相关论文: Hierarchical Behavioral Repertoires with Unsupervi…

Human behavior is often assumed to be hierarchically structured, made up of abstract actions that can be decomposed into concrete actions. However, behavior is typically measured as a sequence of actions, which makes it difficult to infer…

We develop a metalearning approach for learning hierarchically structured policies, improving sample efficiency on unseen tasks through the use of shared primitives---policies that are executed for large numbers of timesteps. Specifically,…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

This article proposes a hierarchical learning architecture for safe data-driven control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control…

Meta-Reinforcement Learning (Meta-RL) enables fast adaptation to new testing tasks. Despite recent advancements, it is still challenging to learn performant policies across multiple complex and high-dimensional tasks. To address this, we…

We present an automated learning framework for a robotic sketching agent that is capable of learning stroke-based rendering and motor control simultaneously. We formulate the robotic sketching problem as a deep decoupled hierarchical…

Decision Transformer (DT) is an innovative algorithm leveraging recent advances of the transformer architecture in reinforcement learning (RL). However, a notable limitation of DT is its reliance on recalling trajectories from datasets,…

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…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

By dynamic planning, we refer to the ability of the human brain to infer and impose motor trajectories related to cognitive decisions. A recent paradigm, active inference, brings fundamental insights into the adaptation of biological…

We present a framework for learning to plan hierarchically in domains with unknown dynamics. We enhance planning performance by exploiting problem structure in several ways: (i) We simplify the search over plans by leveraging knowledge of…

Much as replacing hand-designed features with learned functions has revolutionized how we solve perceptual tasks, we believe learned algorithms will transform how we train models. In this work we focus on general-purpose learned optimizers…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

We consider the problem of unsupervised skill segmentation and hierarchical structure discovery in reinforcement learning. While recent approaches have sought to segment trajectories into reusable skills or options, most rely on action…

Designing intelligent microrobots that can autonomously navigate and perform instructed routines in blood vessels, a complex and crowded environment with obstacles including dense cells, different flow patterns and diverse vascular…

Programming a robot to deal with open-ended tasks remains a challenge, in particular if the robot has to manipulate objects. Launching, grasping, pushing or any other object interaction can be simulated but the corresponding models are not…

The simulation-to-real gap problem and the high computational burden of whole-body Model Predictive Control (whole-body MPC) continue to present challenges in generating a wide variety of movements using whole-body MPC for real humanoid…

Training robots with physical bodies requires developing new methods and action representations that allow the learning agents to explore the space of policies efficiently. This work studies sample-efficient learning of complex policies in…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…