Related papers: A General Peg-in-Hole Assembly Policy Based on Dom…

Proximal Policy Optimization (PPO) is widely used in reinforcement learning due to its strong empirical performance, yet it lacks formal guarantees for policy improvement and convergence. PPO's clipped surrogate objective is motivated by a…

While reinforcement learning has achieved considerable successes in recent years, state-of-the-art models are often still limited by the size of state and action spaces. Model-free reinforcement learning approaches use some form of state…

Length generalization is the ability of language models to maintain performance on inputs longer than those seen during pretraining. In this work, we introduce a simple yet powerful position encoding (PE) strategy, Random Float Sampling…

The coverage and composition of the pretraining data significantly impacts the generalization ability of Large Language Models (LLMs). Despite its importance, recent LLMs still rely on heuristics and trial and error to increase or reduce…

Recent breakthroughs in the reinforcement learning (RL) community have made significant advances towards learning and deploying policies on real world robotic systems. However, even with the current state-of-the-art algorithms and…

The ability to use random objects as tools in a generalizable manner is a missing piece in robots' intelligence today to boost their versatility and problem-solving capabilities. State-of-the-art robotic tool usage methods focused on…

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…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Deep Reinforcement Learning (DRL) has emerged as a promising approach to enhancing motion control and decision-making through a wide range of robotic applications. While prior research has demonstrated the efficacy of DRL algorithms in…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

We study the optimal sample complexity in large-scale Reinforcement Learning (RL) problems with policy space generalization, i.e. the agent has a prior knowledge that the optimal policy lies in a known policy space. Existing results show…

We present a reinforcement learning method for training neuro-fuzzy controllers using Proximal Policy Optimization (PPO). Unlike prior approaches that used Deep Q-Networks (DQN) with Adaptive Neuro-Fuzzy Inference Systems (ANFIS), our…

Handling out-of-distribution samples is a long-lasting challenge for deep visual models. In particular, domain generalization (DG) is one of the most relevant tasks that aims to train a model with a generalization capability on novel…

In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic…

Domain Randomization (DR) is commonly used for sim2real transfer of reinforcement learning (RL) policies in robotics. Most DR approaches require a simulator with a fixed set of tunable parameters from the start of the training, from which…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

We explore Deep Reinforcement Learning in a parameterized action space. Specifically, we investigate how to achieve sample-efficient end-to-end training in these tasks. We propose a new compact architecture for the tasks where the parameter…

Group Relative Policy Optimisation (GRPO) enhances large language models by estimating advantages across a group of sampled trajectories. However, mapping these trajectory-level advantages to policy updates requires aggregating token-level…

Contact-rich manipulation plays an important role in human daily activities, but uncertain parameters pose significant challenges for robots to achieve comparable performance through planning and control. To address this issue, domain…

Multi-robot collaboration is becoming increasingly critical and presents significant challenges in modern robotics, especially for building a globally consistent, accurate map. Traditional multi-robot pose graph optimization (PGO) methods…