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Seminar

Board
Colloquium Announcement on Nov. 19, 2018
W-Name Admin (IP: *.152.74.116) W-Date 2018-10-30 11:22 Hit 347


Title: 
Robot Learning: A Sparse Approach

Speaker: Prof. Songhwai Oh (Department of Electrical and Computer Engineering, Seoul National University)

Date: Nov. 19, (Mon.), 2018

Time: 05:00 PM 

Location: Woo Jung Information & Communication bldg., Room 601

Hosted by Dept. of Brain & Cognitive Engineering, Korea University / Institute of Brain and Cognitive Engineering, Korea University / BK21+ Global Leader Development Division in Brain Engineering, Korea University / Interdisciplinary Major in Brain and Cognitive Science

Abstract:

With recent advances in hardware, sensing, and algorithms, we are witnessing the emergence of a new robotics industry. I will present a few examples of new services provided by upcoming service robots, assisting us in the near future in places, such as offices, malls, and homes. But, for a robot to coexist with humans and operate successfully in crowded and dynamic environments, a robot must be able to learn from experiences to act safely and harmoniously with human participants. I will discuss research challenges for service robots and our attempts to address those challenges. In particular, I will present our recent work in foundations in robot learning: nested sparse networks (NestedNet) and a sparse Markov decision process (MDP). A NestedNet is a new deep learning framework, allowing an n-in-1 nested structure in a neural network. The proposed framework realizes a resource-aware versatile architecture as a single network can meet diverse resource requirements. For a sequential decision making problem, we have proposed a sparse MDP using novel causal sparse Tsallis entropy regularization, which results in a sparse and multi-modal optimal policy distribution. I will describe how sparse MDPs can be applied to reinforcement learning and inverse reinforcement learning problems with some theoretical and experimental results


 

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