Efficient Continual Adaptation of Pretrained Robotic Policy with Online Meta-Learned Adapters

Continual adaptation is essential for general autonomous agents. For example, a household robot pretrained with a repertoire of skills must still adapt to unseen tasks specific to each household. Motivated by this, building upon parameter-efficient fine-tuning in language models, prior works have explored lightweight adapters to adapt pretrained policies, which can preserve learned features from the pretraining phase and demonstrate good adaptation performances. However, these approaches treat task learning separately, limiting knowledge transfer between tasks. In this paper, we propose Online Meta-Learned adapters (OMLA). Instead of applying adapters directly, OMLA can facilitate knowledge transfer from previously learned tasks to current learning tasks through a novel meta-learning objective. Extensive experiments in both simulated and real-world environments demonstrate that OMLA can lead to better adaptation performances compared to the baseline methods. The project link: https://ricky-zhu.github.io/OMLA/.

Knowledge Distilled Ensemble Model for sEMG-based Silent Speech Interface

Voice disorders affect millions of people worldwide. Surface electromyography-based Silent Speech Interfaces (sEMG-based SSIs) have been explored as a potential solution for decades. However, previous works were limited by small vocabularies and manually extracted features from raw data. To address these limitations, we propose a lightweight deep learning knowledge-distilled ensemble model for sEMG-based SSI (KDE-SSI). Our model can classify a 26 NATO phonetic alphabets dataset with 3900 data samples, enabling the unambiguous generation of any English word through spelling. Extensive experiments validate the effectiveness of KDE-SSI, achieving a test accuracy of 85.9\%. Our findings also shed light on an end-to-end system for portable, practical equipment.