8 accepted papers
Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement learning can be very challenging due to the increased sample com
A probabilistic graphical model is proposed, modeling the joint model parameter and multiplier evolution, with a hypervolume based likelihood, promoting multi-objective descent in structural risk minimization. We address multi-objective model parameter optimization via a surrogate single objective…
Measuring the similarity between data points often requires domain knowledge, which can in parts be compensated by relying on unsupervised methods such as latent-variable models, where similarity/distance is estimated in a more compact latent space. Prevalent is the use of the Euclidean metric, whic…
We propose to learn a hierarchical prior in the context of variational autoencoders to avoid the over-regularisation resulting from a standard normal prior distribution. To incentivise an informative latent representation of the data, we formulate the learning problem as a constrained optimisation p…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task. Failing to detect missing information often leads to abrupt mov…
Neural samplers such as variational autoencoders (VAEs) or generative adversarial networks (GANs) approximate distributions by transforming samples from a simple random source—the latent space—to samples from a more complex distribution represented by a dataset. While the manifold hypothesis implies…
For many tasks, tactile or visual feedback is helpful or even crucial. However, designing controllers that take such high-dimensional feedback into account is non-trivial. Therefore, robots should be able to learn tactile skills through trial and error by using reinforcement learning algorithms. The…
Robust fingertip force detection from fingernail image is a critical strategy that can be applied in many areas. However, prior research fixed many variables that influence the finger color change. This paper analyzes the effect of the finger joint on the force detection in order to deal with the co…