相关论文: DDCO: Discovery of Deep Continuous Options for Rob…

Dexterous manipulation with a multi-finger hand is one of the most challenging problems in robotics. While recent progress in imitation learning has largely improved the sample efficiency compared to Reinforcement Learning, the learned…

The ability to learn robust policies while generalizing over large discrete action spaces is an open challenge for intelligent systems, especially in noisy environments that face the curse of dimensionality. In this paper, we present a…

Deep reinforcement learning algorithms have been shown to learn complex tasks using highly general policy classes. However, sparse reward problems remain a significant challenge. Exploration methods based on novelty detection have been…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Simulating and controlling physical systems described by partial differential equations (PDEs) are crucial tasks across science and engineering. Recently, diffusion generative models have emerged as a competitive class of methods for these…

In this work we describe a novel deep reinforcement learning architecture that allows multiple actions to be selected at every time-step in an efficient manner. Multi-action policies allow complex behaviours to be learnt that would…

Collision-free motion is essential for mobile robots. Most approaches to collision-free and efficient navigation with wheeled robots require parameter tuning by experts to obtain good navigation behavior. This study investigates the…

A fairly reliable trend in deep reinforcement learning is that the performance scales with the number of parameters, provided a complimentary scaling in amount of training data. As the appetite for large models increases, it is imperative…

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Prompt learning is an effective way to exploit the potential of large-scale pre-trained foundational models. Continuous prompts parameterize context tokens in prompts by turning them into differentiable vectors. Deep continuous prompts…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. In this paper, we show that it is possible to learn fabric…

Robust reinforcement learning aims to produce policies that have strong guarantees even in the face of environments/transition models whose parameters have strong uncertainty. Existing work uses value-based methods and the usual primitive…

Efficient exploration remains a challenging research problem in reinforcement learning, especially when an environment contains large state spaces, deceptive local optima, or sparse rewards. To tackle this problem, we present a…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

Language model (LM) post-training (or alignment) involves maximizing a reward function that is derived from preference annotations. Direct Preference Optimization (DPO) is a popular offline alignment method that trains a policy directly on…

The current dominant paradigm in sensorimotor control, whether imitation or reinforcement learning, is to train policies directly in raw action spaces such as torque, joint angle, or end-effector position. This forces the agent to make…