相关论文: Periodic Skill Discovery

Learning meaningful behaviors in the absence of reward is a difficult problem in reinforcement learning. A desirable and challenging unsupervised objective is to learn a set of diverse skills that provide a thorough coverage of the state…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

Reinforcement learning (RL) tackles sequential decision-making problems by creating agents that interacts with their environment. However, existing algorithms often view these problem as static, focusing on point estimates for model…

In reinforcement learning, the graph Laplacian has proved to be a valuable tool in the task-agnostic setting, with applications ranging from skill discovery to reward shaping. Recently, learning the Laplacian representation has been framed…

Unsupervised learning is a discipline of machine learning which aims at discovering patterns in big data sets or classifying the data into several categories without being trained explicitly. We show that unsupervised learning techniques…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

Reinforcement learning (RL) algorithms have proven transformative in a range of domains. To tackle real-world domains, these systems often use neural networks to learn policies directly from pixels or other high-dimensional sensory input.…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

Successful applications of reinforcement learning in real-world problems often require dealing with partially observable states. It is in general very challenging to construct and infer hidden states as they often depend on the agent's…

Many robot manipulation skills can be represented with deterministic characteristics and there exist efficient techniques for learning parameterized motor plans for those skills. However, one of the active research challenge still remains…

Video semantic segmentation has achieved great progress under the supervision of large amounts of labelled training data. However, domain adaptive video segmentation, which can mitigate data labelling constraints by adapting from a labelled…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

Analyzing periodic video sequences is a key topic in applications such as automatic production systems, remote sensing, medical applications, or physical training. An example is counting repetitions of a physical exercise. Due to the…

Self-supervised learning (SSL), which aims to learn meaningful prior representations from unlabeled data, has been proven effective for skeleton-based action understanding. Different from the image domain, skeleton data possesses sparser…

Language-conditioned robotic skills make it possible to apply the high-level reasoning of Large Language Models (LLMs) to low-level robotic control. A remaining challenge is to acquire a diverse set of fundamental skills. Existing…

Continual self-supervised learning (CSSL) methods have gained increasing attention in remote sensing (RS) due to their capability to learn new tasks sequentially from continuous streams of unlabeled data. Existing CSSL methods, while…

Reinforcement learning (RL) has achieved some impressive recent successes in various computer games and simulations. Most of these successes are based on having large numbers of episodes from which the agent can learn. In typical robotic…