Related papers: SOE: Sample-Efficient Robot Policy Self-Improvemen…
Anytime sampling-based methods are an attractive technique for solving kino-dynamic motion planning problems. These algorithms scale well to higher dimensions and can efficiently handle state and control constraints. However, an intelligent…
In this paper, we introduce a model of evolution and learning in robots that co-optimizes a distribution of latent design vectors (genotypes) and a mixture of control experts (neural modules), which are gated by the latent coordinates of…
In cooperative multi-agent reinforcement learning (CMARL), it is critical for agents to achieve a balance between self-exploration and team collaboration. However, agents can hardly accomplish the team task without coordination and they…
Numerous heuristics and advanced approaches have been proposed for exploration in different settings for deep reinforcement learning. Noise-based exploration generally fares well with dense-shaped rewards and bonus-based exploration with…
We present a method for enabling Reinforcement Learning of motor control policies for complex skills such as dexterous manipulation. We posit that a key difficulty for training such policies is the difficulty of exploring the problem state…
A fundamental issue in reinforcement learning algorithms is the balance between exploration of the environment and exploitation of information already obtained by the agent. Especially, exploration has played a critical role for both…
Autonomous agents powered by large language models (LLMs) have the potential to significantly enhance human productivity by reasoning, using tools, and executing complex tasks in diverse environments. However, current approaches to…
Designing protocols enhancing cooperation for multi-agent systems remains a grand challenge. Cheap talk, defined as costless, non-binding communication before formal action, serves as a pivotal solution. However, existing theoretical…
Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…
Tool-using LLM agents fail through trajectories rather than only final responses, as they may execute unsafe tool calls, follow injected instructions, comply with harmful requests, or over-refuse benign tasks despite producing a seemingly…
Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the…
We treat the problem of autonomous acquisition of manipulation skills where problem-solving strategies are initially available only for a narrow range of situations. We propose to extend the range of solvable situations by autonomous…
Balancing exploration and exploitation is a fundamental part of reinforcement learning, yet most state-of-the-art algorithms use a naive exploration protocol like $\epsilon$-greedy. This contributes to the problem of high sample complexity,…
In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…
Autonomous vehicles are slowly becoming reality thanks to the efforts of many academic and industrial organizations. Due to the complexity of the software powering these systems and the dynamicity of the development processes, an…
Policy optimization is an effective reinforcement learning approach to solve continuous control tasks. Recent achievements have shown that alternating online and offline optimization is a successful choice for efficient trajectory reuse.…
In cooperation, the workers must know how co-workers behave. However, an agent's policy, which is embedded in a statistical machine learning model, is hard to understand, and requires much time and knowledge to comprehend. Therefore, it is…
Explainable robots require not only successful task execution but also the ability to expose internal decision-making process in a user-friendly manner. However, most imitation learning methods are trained solely on task-level…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…