相关论文: Motion Adaptation Across Users and Tasks for Exosk…

The main goal of Few-Shot learning algorithms is to enable learning from small amounts of data. One of the most popular and elegant Few-Shot learning approaches is Model-Agnostic Meta-Learning (MAML). The main idea behind this method is to…

This work presents a meta-reinforcement learning approach to develop a universal locomotion control policy capable of zero-shot generalization across diverse quadrupedal platforms. The proposed method trains an RL agent equipped with a…

Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper body effort of the users is largely ignored in the literature…

Several upper-limb exoskeleton robots have been developed for stroke rehabilitation, but their rather low level of individualized assistance typically limits their effectiveness and practicability. Individualized assistance involves an…

Multi-task learning is a method for improving the generalizability of multiple tasks. In order to perform multiple classification tasks with one neural network model, the losses of each task should be combined. Previous studies have mostly…

Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…

In the realm of recommender systems, the ubiquitous adoption of deep neural networks has emerged as a dominant paradigm for modeling diverse business objectives. As user bases continue to expand, the necessity of personalization and…

The aim of multi-task reinforcement learning is two-fold: (1) efficiently learn by training against multiple tasks and (2) quickly adapt, using limited samples, to a variety of new tasks. In this work, the tasks correspond to reward…

Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…

We present a novel Balanced Incremental Model Agnostic Meta Learning system (BI-MAML) for learning multiple tasks. Our method implements a meta-update rule to incrementally adapt its model to new tasks without forgetting old tasks. Such a…

The new generation of wireless technologies, fitness trackers, and devices with embedded sensors can have a big impact on healthcare systems and quality of life. Among the most crucial aspects to consider in these devices are the accuracy…

Meta-reinforcement learning algorithms can enable robots to acquire new skills much more quickly, by leveraging prior experience to learn how to learn. However, much of the current research on meta-reinforcement learning focuses on task…

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…

Multi-task learning (MTL) trains deep neural networks to optimize several objectives simultaneously using a shared backbone, which leads to reduced computational costs, improved data efficiency, and enhanced performance through cross-task…

Most uses of machine learning today involve training a model from scratch for a particular task, or sometimes starting with a model pretrained on a related task and then fine-tuning on a downstream task. Both approaches offer limited…

Muscle forces and joint kinematics estimated with musculoskeletal (MSK) modeling techniques offer useful metrics describing movement quality. Model-based computational MSK models can interpret the dynamic interaction between the neural…

Meta-learning empowers learning systems with the ability to acquire knowledge from multiple tasks, enabling faster adaptation and generalization to new tasks. This review provides a comprehensive technical overview of meta-learning,…

Loss function learning is a new meta-learning paradigm that aims to automate the essential task of designing a loss function for a machine learning model. Existing techniques for loss function learning have shown promising results, often…

Across engineering and scientific domains, traditional deep learning (TDL) models perform well when training and test data share the same distribution. However, the dynamic nature of real-world data, broadly termed \textit{data shift},…

Although Gaussian processes (GPs) with deep kernels have been successfully used for meta-learning in regression tasks, its uncertainty estimation performance can be poor. We propose a meta-learning method for calibrating deep kernel GPs for…