Research output per year
Research output per year
Doctoral student
My work explores learning with no or minimal use of neither labeled data nor handcrafted task specific reward functions. I have worked on pose estimation using synthetic data, and now I am investigating how to guide goal-conditioned reinforcement learning with agents selecting their own goals.
In robotics it can be very expensive to gather data, and any method that reduces that cost without increasing the burden on the engineer or operator can be very valuable.
In my earlier work I address the problem of pose estimation, determining location and orientation of objects, a problem that is important when for instance making a robotic arm grasp an object.
Our solution uses autoencoders and CAD models to train a pose estimator for multiple objects simultaneously using only synthetic data. It utilizes a multi-view approach to handle local minima in SO3-space outputs. At the time of publishing, this had similar performance to other state of the art solutions while using only RGB information, synthetic data and being both more memory efficient and faster than many other approaches.
My current work examines how to make reinforcement learning agents explore efficiently.
Many methods, such as Ɛ-greedy, have a hard time exploring when rewards are sparse. I propose to use goal-conditioned hindsight learning and intrinsic selection and evaluation of goals to guide exploration, and I am currently exploring the viability of selecting those goals in the embedding space of world models and autoencoder systems like Dreamer.
Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review
Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review
Research output: Contribution to conference › Paper, not in proceeding › peer-review
Åström, H., Krueger, V. & Topp, E. A.
2019/03/01 → 2024/02/29
Project: Dissertation
Krueger, V., Topp, E. A., Malec, J., Haage, M., Mayr, M., Åström, H., Dürr, A., Nugues, P., Klang, M., Klöckner, M., Lager, M., Robertz, S., Nardi, L. & Nilsson, K.
2010/01/01 → …
Project: Network
Bagge Carlson, F., Johansson, R., Karlsson, M., Olofsson, B., Robertsson, A., Robertz, S., Haage, M., Malec, J., Nilsson, K., Nugues, P., Stenmark, M., Topp, E. A., Krueger, V., Åström, H., Mayr, M., Salt Ducaju, J., Nishimura, M., Wisbrant, J., Dürr, A., Mayr, M., Nugues, P., Klang, M., Klöckner, M., Nardi, L., Ahmad, F., Oxenstierna, J., Rizwan, M., Reichenbach, C., Bergström, J., Dell'Unto, N., Maunsbach, L., Åström, K., Blomdell, A., Soltesz, K., Magnusson, M., Fransson, P., Karayiannidis, Y., Johansson, A. T., Jia, Z., Laban, L., Wingqvist, B., Guberina, M., Jena, A., Westin, E., Frick, C., Pisarevskiy, A., Nilsson, A., Reitmann, S. & Hvarfner, C.
1993/01/01 → …
Project: Research
Jonas Wisbrant (Organiser), Eva Westin (Organiser), Björn Olofsson (Organiser), Birger Johansson (Organiser), Elin A. Topp (Organiser), Jacek Malec (Organiser), Volker Krueger (Role not specified), Julian Salt Ducaju (Contributor), Marko Guberina (Contributor), Lara Laban (Contributor), Marcus Klang (Contributor), Hampus Åström (Contributor), Faseeh Ahmad (Role not specified), Maj Stenmark (Contributor), Alexander Dürr (Contributor), Ayesha Jena (Contributor), Simon Kristoffersson Lind (Contributor), Stefan Reitmann (Contributor), Momina Rizwan (Contributor), Rohith Prem Maben (Contributor), Birger Johansson (Contributor), Christian Balkenius (Contributor), Anders Blomdell (Contributor), Anders Nilsson (Contributor), Alexander Pisarevskiy (Contributor), Mika Nishimura (Organiser), Monika Rasmusson (Contributor), Volker Krueger (Contributor), Yiannis Karayiannidis (Organiser), Yiannis Karayiannidis (Contributor), Anders Rantzer (Contributor), Mathias Haage (Contributor), Björn Olofsson (Organiser), Elin A. Topp (Contributor) & Zheng Jia (Contributor)
Activity: Participating in or organising an event › Organisation of festival/exhibition/concert/performance
Jonas Wisbrant (Organiser), Kalle Åström (Host), Hanna Bäck (Host), Hampus Åström (Presenter), Lo Heander (Presenter), Johanna Engman (Presenter), Jakob Stenseke (Presenter), Samantha Stedtler (Presenter), Helene Springer (Presenter), Anton Wrisberg (Presenter), Zhenghao Liu (Role not specified), Alexander Tagesson (Presenter), Trond Arild Tjøstheim (Presenter), Baichuan Huang (Presenter), Erik Tegler (Presenter), Rafsan Ahmed (Presenter) & Salma Kazemi Rashed (Presenter)
Activity: Participating in or organising an event › Participation in workshop/ seminar/ course