相关论文: Efficient Multi-Task Reinforcement Learning with C…

General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

Multi-task learning (MTL) has achieved great success in various research domains, such as CV, NLP and IR etc. Due to the complex and competing task correlation, naive training all tasks may lead to inequitable learning, i.e. some tasks are…

Reinforcement learning has shown promise in learning policies that can solve complex problems. However, manually specifying a good reward function can be difficult, especially for intricate tasks. Inverse reinforcement learning offers a…

In many settings, as for example wind farms, multiple machines are instantiated to perform the same task, which is called a fleet. The recent advances with respect to the Internet of Things allow control devices and/or machines to connect…

Recent years have shown a growing interest in using haptic shared control (HSC) in teleoperated systems. In HSC, the application of virtual guiding forces decreases the user's control effort and improves execution time in various tasks,…

Multi-task learning (MTL) aims at learning related tasks in a unified model to achieve mutual improvement among tasks considering their shared knowledge. It is an important topic in recommendation due to the demand for multi-task prediction…

Learning two tasks in a single shared function has some benefits. Firstly by acquiring information from the second task, the shared function leverages useful information that could have been neglected or underestimated in the first task.…

In this paper, a new population-guided parallel learning scheme is proposed to enhance the performance of off-policy reinforcement learning (RL). In the proposed scheme, multiple identical learners with their own value-functions and…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

The use of imitation learning to learn a single policy for a complex task that has multiple modes or hierarchical structure can be challenging. In fact, previous work has shown that when the modes are known, learning separate policies for…

Multitask learning is a methodology to boost generalization performance and also reduce computational intensity and memory usage. However, learning multiple tasks simultaneously can be more difficult than learning a single task because it…

Learned locomotion policies can rapidly adapt to diverse environments similar to those experienced during training but lack a mechanism for fast tuning when they fail in an out-of-distribution test environment. This necessitates a slow and…

In contact-rich tasks, the hybrid, multi-modal nature of contact dynamics poses great challenges in model representation, planning, and control. Recent efforts have attempted to address these challenges via data-driven methods, learning…

Generating sequential decision process from huge amounts of measured process data is a future research direction for collaborative factory automation, making full use of those online or offline process data to directly design flexible make…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

In this paper we consider a problem known as multi-task learning, consisting of fitting a set of classifier or regression functions intended for solving different tasks. In our novel formulation, we couple the parameters of these functions,…

Multi-task learning for advanced driver assistance systems requires modeling the complex interplay between driver internal states and external traffic environments. However, existing methods treat recognition tasks as flat and independent…

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking…