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In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

The success of reinforcement learning for real world robotics has been, in many cases limited to instrumented laboratory scenarios, often requiring arduous human effort and oversight to enable continuous learning. In this work, we discuss…

Recent advances in robot learning have enabled robots to become increasingly better at mastering a predefined set of tasks. On the other hand, as humans, we have the ability to learn a growing set of tasks over our lifetime. Continual robot…

Humans are spectacular reinforcement learners, constantly learning from and adjusting to experience and feedback. Unfortunately, this doesn't necessarily mean humans are fast learners. When tasks are challenging, learning can become…

Imitation learning (IL) is a framework that learns to imitate expert behavior from demonstrations. Recently, IL shows promising results on high dimensional and control tasks. However, IL typically suffers from sample inefficiency in terms…

In order to provide adaptive and user-friendly solutions to robotic manipulation, it is important that the agent can learn to accomplish tasks even if they are only provided with very sparse instruction signals. To address the issues…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…

AI systems are increasingly applied to complex tasks that involve interaction with humans. During training, such systems are potentially dangerous, as they haven't yet learned to avoid actions that could cause serious harm. How can an AI…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Effective interactive tool use requires agents to master Tool Integrated Reasoning (TIR): a complex process involving multi-turn planning and long-context dialogue management. To train agents for this dynamic process, particularly in…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

There is an increased demand for task automation in robots. Contact-rich tasks, wherein multiple contact transitions occur in a series of operations, are extensively being studied to realize high accuracy. In this study, we propose a…

Socially aware robot navigation, where a robot is required to optimize its trajectory to maintain comfortable and compliant spatial interactions with humans in addition to reaching its goal without collisions, is a fundamental yet…

More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This paper presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

The process of developing control functions for embedded systems is resource-, time-, and data-intensive, often resulting in sub-optimal cost and solutions approaches. Reinforcement Learning (RL) has great potential for autonomously…

Reinforcement Learning (RL) has been widely used to solve tasks where the environment consistently provides a dense reward value. However, in real-world scenarios, rewards can often be poorly defined or sparse. Auxiliary signals are…

Deep Reinforcement Learning (RL) has shown promise in addressing complex robotic challenges. In real-world applications, RL is often accompanied by failsafe controllers as a last resort to avoid catastrophic events. While necessary for…

Manipulation of objects within a robot's hand is one of the most important challenges in achieving robot dexterity. The "Roller Graspers" refers to a family of non-anthropomorphic hands utilizing motorized, rolling fingertips to achieve…