. Meta-learning algorithms propose a way to decrease the number of training samples to only a few. One of the most prominent optimization-based meta-learning algorithms is…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

We provide an algorithm for adaptive legged locomotion via online learning and model predictive control. The algorithm is composed of two interacting modules: model predictive control (MPC) and online learning of residual dynamics. The…

Humans and animals can learn complex predictive models that allow them to accurately and reliably reason about real-world phenomena, and they can adapt such models extremely quickly in the face of unexpected changes. Deep neural network…

Deep learning and model predictive control (MPC) can play complementary roles in legged robotics. However, integrating learned models with online planning remains challenging. When dynamics are learned with neural networks, three key…