相关论文: Virtual-to-Real: Learning to Control in Visual Sem…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…

In the context of deep learning for robotics, we show effective method of training a real robot to grasp a tiny sphere (1.37cm of diameter), with an original combination of system design choices. We decompose the end-to-end system into a…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Transferring learning-based models to the real world remains one of the hardest problems in model-free control theory. Due to the cost of data collection on a real robot and the limited sample efficiency of Deep Reinforcement Learning…

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…

Achieving machine intelligence requires a smooth integration of perception and reasoning, yet models developed to date tend to specialize in one or the other; sophisticated manipulation of symbols acquired from rich perceptual spaces has so…

Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…

The main challenge in learning image-conditioned robotic policies is acquiring a visual representation conducive to low-level control. Due to the high dimensionality of the image space, learning a good visual representation requires a…

Training a deep neural model for semantic segmentation requires collecting a large amount of pixel-level labeled data. To alleviate the data scarcity problem presented in the real world, one could utilize synthetic data whose label is easy…

Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…