相关论文: Divide, Discover, Deploy: Factorized Skill Learnin…

Federated learning enables machine learning algorithms to be trained over a network of multiple decentralized edge devices without requiring the exchange of local datasets. Successfully deploying federated learning requires ensuring that…

We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different…

Unsupervised Deep Distance Metric Learning (UDML) aims to learn sample similarities in the embedding space from an unlabeled dataset. Traditional UDML methods usually use the triplet loss or pairwise loss which requires the mining of…

We introduce the technique of adaptive discretization to design an efficient model-based episodic reinforcement learning algorithm in large (potentially continuous) state-action spaces. Our algorithm is based on optimistic one-step value…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Federated Learning (FL) has been a pivotal paradigm for collaborative training of machine learning models across distributed datasets. In heterogeneous settings, it has been observed that a single shared FL model can lead to low local…

Symbolic planning models allow decision-making agents to sequence actions in arbitrary ways to achieve a variety of goals in dynamic domains. However, they are typically handcrafted and tend to require precise formulations that are not…

Data representations that contain all the information about target variables but are invariant to nuisance factors benefit supervised learning algorithms by preventing them from learning associations between these factors and the targets,…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Autonomously learning diverse behaviors without an extrinsic reward signal has been a problem of interest in reinforcement learning. However, the nature of learning in such mechanisms is unconstrained, often resulting in the accumulation of…

One of the main issues in Imitation Learning is the erroneous behavior of an agent when facing out-of-distribution situations, not covered by the set of demonstrations given by the expert. In this work, we tackle this problem by introducing…

The embedded sensors in widely used smartphones and other wearable devices make the data of human activities more accessible. However, recognizing different human activities from the wearable sensor data remains a challenging research…

Federated learning (FL) is a privacy-preserving learning technique that enables distributed computing devices to train shared learning models across data silos collaboratively. Existing FL works mostly focus on designing advanced FL…

Deep-embedding methods aim to discover representations of a domain that make explicit the domain's class structure and thereby support few-shot learning. Disentangling methods aim to make explicit compositional or factorial structure. We…

Federated Learning is an emerging privacy-preserving distributed machine learning approach to building a shared model by performing distributed training locally on participating devices (clients) and aggregating the local models into a…

Building trust in reinforcement learning (RL) agents requires understanding why they make certain decisions, especially in high-stakes applications like robotics, healthcare, and finance. Existing explainability methods often focus on…

Recently, methods for learning diverse skills to generate various behaviors without external rewards have been actively studied as a form of unsupervised reinforcement learning. However, most of the existing methods learn a finite number of…

Reinforcement learning is a promising approach to synthesizing policies for challenging robotics tasks. A key problem is how to ensure safety of the learned policy---e.g., that a walking robot does not fall over or that an autonomous car…

Methods for learning and planning in sequential decision problems often assume the learner is aware of all possible states and actions in advance. This assumption is sometimes untenable. In this paper, we give a method to learn factored…