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Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…

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…

This study presents a new methodology for learning-based motion planning for autonomous exploration using aerial robots. Through the reinforcement learning method of learning through trial and error, the action policy is derived that can…

Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…

State ambiguity is common in robotic manipulation. Identical observations may correspond to multiple valid behavior trajectories. The visuomotor policy must correctly extract the appropriate types and levels of information from the history…

Utilization of latent space to capture a lower-dimensional representation of a complex dynamics model is explored in this work. The targeted application is of a robotic manipulator executing a complex environment interaction task, in…

While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

Control of nonlinear uncertain systems is a common challenge in the robotics field. Nonlinear latent force models, which incorporate latent uncertainty characterized as Gaussian processes, carry the promise of representing such systems…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…

Contact is at the core of robotic manipulation. At times, it is desired (e.g. manipulation and grasping), and at times, it is harmful (e.g. when avoiding obstacles). However, traditional path planning algorithms focus solely on…

Consider an imitation learning problem that the imitator and the expert have different dynamics models. Most of the current imitation learning methods fail because they focus on imitating actions. We propose a novel state alignment-based…

Neural control of memory-constrained, agile robots requires small, yet highly performant models. We leverage graph hyper networks to learn graph hyper policies trained with off-policy reinforcement learning resulting in networks that are…

We study the problem of learning a range of vision-based manipulation tasks from a large offline dataset of robot interaction. In order to accomplish this, humans need easy and effective ways of specifying tasks to the robot. Goal images…

The interpretation of spatial references is highly contextual, requiring joint inference over both language and the environment. We consider the task of spatial reasoning in a simulated environment, where an agent can act and receive…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…

Grounding the common-sense reasoning of Large Language Models (LLMs) in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces,…

This paper studies the performative policy learning problem, where agents adjust their features in response to a released policy to improve their potential outcomes, inducing an endogenous distribution shift. There has been growing interest…

With large language models, robots can understand language more flexibly and more capable than ever before. This survey reviews and situates recent literature into a spectrum with two poles: 1) mapping between language and some manually…