相关论文: Adaptive Drift Compensation for Soft Sensorized Fi…

Contact-rich manipulation tasks in unstructured environments pose significant robustness challenges for robot learning, where unexpected collisions can cause damage and hinder policy acquisition. Existing soft end-effectors face fundamental…

In Continual Learning (CL), a neural network is trained on a stream of data whose distribution changes over time. In this context, the main problem is how to learn new information without forgetting old knowledge (i.e., Catastrophic…

Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…

Continual learning (CL) is crucial for evaluating adaptability in learning solutions to retain knowledge. Our research addresses the challenge of catastrophic forgetting, where models lose proficiency in previously learned tasks as they…

We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…

When learning from streaming data, a change in the data distribution, also known as concept drift, can render a previously-learned model inaccurate and require training a new model. We present an adaptive learning algorithm that extends…

We introduce a unified framework for gentle robotic grasping that synergistically couples real-time friction estimation with adaptive grasp control. We propose a new particle filter-based method for real-time estimation of the friction…

The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

While numerous methods achieving remarkable performance exist in the Object Detection literature, addressing data distribution shifts remains challenging. Continual Learning (CL) offers solutions to this issue, enabling models to adapt to…

Continual learning (CL) refers to the ability to continually learn over time by accommodating new knowledge while retaining previously learned experience. While this concept is inherent in human learning, current machine learning methods…

In Federated Learning (FL), a number of clients or devices collaborate to train a model without sharing their data. Models are optimized locally at each client and further communicated to a central hub for aggregation. While FL is an…

Imaging in clinical routine is subject to changing scanner protocols, hardware, or policies in a typically heterogeneous set of acquisition hardware. Accuracy and reliability of deep learning models suffer from those changes as data and…

Continual learning (CL) is designed to learn new tasks while preserving existing knowledge. Replaying samples from earlier tasks has proven to be an effective method to mitigate the forgetting of previously acquired knowledge. However, the…

Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…

Addressing sensor drift is essential in industrial measurement systems, where precise data output is necessary for maintaining accuracy and reliability in monitoring processes, as it progressively degrades the performance of machine…

Learning continuously during all model lifetime is fundamental to deploy machine learning solutions robust to drifts in the data distribution. Advances in Continual Learning (CL) with recurrent neural networks could pave the way to a large…

We present a new adaptive algorithm for learning discrete distributions under distribution drift. In this setting, we observe a sequence of independent samples from a discrete distribution that is changing over time, and the goal is to…

Nowadays, real-world applications often face streaming data, which requires the learning system to absorb new knowledge as data evolves. Continual Learning (CL) aims to achieve this goal and meanwhile overcome the catastrophic forgetting of…

In streaming scenarios, models must learn continuously, adapting to concept drifts without erasing previously acquired knowledge. However, existing research communities address these challenges in isolation. Continual Learning (CL) focuses…