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GNNs are a paradigm-shifting neural architecture to facilitate the learning of complex multi-agent behaviors. Recent work has demonstrated remarkable performance in tasks such as flocking, multi-agent path planning and cooperative coverage.…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Target tracking in a camera network is an important task for surveillance and scene understanding. The task is challenging due to disjoint views and illumination variation in different cameras. In this direction, many graph-based methods…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Humans effortlessly solve pushing tasks in everyday life but unlocking these capabilities remains a challenge in robotics because physics models of these tasks are often inaccurate or unattainable. State-of-the-art data-driven approaches…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies provide this capability in principle, but the…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Teams of people coordinate to perform complex tasks by forming abstract mental models of world and agent dynamics. The use of abstract models contrasts with much recent work in robot learning that uses a high-fidelity simulator and…

Deep reinforcement learning (RL) has enabled training action-selection policies, end-to-end, by learning a function which maps image pixels to action outputs. However, it's application to visuomotor robotic policy training has been limited…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

In many applications, multi-robot systems are required to achieve multiple objectives. For these multi-objective tasks, it is oftentimes hard to design a single control policy that fulfills all the objectives simultaneously. In this paper,…

In this work, we present a methodology that enables an agent to make efficient use of its exploratory actions by autonomously identifying possible objectives in its environment and learning them in parallel. The identification of objectives…

Extracting a known target object from a pile of other objects in a cluttered environment is a challenging robotic manipulation task encountered in many robotic applications. In such conditions, the target object touches or is covered by…

Despite recent progress in Reinforcement Learning for robotics applications, many tasks remain prohibitively difficult to solve because of the expensive interaction cost. Transfer learning helps reduce the training time in the target domain…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…