相关论文: An Alignment-Based Approach to Learning Motions fr…

Large Language Models (LLMs) have impressive data fusion and reasoning capabilities for autonomous driving (AD). However, training LLMs for AD faces significant challenges including high computation transmission costs, and privacy concerns…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

Clustering is a widely used unsupervised learning technique involving an intensive discrete optimization problem. Associative Memory models or AMs are differentiable neural networks defining a recursive dynamical system, which have been…

Learning policies for complex humanoid tasks remains both challenging and compelling. Inspired by how infants and athletes rely on external support--such as parental walkers or coach-applied guidance--to acquire skills like walking,…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

For performing robotic manipulation tasks, the core problem is determining suitable trajectories that fulfill the task requirements. Various approaches to compute such trajectories exist, being learning and optimization the main driving…

Federated learning is a decentralized training approach that keeps data under stakeholder control while achieving superior performance over isolated training. While inter-institutional feature discrepancies pose a challenge in all federated…

Large-scale robot learning has made progress on complex manipulation tasks, yet long horizon, contact rich problems, especially those involving deformable objects, remain challenging due to inconsistent demonstration quality. We propose a…

We propose a method for learning dynamical systems from high-dimensional empirical data that combines variational autoencoders and (spatio-)temporal attention within a framework designed to enforce certain scientifically-motivated…

A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many…

Federated learning (FL) has emerged as a powerful approach to safeguard data privacy by training models across distributed edge devices without centralizing local data. Despite advancements in homogeneous data scenarios, maintaining…

This survey provides a comparative analysis of feature-based and GAN-based approaches to learning from demonstrations, with a focus on the structure of reward functions and their implications for policy learning. Feature-based methods offer…

Learning locomotion skills is a challenging problem. To generate realistic and smooth locomotion, existing methods use motion capture, finite state machines or morphology-specific knowledge to guide the motion generation algorithms. Deep…

In this paper we first analyzed the inductive bias underlying the data scattered across complex free energy landscapes (FEL), and exploited it to train deep neural networks which yield reduced and clustered representation for the FEL. Our…

Robot Learning from Demonstration (RLfD) is a technique for robots to derive policies from instructors' examples. Although the reciprocal effects of student engagement on teacher behavior are widely recognized in the educational community,…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Developing agile behaviors for legged robots remains a challenging problem. While deep reinforcement learning is a promising approach, learning truly agile behaviors typically requires tedious reward shaping and careful curriculum design.…

Cross-modal alignment aims to map heterogeneous modalities into a shared latent space, as exemplified by models like CLIP, which benefit from large-scale image-text pretraining for strong recognition capabilities. However, when operating in…

Quantum control requires high-precision and robust control pulses to ensure optimal system performance. However, control sequences generated with a system model may suffer from model bias, leading to low fidelity. While model-free…

Federated Learning (FL) presents a paradigm shift towards distributed model training across isolated data repositories or edge devices without explicit data sharing. Despite of its advantages, FL is inherently less efficient than…