28,032 research outputs found
One-Shot Learning of Manipulation Skills with Online Dynamics Adaptation and Neural Network Priors
One of the key challenges in applying reinforcement learning to complex
robotic control tasks is the need to gather large amounts of experience in
order to find an effective policy for the task at hand. Model-based
reinforcement learning can achieve good sample efficiency, but requires the
ability to learn a model of the dynamics that is good enough to learn an
effective policy. In this work, we develop a model-based reinforcement learning
algorithm that combines prior knowledge from previous tasks with online
adaptation of the dynamics model. These two ingredients enable highly
sample-efficient learning even in regimes where estimating the true dynamics is
very difficult, since the online model adaptation allows the method to locally
compensate for unmodeled variation in the dynamics. We encode the prior
experience into a neural network dynamics model, adapt it online by
progressively refitting a local linear model of the dynamics, and use model
predictive control to plan under these dynamics. Our experimental results show
that this approach can be used to solve a variety of complex robotic
manipulation tasks in just a single attempt, using prior data from other
manipulation behaviors
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
Experience-driven formation of parts-based representations in a model of layered visual memory
Growing neuropsychological and neurophysiological evidence suggests that the
visual cortex uses parts-based representations to encode, store and retrieve
relevant objects. In such a scheme, objects are represented as a set of
spatially distributed local features, or parts, arranged in stereotypical
fashion. To encode the local appearance and to represent the relations between
the constituent parts, there has to be an appropriate memory structure formed
by previous experience with visual objects. Here, we propose a model how a
hierarchical memory structure supporting efficient storage and rapid recall of
parts-based representations can be established by an experience-driven process
of self-organization. The process is based on the collaboration of slow
bidirectional synaptic plasticity and homeostatic unit activity regulation,
both running at the top of fast activity dynamics with winner-take-all
character modulated by an oscillatory rhythm. These neural mechanisms lay down
the basis for cooperation and competition between the distributed units and
their synaptic connections. Choosing human face recognition as a test task, we
show that, under the condition of open-ended, unsupervised incremental
learning, the system is able to form memory traces for individual faces in a
parts-based fashion. On a lower memory layer the synaptic structure is
developed to represent local facial features and their interrelations, while
the identities of different persons are captured explicitly on a higher layer.
An additional property of the resulting representations is the sparseness of
both the activity during the recall and the synaptic patterns comprising the
memory traces.Comment: 34 pages, 12 Figures, 1 Table, published in Frontiers in
Computational Neuroscience (Special Issue on Complex Systems Science and
Brain Dynamics),
http://www.frontiersin.org/neuroscience/computationalneuroscience/paper/10.3389/neuro.10/015.2009
A Framework of Hybrid Force/Motion Skills Learning for Robots
Human factors and human-centred design philosophy are highly desired in today’s robotics applications such as human-robot interaction (HRI). Several studies showed that endowing robots of human-like interaction skills can not only make them more likeable but also improve their performance. In particular, skill transfer by imitation learning can increase usability and acceptability of robots by the users without computer programming skills. In fact, besides positional information, muscle stiffness of the human arm, contact force with the environment also play important roles in understanding and generating human-like manipulation behaviours for robots, e.g., in physical HRI and tele-operation. To this end, we present a novel robot learning framework based on Dynamic Movement Primitives (DMPs), taking into consideration both the positional and the contact force profiles for human-robot skills transferring. Distinguished from the conventional method involving only the motion information, the proposed framework combines two sets of DMPs, which are built to model the motion trajectory and the force variation of the robot manipulator, respectively. Thus, a hybrid force/motion control approach is taken to ensure the accurate tracking and reproduction of the desired positional and force motor skills. Meanwhile, in order to simplify the control system, a momentum-based force observer is applied to estimate the contact force instead of employing force sensors. To deploy the learned motion-force robot manipulation skills to a broader variety of tasks, the generalization of these DMP models in actual situations is also considered. Comparative experiments have been conducted using a Baxter Robot to verify the effectiveness of the proposed learning framework on real-world scenarios like cleaning a table
Fractals in the Nervous System: conceptual Implications for Theoretical Neuroscience
This essay is presented with two principal objectives in mind: first, to
document the prevalence of fractals at all levels of the nervous system, giving
credence to the notion of their functional relevance; and second, to draw
attention to the as yet still unresolved issues of the detailed relationships
among power law scaling, self-similarity, and self-organized criticality. As
regards criticality, I will document that it has become a pivotal reference
point in Neurodynamics. Furthermore, I will emphasize the not yet fully
appreciated significance of allometric control processes. For dynamic fractals,
I will assemble reasons for attributing to them the capacity to adapt task
execution to contextual changes across a range of scales. The final Section
consists of general reflections on the implications of the reviewed data, and
identifies what appear to be issues of fundamental importance for future
research in the rapidly evolving topic of this review
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