Prototype-Guided Memory Replay for Continual Learning

AdaptCL: Adaptive Continual Learning for Tackling Heterogeneity in Sequential Datasets

Managing heterogeneous datasets that vary in complexity, size, and similarity in continual learning presents a significant challenge. Task-agnostic continual learning is necessary to address this challenge, as datasets with varying similarity pose difficulties in distinguishing task boundaries. Conventional task-agnostic continual learning practices typically rely on rehearsal or regularization techniques. However, rehearsal methods may struggle with varying dataset sizes and regulating the importance of old and new data due to rigid buffer sizes. Meanwhile, regularization methods apply generic constraints to promote generalization but can hinder performance when dealing with dissimilar datasets lacking shared features, necessitating a more adaptive approach. In this article, we propose a novel adaptive continual learning (AdaptCL) method to tackle heterogeneity in sequential datasets. AdaptCL employs fine-grained data-driven pruning to adapt to variations in data complexity and dataset size. It also utilizes task-agnostic parameter isolation to mitigate the impact of varying degrees of catastrophic forgetting caused by differences in data similarity. Through a two-pronged case study approach, we evaluate AdaptCL on both datasets of MNIST variants and DomainNet, as well as datasets from different domains. The latter include both large-scale, diverse binary-class datasets and few-shot, multiclass datasets. Across all these scenarios, AdaptCL consistently exhibits robust performance, demonstrating its flexibility and general applicability in handling heterogeneous datasets.

A Multi-Agent Reinforcement Learning Method for Omnidirectional Walking of Bipedal Robots

Achieving omnidirectional walking for bipedal robots is considered one of the most challenging tasks in robotics technology. Reinforcement learning (RL) methods have proved effective in bipedal walking tasks. However, most existing methods use state machines to switch between multiple policies and achieve omnidirectional gait, which results in shaking during the policy switching process for bipedal robots. To achieve a seamless transition between omnidirectional gait and transient motion for full-size bipedal robots, we propose a novel multi-agent RL method. Firstly, a multi-agent RL algorithm based on the actor-critic framework is designed, and policy entropy is introduced to improve exploration efficiency. By learning agents with parallel initial state distributions, we minimize reliance on gait planner effectiveness in the Robot Operating System (ROS). Additionally, we design a novel heterogeneous policy experience replay mechanism based on Euclidean distance. Secondly, considering the periodicity of bipedal robot walking, we develop a new periodic gait function. Including periodic objectives in the policy can accelerate the convergence speed of training periodic gait functions. Finally, to enhance the robustness of the policy, we construct a novel curriculum learning method by discretizing Gaussian distribution and incorporate it into the robot's training task. Our method is validated in a simulation environment, and the results show that our method can achieve multiple gaits through a policy network and achieve smooth transitions between different gaits.

The Lifespan of Human Activity Recognition Systems for Smart Homes

With the growing interest in smart home environments and in providing seamless interactions with various smart devices, robust and reliable human activity recognition (HAR) systems are becoming essential. Such systems provide automated assistance to residents or to longitudinally monitor their daily activities for health and well-being assessments, as well as for tracking (long-term) behavior changes. These systems thus contribute towards an understanding of the health and continued well-being of residents. Smart homes are personalized settings where residents engage in everyday activities in their very own idiosyncratic ways. In order to provide a fully functional HAR system that requires minimal supervision, we provide a systematic analysis and a technical definition of the lifespan of activity recognition systems for smart homes. Such a designed lifespan provides for the different phases of building the HAR system, where these different phases are motivated by an application scenario that is typically observed in the home setting. Through the aforementioned phases, we detail the technical solutions that are required to be developed for each phase such that it becomes possible to derive and continuously improve the HAR system through data-driven procedures. The detailed lifespan can be used as a framework for the design of state-of-the-art procedures corresponding to the different phases.