Related papers: Hierarchical Reinforcement Learning for Articulate…

Recent works in robotic manipulation through reinforcement learning (RL) or imitation learning (IL) have shown potential for tackling a range of tasks e.g., opening a drawer or a cupboard. However, these techniques generalize poorly to…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these…

Complex high-dimensional spaces with high Degree-of-Freedom and complicated action spaces, such as humanoid robots equipped with dexterous hands, pose significant challenges for reinforcement learning (RL) algorithms, which need to wisely…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

To fully utilize the versatility of a multi-fingered dexterous robotic hand for executing diverse object grasps, one must consider the rich physical constraints introduced by hand-object interaction and object geometry. We propose an…

Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…

The purpose of this technical report is two-fold. First of all, it introduces a suite of challenging continuous control tasks (integrated with OpenAI Gym) based on currently existing robotics hardware. The tasks include pushing, sliding and…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Synthesizing complex whole-body manipulation behaviors has fundamental challenges due to the rapidly growing combinatorics inherent to contact interaction planning. While model-based methods have shown promising results in solving…

Recent advances in on-policy reinforcement learning (RL) methods enabled learning agents in virtual environments to master complex tasks with high-dimensional and continuous observation and action spaces. However, leveraging this family of…

With the advent of artificial intelligence and machine learning, humanoid robots are made to learn a variety of skills which humans possess. One of fundamental skills which humans use in day-to-day activities is performing tasks with…

We study the problem of functional retargeting: learning dexterous manipulation policies to track object states from human hand-object demonstrations. We focus on long-horizon, bimanual tasks with articulated objects, which is challenging…

This work presents reinforcement learning (RL)-driven data augmentation to improve the generalization of vision-action (VA) models for dexterous grasping. While real-to-sim-to-real frameworks, where a few real demonstrations seed…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

Real-world decision-making tasks typically occur in complex and open environments, posing significant challenges to reinforcement learning (RL) agents' exploration efficiency and long-horizon planning capabilities. A promising approach is…