相关论文: Collective Robot Reinforcement Learning with Distr…

Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

While the recent advances in deep reinforcement learning have achieved impressive results in learning motor skills, many of the trained policies are only capable within a limited set of initial states. We propose a technique to break down a…

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…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Large, general-purpose robotic policies trained on diverse demonstration datasets have been shown to be remarkably effective both for controlling a variety of robots in a range of different scenes, and for acquiring broad repertoires of…

Recent works have proven that intricate cooperative behaviors can emerge in agents trained using meta reinforcement learning on open ended task distributions using self-play. While the results are impressive, we argue that self-play and…

We study the problem of learning sequential decision-making policies in settings with multiple state-action representations. Such settings naturally arise in many domains, such as planning (e.g., multiple integer programming formulations)…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…

Reinforcement learning (RL) enables an agent to learn from trial-and-error experiences toward achieving long-term goals; automated planning aims to compute plans for accomplishing tasks using action knowledge. Despite their shared goal of…

In this paper, a new population-guided parallel learning scheme is proposed to enhance the performance of off-policy reinforcement learning (RL). In the proposed scheme, multiple identical learners with their own value-functions and…

Behavior cloning has shown promise for robot manipulation, but real-world demonstrations are costly to acquire at scale. While simulated data offers a scalable alternative, particularly with advances in automated demonstration generation,…

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…