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Continual Learning for Robotics

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Humans have the extraordinary ability to learn continually from experience. Not only we can apply previously learned knowledge and skills to new situations, we can also use these as the foundation for later learning. One of the grand goals of Artificial Intelligence (AI) is building an artificial continual learning agent that constructs a sophisticated understanding of the world from its own experience through the autonomous incremental development of ever more complex knowledge and skills. However, current AI systems greatly suffer from the exposure to new data or environments which even slightly differ from the ones for which they have been trained for. Moreover, the learning process is usually constrained on fixed datasets within narrow and isolated tasks which may hardly lead to the emergence of more complex and autonomous intelligent behaviors. In essence, continual learning and adaptation capabilities, while more than often thought as fundamental pillars of every intelligent agent, have been mostly left out of the main AI research focus. In this talk, we explore the application of these ideas in the context of Robotics with a focus on (deep) continual learning strategies for object recognition running at the edge on highly-constrained hardware devices.

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Continual Learning for Robotics

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  5. 5. Data layer Output layer (classes) Low-level generic features Class specific discriminative features
  6. 6. Data layer Output layer (classes) Low-level generic features Class specific discriminative features ● ● ●
  7. 7. Data layer Output layer (classes) Low-level generic features Class specific discriminative features
  8. 8. Data layer Output layer (classes) Low-level generic features Class specific discriminative features ● ● ●
  9. 9. Data layer Output layer (classes) Low-level generic features Class specific discriminative features ● ● ●
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  11. 11. Data layer Output layer (classes) Low-level generic features Class specific discriminative features Backwardpass (allpatterns) Forwardpass (allpatterns) Forwardpass (nativepatterns) Concat External storage (rehearsal patterns) (at minibatch level)
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