A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
This research evaluates learning models for bionic robots, focusing on transfer function identification.
New method improves smoothness of robot learning.
ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a three-fingered hand robot that facilitates learning dexterous manipulation tasks, …
Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take significant time. In this paper, we focus on learning a realistic world model capturi…
For robots to coexist with humans in a social world like ours, it is crucial that they possess human-like social interaction skills. Programming a robot to possess such skills is a challenging task. In this paper, we propose a Multimodal Deep Q-Network (MDQN) to enable a robot to learn human-like interaction skills thr…
The paper learns robot skills from demonstrations without supervision.
Reinforcement learning is a promising approach to developing hard-to-engineer adaptive solutions for complex and diverse robotic tasks. However, learning with real-world robots is often unreliable and difficult, which resulted in their low adoption in reinforcement learning research. This difficulty is worsened by the …
A new optimizer d-AmsGrad improves deep learning for robot learning in non-stationary problems.
Robots can now learn how to make decisions and control themselves, generalizing learned behaviors to unseen scenarios. In particular, AI powered robots show promise in rough environments like the lunar surface, due to the environmental uncertainties. We address this critical generalization aspect for robot locomotion i…
This thesis tackles learning reward functions from human comparative feedback.
Learning robot objective functions from human input has become increasingly important, but state-of-the-art techniques assume that the human's desired objective lies within the robot's hypothesis space. When this is not true, even methods that keep track of uncertainty over the objective fail because they reason about …
Paper proposes a method to control robots of different shapes efficiently.
Deep Reinforcement Learning (DRL) has emerged as a powerful control technique in robotic science. In contrast to control theory, DRL is more robust in the thorough exploration of the environment. This capability of DRL generates more human-like behaviour and intelligence when applied to the robots. To explore this capa…
This research introduces an autonomous robot navigation method using reinforcement learning.
Diffusion models enhance robotic manipulation through probabilistic multi-modal learning.
ORIL learns a reward function from unlabeled data to improve robot learning.
For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social intera…
Paper presents a method for efficient robot adaptation using fine-tuning.
Top 8 robotic vision systems tackled lifelong object recognition challenges.
RL controls small soccer robots in a real league, beating human-designed policies.
Human input has enabled autonomous systems to improve their capabilities and achieve complex behaviors that are otherwise challenging to generate automatically. Recent work focuses on how robots can use such input - like demonstrations or corrections - to learn intended objectives. These techniques assume that the huma…
New method learns robot actions from videos without explicit labels.
Robot learns to juggle two balls from 56 minutes of experience.
A new reinforcement learning method for robots thinking and moving simultaneously.
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting motions while performing computations. Another advantage when robots are involved…
Detects anomalies in autonomous mobile robots using vision.
A decentralized deep RL controller improves hexapod locomotion learning.
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training for thousands of hours equivalent real robot time. To address this shortcoming, we…
We propose a tool-use model that can detect the features of tools, target objects, and actions from the provided effects of object manipulation. We construct a model that enables robots to manipulate objects with tools, using infant learning as a concept. To realize this, we train sensory-motor data recorded during a t…
Learning predictive models from interaction with the world allows an agent, such as a robot, to learn about how the world works, and then use this learned model to plan coordinated sequences of actions to bring about desired outcomes. However, learning a model that captures the dynamics of complex skills represents a m…
While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively generalize broadly. Imitation learning, in particular, has remained a stable and powerful…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
In this paper, a MIMO simulated annealing SA based Q learning method is proposed to control a line follower robot. The conventional controller for these types of robots is the proportional P controller. Considering the unknown mechanical characteristics of the robot and uncertainties such as friction and slippery surfa…
This work analyzes how multi-agent reinforcement learning can bridge the gap to reality in distributed multi-robot systems.
Transfer learning improves dynamic model transfer for soft robotic hands.
Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges, especially when using rigid position-controlled manipulators. These challenges inc…
This work tackles real-world robotic reinforcement learning challenges.
New method learns robot skills from data, matching or outperforming existing methods.
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
Paper tackles non-uniform coverage planning for robots.
Predictions and predictive knowledge have seen recent success in improving not only robot control but also other applications ranging from industrial process control to rehabilitation. A property that makes these predictive approaches well suited for robotics is that they can be learned online and incrementally through…
DistGP models multi-robot mapping with distributed Gaussian process learning.
Robot learns multiple tasks hierarchically by transferring knowledge.
The paper studies how neural policies can be interpreted using decision trees.
Algorithm balances learning and coverage for multi-robots over unknown fields.
Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on these results due to open source implementations of learning algorithms and simula…
In this paper a neuro-robotics model capable of counting using gestures is introduced. The contribution of gestures to learning to count is tested with various model and training conditions. Two studies were presented in this article. In the first, we combine different modalities of the robot's neural network, in the s…
Robotic systems are ever more capable of automation and fulfilment of complex tasks, particularly with reliance on recent advances in intelligent systems, deep learning and artificial intelligence. However, as robots and humans come closer in their interactions, the matter of interpretability, or explainability of robo…