相关论文: Zero-Shot Parameter Learning of Robot Dynamics Usi…

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules,…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Complex and nonlinear dynamical systems often involve parameters that change with time, accurate tracking of which is essential to tasks such as state estimation, prediction, and control. Existing machine-learning methods require full state…

Hyperparameter optimization in machine learning (ML) deals with the problem of empirically learning an optimal algorithm configuration from data, usually formulated as a black-box optimization problem. In this work, we propose a zero-shot…

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

The rapid development of artificial intelligence and deep learning has provided many opportunities to further enhance the safety, stability, and accuracy of industrial Cyber-Physical Systems (CPS). As indispensable components to many…

We propose a new paradigm for zero-shot learners that is format agnostic, i.e., it is compatible with any format and applicable to a list of language tasks, such as text classification, commonsense reasoning, coreference resolution, and…

In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, little attention has been devoted to relating these observed…

Adding domain knowledge to a learning system is known to improve results. In multi-parameter Bayesian frameworks, such knowledge is incorporated as a prior. On the other hand, various model parameters can have different learning rates in…

We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian…

Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…

This research arises from the need to predict the amount of air pollutants in meteorological stations. Air pollution depends on the location of the stations (weather conditions and activities in the surroundings). Frequently, the…

This paper studies the sparse identification problem of unknown sparse parameter vectors in stochastic dynamic systems. Firstly, a novel sparse identification algorithm is proposed, which can generate sparse estimates based on least squares…

Bayesian estimation is a powerful theoretical paradigm for the operation of quantum sensors. However, the Bayesian method for statistical inference generally suffers from demanding calibration requirements that have so far restricted its…

Phase can be reliably estimated from a single diffracted intensity image, if a faithful prior information about the object is available. Examples include amplitude bounds, object support, sparsity in the spatial or a transform domain, deep…

The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…

This paper introduces a novel Learning from Demonstration framework to learn robotic skills with keyframe demonstrations using a Dynamic Bayesian Network (DBN) and a Bayesian Optimized Policy Search approach to improve the learned skills.…

Zero-shot learning (ZSL) is concerned with the recognition of previously unseen classes. It relies on additional semantic knowledge for which a mapping can be learned with training examples of seen classes. While classical ZSL considers the…