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

Few-shot learning is a technique to learn a model with a very small amount of labeled training data by transferring knowledge from relevant tasks. In this paper, we propose a few-shot learning method for wearable sensor based human activity…

This paper presents a Bayesian method for identification of jump Markov linear system parameters. A primary motivation is to provide accurate quantification of parameter uncertainty without relying on asymptotic in data-length arguments. To…

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple…

Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…

Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…

In this paper, we introduce zero-shot cost models which enable learned cost estimation that generalizes to unseen databases. In contrast to state-of-the-art workload-driven approaches which require to execute a large set of training queries…

It is crucial for robots to be aware of the presence of constraints in order to acquire safe policies. However, explicitly specifying all constraints in an environment can be a challenging task. State-of-the-art constraint inference…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

This paper introduces a novel framework for zero-shot learning (ZSL), i.e., to recognize new categories that are unseen during training, by using a multi-model and multi-alignment integration method. Specifically, we propose three…

We present a method for learning the parameters of a Bayesian network with prior knowledge about the signs of influences between variables. Our method accommodates not just the standard signs, but provides for context-specific signs as…

With recent progress in large-scale map maintenance and long-term map learning, the task of change detection on a large-scale map from a visual image captured by a mobile robot has become a problem of increasing criticality. Previous…

Zero-shot learning deals with the ability to recognize objects without any visual training sample. To counterbalance this lack of visual data, each class to recognize is associated with a semantic prototype that reflects the essential…

Metric learning is a widely used method for few shot learning in which the quality of prototypes plays a key role in the algorithm. In this paper we propose the trainable prototypes for distance measure instead of the artificial ones within…

Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and…

Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workpieces so that building predictive models which can…

We introduce the isoperimetric loss as a regularization criterion for learning the map from a visual representation to a semantic embedding, to be used to transfer knowledge to unknown classes in a zero-shot learning setting. We use a…

From the beginning of zero-shot learning research, visual attributes have been shown to play an important role. In order to better transfer attribute-based knowledge from known to unknown classes, we argue that an image representation with…

Learning to learn plays a pivotal role in meta-learning (MTL) to obtain an optimal learning model. In this paper, we investigate mage recognition for unseen categories of a given dataset with limited training information. We deploy a…

Despite significant progress in object categorization, in recent years, a number of important challenges remain; mainly, the ability to learn from limited labeled data and to recognize object classes within large, potentially open, set of…