Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical work suggests that the concept of space can be grounded by capturing invariants induced by the structure of space in an ag…
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48 results for “sensorimotor learning”
Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure of space induces invariants in an agent's raw sensorimotor experience. We hypot…
Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of sensorimotor contingencies by a naive robot. While exploring the world, the robot inter…
Identification of Invariant Sensorimotor Structures as a Prerequisite for the Discovery of Objectscs.AI
Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of spatio-temporally invariant structures in the sensorimotor experience of an agent. We take…
Artificial perception is traditionally handled by hand-designing task specific algorithms. However, a truly autonomous robot should develop perceptive abilities on its own, by interacting with its environment, and adapting to new situations. The sensorimotor contingencies theory proposes to ground the development of th…
NDPs embed dynamical systems into neural networks for efficient sensorimotor learning.
problem Training policies directly in raw action spaces limits scalability for continuous tasks.
method Embed dynamical systems into neural networks to learn robot behaviors via demonstrations.
result NDPs outperform prior methods in both imitation and reinforcement learning setups.
Researchers improved Minecraft game performance using imitation learning.
problem Achieving state-of-the-art performance in immersive environments like Minecraft.
method Applied imitation learning to Minecraft, optimizing network architecture, loss function, and data augmentation.
result Reported stronger results than previous experiments, reaching second place in a competition.
New method infers human sensorimotor costs from behavior.
problem Inferring human sensorimotor costs from observed behavior.
method Inverse optimal control with signal-dependent noise.
result Recovering costs and benefits in sensorimotor behavior.
One of the open challenges in designing robots that operate successfully in the unpredictable human environment is how to make them able to predict what actions they can perform on objects, and what their effects will be, i.e., the ability to perceive object affordances. Since modeling all the possible world interactio…
Developmental Robotics offers a new approach to numerous AI features that are often taken as granted. Traditionally, perception is supposed to be an inherent capacity of the agent. Moreover, it largely relies on models built by the system's designer. A new approach is to consider perception as an experimentally acquire…
The design of robotic systems is largely dictated by our purely human intuition about how we perceive the world. This intuition has been proven incorrect with regard to a number of critical issues, such as visual change blindness. In order to develop truly autonomous robots, we must step away from this intuition and le…
Derives time-averaged active inference from control principles.
problem Finite-horizon or discounted-surprise problems in active inference.
method Derives infinite-horizon, average-surprise active inference from optimal control principles.
result Unified objective functional for sensorimotor control.
What is the role of real-time control and learning in the formation of social conventions? To answer this question, we propose a computational model that matches human behavioral data in a social decision-making game that was analyzed both in discrete-time and continuous-time setups. Furthermore, unlike previous approa…
Model compresses event-like contexts using gated surprise signals.
problem Perceiving a dynamic world as organized events.
method Hierarchical, surprise-gated recurrent neural network architecture.
result Achieves best performance on multiple event processing tasks.
This work frames active inference through control as inference, offering robust control algorithms.
problem Active inference framework lacks practical sensorimotor control algorithms.
method Frame active inference through control as inference, presenting trajectory optimization as inference.
result AI may be framed as partially-observed CaI when the cost function is defined in observation states.
Neural network approximates Bayesian decision-making parameters.
problem Analytical intractability of Bayesian decision-making in naturalistic tasks.
method Neural amortization of Bayesian actor model.
result Efficient gradient-based inference of Bayesian actor model parameters.
This work investigates how a naive agent can acquire its own body image in a self-supervised way, based on the predictability of its sensorimotor experience. Our working hypothesis is that, due to its temporal stability, an agent's body produces more consistent sensory experiences than the environment, which exhibits a…
The enactive approach to cognition is typically proposed as a viable alternative to traditional cognitive science. Enactive cognition displaces the explanatory focus from the internal representations of the agent to the direct sensorimotor interaction with its environment. In this paper, we investigate enactive learnin…
Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and high-dimensionality of sensorimotor spaces which are inherent in such problems. We present a nov…
Robots learn actions and language through curiosity-driven self-exploration.
problem Efficient development of actions and language in infants and robots.
method Curiosity-driven self-exploration using Q-learning to amortize active inference.
result Curiosity-driven exploration enables faster learning and compositional generalization.
This paper proposes a new method to connect language and physical actions in reinforcement learning.
problem Connecting linguistic representations to the physical world in embodied agents.
method Language-conditioned goal generators to decouple sensorimotor learning from language acquisition.
result Agents can demonstrate a diversity of behaviors for any given instruction.
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interacti…
Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck in environments with stochastic dynamics or are too inefficient to be scalable t…
The ability of deep learning models to generalize well across different scenarios depends primarily on the quality and quantity of annotated data. Labeling large amounts of data for all possible scenarios that a model may encounter would not be feasible; if even possible. We propose a framework to deal with limited lab…
Contemporary sensorimotor learning approaches typically start with an existing complex agent (e.g., a robotic arm), which they learn to control. In contrast, this paper investigates a modular co-evolution strategy: a collection of primitive agents learns to dynamically self-assemble into composite bodies while also lea…
Humans and animals have the ability to continually acquire, fine-tune, and transfer knowledge and skills throughout their lifespan. This ability, referred to as lifelong learning, is mediated by a rich set of neurocognitive mechanisms that together contribute to the development and specialization of our sensorimotor sk…
The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires flexible generative planning that can combine primitive abilities in novel combination…
Based on the cumulated experience over the past 25 years in the field of Brain-Computer Interface (BCI) we can now envision a new generation of BCI. Such BCIs will not require training; instead they will be smartly initialized using remote massive databases and will adapt to the user fast and effectively in the first m…
While invasively recorded brain activity is known to provide detailed information on motor commands, it is an open question at what level of detail information about positions of body parts can be decoded from non-invasively acquired signals. In this work it is shown that index finger positions can be differentiated fr…
There is a consensus that human and non-human subjects experience temporal distortions in many stages of their perceptual and decision-making systems. Similarly, intertemporal choice research has shown that decision-makers undervalue future outcomes relative to immediate ones. Here we combine techniques from informatio…
New method disentangles perceptual uncertainty and behavioral costs in partially observable systems.
