相关论文: Learning Inverse Statics Models Efficiently

This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the…

Exploring the design and control strategies of soft robots through simulation is highly attractive due to its cost-effectiveness. Although many existing models (e.g., finite element analysis) are effective for simulating soft robotic…

Inverse reinforcement learning (IRL) aims to learn a reward function and a corresponding policy that best fit the demonstrated trajectories of an expert. However, current IRL works cannot learn incrementally from an ongoing trajectory…

We present an adversarial active exploration for inverse dynamics model learning, a simple yet effective learning scheme that incentivizes exploration in an environment without any human intervention. Our framework consists of a deep…

Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Dynamical System has been widely used for encoding trajectories from human demonstration, which has the inherent adaptability to dynamically changing environments and robustness to perturbations. In this paper we propose a framework to…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

We propose an instance-wise adaptive sampling framework for constructing compact and informative training datasets for supervised learning of inverse problem solutions. Typical learning-based approaches aim to learn a general-purpose…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

This paper addresses the problem of online inverse reinforcement learning for systems with limited data and uncertain dynamics. In the developed approach, the state and control trajectories are recorded online by observing an agent perform…

Reinforcement learning is commonly associated with training of reward-maximizing (or cost-minimizing) agents, in other words, controllers. It can be applied in model-free or model-based fashion, using a priori or online collected system…

Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…

Achieving human-like dexterity is a longstanding challenge in robotics, in part due to the complexity of planning and control for contact-rich systems. In reinforcement learning (RL), one popular approach has been to use…

We learn, in an unsupervised way, an embedding from sequences of radar images that is suitable for solving the place recognition problem with complex radar data. Our method is based on invariant instance feature learning but is tailored for…

This paper proposes online sampling in the parameter space of a neural network for GPU-accelerated motion planning of autonomous vehicles. Neural networks are used as controller parametrization since they can handle nonlinear non-convex…