963 citations
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22 papers · 1 filter
Virtually turning robotic manipulators into worn devices: opening new horizons for wearable assistive robotics
Alexis Poignant, Nathanael Jarrasse, Guillaume Morel
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities…
Assessing Quality-Diversity Neuro-Evolution Algorithms Performance in Hard Exploration Problems
Felix Chalumeau, Thomas Pierrot, Valentin Macé +4
A fascinating aspect of nature lies in its ability to produce a collection of organisms that are all high-performing in their niche. Quality-Diversity (QD) methods are evolutionary…
Building a Subspace of Policies for Scalable Continual Learning
Jean-Baptiste Gaya, Thang Doan, Lucas Caccia +3
The ability to continuously acquire new knowledge and skills is crucial for autonomous agents. Existing methods are typically based on either fixed-size models that struggle to lea…
HMOE: Hypernetwork-based Mixture of Experts for Domain Generalization
Jingang Qu, Thibault Faney, Ze Wang +3
Due to domain shifts, machine learning systems typically struggle to generalize well to new domains that differ from those of training data, which is what domain generalization (DG…
Leveraging Sequentiality in Reinforcement Learning from a Single Demonstration
Alexandre Chenu, Olivier Serris, Olivier Sigaud +1
Deep Reinforcement Learning has been successfully applied to learn robotic control. However, the corresponding algorithms struggle when applied to problems where the agent is only…
SLOT-V: Supervised Learning of Observer Models for Legible Robot Motion Planning in Manipulation
Sebastian Wallkotter, Mohamed Chetouani, Ginevra Castellano
We present SLOT-V, a novel supervised learning framework that learns observer models (human preferences) from robot motion trajectories in a legibility context. Legibility measures…