problem Tackles inverse optimal control for non-linear partially observable systems.
method Probabilistic approach using maximum causal entropy formulations and local linearization.
result Disentangles perceptual factors and behavioral costs in sequential decision-making.
Modular Vehicle Control for Transferring Semantic Information Between Weather Conditions Using GANscs.LG
Even though end-to-end supervised learning has shown promising results for sensorimotor control of self-driving cars, its performance is greatly affected by the weather conditions under which it was trained, showing poor generalization to unseen conditions. In this paper, we show how knowledge can be transferred using …
The study of dexterous manipulation has provided important insights in humans sensorimotor control as well as inspiration for manipulation strategies in robotic hands. Previous work focused on experimental environment with restrictions. Here we describe a method using the deformation and color distribution of the finge…
Intelligence emerges from stabilizing invariant cycles in memory.
problem Understanding the nature of intelligence and its emergence.
method Structural-dynamical account rooted in a topological closure law: \(\partial^2=0\).
result Memory-amortized inference (MAI) mechanism that implements SbS \(
ightarrow\) CCUP.
Resting-state brain networks represent the intrinsic state of the brain during the majority of cognitive and sensorimotor tasks. However, no study has yet presented concise predictors of task-induced vigilance variability from spectrospatial features of the pre-task, resting-state electroencephalograms (EEG). We asked …
Meta-learning adapts models for unseen tasks across AI, robotics, and NLP.
problem Adapting models to unseen tasks efficiently and accurately.
method Black-box, metric-based, layered, and Bayesian approaches.
result Meta-learning enhances model generalization and adaptation to unseen tasks.
Meta-learning improves neural networks by adapting learning algorithms.
problem Conventional AI approaches solve tasks from scratch, but meta-learning aims to improve the learning algorithm.
method Meta-learning adapts a learning algorithm based on multiple learning episodes.
result Meta-learning can tackle deep learning challenges like data and computation bottlenecks.
Survey explores how transfer learning improves deep reinforcement learning.
problem Challenges in reinforcement learning efficiency and effectiveness.
method Categorizes and analyzes transfer learning approaches.
result Transfer learning enhances reinforcement learning performance.
Machine learning models adapt to motor learning but face challenges.
problem Adapting machine learning to handle motor variability and differentiate new movements from known ones.
method Parameter adaptation, transfer and meta-learning, reinforcement learning.
result Challenges in applying machine learning models for motor learning support systems.
New method uses bi-level optimization to learn useful representations for imitation learning.
problem Learning useful representations for multiple tasks in imitation learning settings.
method Formulates representation learning as a bi-level optimization problem.
result Bi-level optimization framework provides sample complexity benefits for imitation learning.
Tabular Q-Learning with learned state abstractions solves continuous control tasks.
problem Challenging reinforcement learning problems in continuous control.
method Learned state abstraction to transform continuous state-space into discrete.
result Tabular Q-Learning with learned abstractions achieves efficient learning in unseen tasks.
Study Whittle index learning algorithms for restless bandits with constant stepsizes.
problem Optimizing decisions in restless multi-armed bandits with constant stepsizes.
method Developed Q-learning algorithms with constant stepsizes for index learning in restless bandits, extending to DQN and function approximations.
result The algorithms learn the Whittle index effectively.
Paper discusses flaws in traditional RL for lifelong learning.
problem Traditional RL fails to model lifelong learning systems.
method Simplified prototype of lifelong RL system.
result Insights into lifelong RL, showing traditional RL's limitations.
AI learns to learn sequentially without forgetting.
problem Preventing catastrophic forgetting in machine learning models.
method Meta-learning a neuromodulatory activation-gating function to control selective activation in deep neural networks.
result State-of-the-art continual learning performance with 600 classes (9,000 updates).
Poisson learning doesn't solve graph semi-supervised learning issues.
problem Global information loss in graph-based semi-supervised learning.
method Poisson learning is Laplace regularization with thresholding.
result Poisson learning cannot overcome the global information loss problem.
New unsupervised learning technique learns independent kernels for better machine learning tasks.
problem Improving unsupervised representation learning for machine learning tasks.
method Stacking convolutional transforms using alternating proximal minimization scheme.
result DCTL outperforms shallow version CTL on benchmark datasets.
Meta-learning helps models learn quickly from few samples.
problem Deep learning requires many samples, which are hard to get.
method Meta-learning optimizes models to adapt quickly to new tasks.
result Meta-learning can improve model efficiency and adaptability.
New self-imitation learning method improves performance in continuous control tasks.
problem Improving off-policy learning in continuous control tasks.
method Proposes a n-step lower bound to generalize lower-bound Q-learning and introduces a new family of self-imitation learning algorithms.
result n-step lower bound Q-learning achieves a better trade-off between bias and contraction rate, leading to improved performance.