相关论文: Collective Robot Reinforcement Learning with Distr…
Robot-assisted dressing could benefit the lives of many people such as older adults and individuals with disabilities. Despite such potential, robot-assisted dressing remains a challenging task for robotics as it involves complex…
Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…
Meta-reinforcement learning (meta-RL) is a promising approach that enables the agent to learn new tasks quickly. However, most meta-RL algorithms show poor generalization in multi-task scenarios due to the insufficient task information…
Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…
In this paper, we are interested in systems with multiple agents that wish to collaborate in order to accomplish a common task while a) agents have different information (decentralized information) and b) agents do not know the model of the…
The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…
Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or…
Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…
A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…
While recent progress has spawned very powerful machine learning systems, those agents remain extremely specialized and fail to transfer the knowledge they gain to similar yet unseen tasks. In this paper, we study a simple reinforcement…
Policy search reinforcement learning has been drawing much attention as a method of learning a robot control policy. In particular, policy search using such non-parametric policies as Gaussian process regression can learn optimal actions…
Assigning resources in business processes execution is a repetitive task that can be effectively automated. However, different automation methods may give varying results that may not be optimal. Proper resource allocation is crucial as it…
While Reinforcement Learning can achieve impressive results for complex tasks, the learned policies are generally prone to fail in downstream tasks with even minor model mismatch or unexpected perturbations. Recent works have demonstrated…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Guided policy search is a method for reinforcement learning that trains a general policy for accomplishing a given task by guiding the learning of the policy with multiple guiding distributions. Guided policy search relies on learning an…
While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…
In this paper, we present a reinforcement learning approach to designing a control policy for a "leader" agent that herds a swarm of "follower" agents, via repulsive interactions, as quickly as possible to a target probability distribution…
Maneuvering in dense traffic is a challenging task for autonomous vehicles because it requires reasoning about the stochastic behaviors of many other participants. In addition, the agent must achieve the maneuver within a limited time and…
Multi-task learning aims to learn multiple tasks jointly by exploiting their relatedness to improve the generalization performance for each task. Traditionally, to perform multi-task learning, one needs to centralize data from all the tasks…
Learning-based approaches often outperform hand-coded algorithmic solutions for many problems in robotics. However, learning long-horizon tasks on real robot hardware can be intractable, and transferring a learned policy from simulation to…