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Recent studies have shown the great potential of diffusion models in improving reinforcement learning (RL) by modeling complex policies, expressing a high degree of multi-modality, and efficiently handling high-dimensional continuous…

Bed-making is a universal home task that can be challenging for senior citizens due to reaching motions. Automating bed-making has multiple technical challenges such as perception in an unstructured environments, deformable object…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its effects on the learned policy remain inconsistent: some…

Policy learning for partially observed control tasks requires policies that can remember salient information from past observations. In this paper, we present a method for learning policies with internal memory for high-dimensional,…

We study generalizable policy learning from demonstrations for complex low-level control (e.g., contact-rich object manipulations). We propose a novel hierarchical imitation learning method that utilizes sub-optimal demos. Firstly, we…

The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots…

Recent trends in robot arm control have seen a shift towards end-to-end solutions, using deep reinforcement learning to learn a controller directly from raw sensor data, rather than relying on a hand-crafted, modular pipeline. However, the…

Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…

Well-designed dense reward functions in robot manipulation not only indicate whether a task is completed but also encode progress along the way. Generally, designing dense rewards is challenging and usually requires access to privileged…

The range and speed of direct ink writing, the workhorse of 3d and 4d printing, is limited by the practice of liquid extrusion from a nozzle just above the surface to prevent instabilities to cause deviations from the required print path.…

We study reinforcement learning in hybrid discrete-continuous action spaces, such as settings where the discrete component selects a regime (or index) and the continuous component optimizes within it -- a structure common in robotics,…

Most reinforcement learning algorithms seek a single optimal strategy that solves a given task. However, it can often be valuable to learn a diverse set of solutions, for instance, to make an agent's interaction with users more engaging, or…

Direct Preference Optimization (DPO) has emerged as a predominant alignment method for diffusion models, facilitating off-policy training without explicit reward modeling. However, its reliance on large-scale, high-quality human preference…

Although robotic applications increasingly demand versatile and dynamic object handling, most existing techniques are predominantly focused on grasp-based manipulation, limiting their applicability in non-prehensile tasks. To address this…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Humans naturally develop preferences for how manipulation tasks should be performed, which are often subtle, personal, and difficult to articulate. Although it is important for robots to account for these preferences to increase…

Artificial neural networks, especially recent diffusion-based models, have shown remarkable superiority in gaming, control, and QA systems, where the training tasks' datasets are usually static. However, in real-world applications, such as…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from visual demonstration system for the robots to learn to knot…