38,146 research outputs found
An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems
Non-linear dynamical systems represent a compact, flexible, and robust tool
for reactive motion generation. The effectiveness of dynamical systems relies
on their ability to accurately represent stable motions. Several approaches
have been proposed to learn stable and accurate motions from demonstration.
Some approaches work by separating accuracy and stability into two learning
problems, which increases the number of open parameters and the overall
training time. Alternative solutions exploit single-step learning but restrict
the applicability to one regression technique. This paper presents a
single-step approach to learn stable and accurate motions that work with any
regression technique. The approach makes energy considerations on the learned
dynamics to stabilize the system at run-time while introducing small deviations
from the demonstrated motion. Since the initial value of the energy injected
into the system affects the reproduction accuracy, it is estimated from
training data using an efficient procedure. Experiments on a real robot and a
comparison on a public benchmark shows the effectiveness of the proposed
approach.Comment: Accepted at the International Conference on Robotics and Automation
202
TextGAIL: Generative Adversarial Imitation Learning for Text Generation
Generative Adversarial Networks (GANs) for text generation have recently
received many criticisms, as they perform worse than their MLE counterparts. We
suspect previous text GANs' inferior performance is due to the lack of a
reliable guiding signal in their discriminators. To address this problem, we
propose a generative adversarial imitation learning framework for text
generation that uses large pre-trained language models to provide more reliable
reward guidance. Our approach uses contrastive discriminator, and proximal
policy optimization (PPO) to stabilize and improve text generation performance.
For evaluation, we conduct experiments on a diverse set of unconditional and
conditional text generation tasks. Experimental results show that TextGAIL
achieves better performance in terms of both quality and diversity than the MLE
baseline. We also validate our intuition that TextGAIL's discriminator
demonstrates the capability of providing reasonable rewards with an additional
task.Comment: AAAI 202
Robot Composite Learning and the Nunchaku Flipping Challenge
Advanced motor skills are essential for robots to physically coexist with
humans. Much research on robot dynamics and control has achieved success on
hyper robot motor capabilities, but mostly through heavily case-specific
engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous
manner, robot learning from human demonstration (LfD) has achieved great
progress, but still has limitations handling dynamic skills and compound
actions. In this paper, we present a composite learning scheme which goes
beyond LfD and integrates robot learning from human definition, demonstration,
and evaluation. The method tackles advanced motor skills that require dynamic
time-critical maneuver, complex contact control, and handling partly soft
partly rigid objects. We also introduce the "nunchaku flipping challenge", an
extreme test that puts hard requirements to all these three aspects. Continued
from our previous presentations, this paper introduces the latest update of the
composite learning scheme and the physical success of the nunchaku flipping
challenge
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