Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Challenges - ENSTA Paris - École nationale supérieure de techniques avancées Paris Accéder directement au contenu
Article Dans Une Revue Information Fusion Année : 2019

Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Challenges

Résumé

Continual learning (CL) is a particular machine learning paradigm where the data distribution and learning objective changes through time, or where all the training data and objective criteria are never available at once. The evolution of the learning process is modeled by a sequence of learning experiences where the goal is to be able to learn new skills all along the sequence without forgetting what has been previously learned. Continual learning also aims at the same time at optimizing the memory, the computation power and the speed during the learning process. An important challenge for machine learning is not necessarily finding solutions that work in the real world but rather finding stable algorithms that can learn in real world. Hence, the ideal approach would be tackling the real world in a embodied platform: an autonomous agent. Continual learning would then be effective in an autonomous agent or robot, which would learn autonomously through time about the external world, and incrementally develop a set of complex skills and knowledge. Robotic agents have to learn to adapt and interact with their environment using a continuous stream of observations. Some recent approaches aim at tackling continual learning for robotics, but most recent papers on continual learning only experiment approaches in simulation or with static datasets. Unfortunately, the evaluation of those algorithms does not provide insights on whether their solutions may help continual learning in the context of robotics. This paper aims at reviewing the existing state of the art of continual learning, summarizing existing benchmarks and metrics, and proposing a framework for presenting and evaluating both robotics and non robotics approaches in a way that makes transfer between both fields easier.
Fichier principal
Vignette du fichier
S1566253519307377.pdf (1.58 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-02381343 , version 1 (21-07-2022)

Licence

Paternité - Pas d'utilisation commerciale

Identifiants

Citer

Timothée Lesort, Vincenzo Lomonaco, Andrei Stoian, Davide Maltoni, David Filliat, et al.. Continual Learning for Robotics: Definition, Framework, Learning Strategies, Opportunities and Challenges. Information Fusion, 2019, ⟨10.1016/j.inffus.2019.12.004⟩. ⟨hal-02381343⟩
291 Consultations
253 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More