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Meta-reinforcement learning (Meta-RL) has attracted attention due to its capability to enhance reinforcement learning (RL) algorithms, in terms of data efficiency and generalizability. In this paper, we develop a bilevel optimization…

Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…

Most reinforcement-learning (RL) controllers used in continuous control are architecturally centralized: observations are compressed into a single latent state from which both value estimates and actions are produced. Biological control…

Deep reinforcement learning (DRL) is one of the most powerful tools for synthesizing complex robotic behaviors. But training DRL models is incredibly compute and memory intensive, requiring large training datasets and replay buffers to…

In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedious reward function tuning to achieve the desired motion…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

In search of a simple baseline for Deep Reinforcement Learning in locomotion tasks, we propose a model-free open-loop strategy. By leveraging prior knowledge and the elegance of simple oscillators to generate periodic joint motions, it…

When deploying reinforcement learning policies to physical robots, actuator rate constraints -- hard limits on how fast each joint can move per control step -- are unavoidable. These limits vary substantially across joints due to…

This study presents a comparative analysis between single-objective and multi-objective reinforcement learning methods for training a robot to navigate effectively to an end goal while efficiently avoiding obstacles. Traditional…

While many robotic tasks can be addressed using either centralized single-agent control with full state observation or decentralized multi-agent control, clear criteria for choosing between these approaches remain underexplored. This paper…

We present a general, two-stage reinforcement learning approach to create robust policies that can be deployed on real robots without any additional training using a single demonstration generated by trajectory optimization. The…

Deep reinforcement learning (RL) has proven a powerful technique in many sequential decision making domains. However, Robotics poses many challenges for RL, most notably training on a physical system can be expensive and dangerous, which…

The ball-balancing robot (ballbot) is a good platform to test the effectiveness of a balancing controller. Considering balancing control, conventional model-based feedback control methods have been widely used. However, contacts and…

Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…

Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Autonomous contact-based micromanipulation is challenging because surface and interfacial interactions at the microscale are difficult to model accurately, limiting the use of conventional model-based control and sim-to-real learning. We…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

Model-based reinforcement learning (RL) algorithms allow us to combine model-generated data with those collected from interaction with the real system in order to alleviate the data efficiency problem in RL. However, designing such…

Learning generalist policies capable of accomplishing a plethora of everyday tasks remains an open challenge in dexterous manipulation. In particular, collecting large-scale manipulation data via real-world teleoperation is expensive and…