相关论文: Sidekick Policy Learning for Active Visual Explora…

A reinforcement learning agent that needs to pursue different goals across episodes requires a goal-conditional policy. In addition to their potential to generalize desirable behavior to unseen goals, such policies may also enable…

We study view-invariant imitation learning by explicitly conditioning policies on camera extrinsics. Using Plucker embeddings of per-pixel rays, we show that conditioning on extrinsics significantly improves generalization across viewpoints…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

Episodic self-imitation learning, a novel self-imitation algorithm with a trajectory selection module and an adaptive loss function, is proposed to speed up reinforcement learning. Compared to the original self-imitation learning algorithm,…

Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data,…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

We consider artificial agents that learn to jointly control their gripperand camera in order to reinforcement learn manipulation policies in the presenceof occlusions from distractor objects. Distractors often occlude the object of…

Active search for recovering objects of interest through online, adaptive decision making with autonomous agents requires trading off exploration of unknown environments with exploitation of prior observations in the search space. Prior…

We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we…

Effective exploration in reinforcement learning requires not only tracking where an agent has been, but also understanding how the agent perceives and represents the world. To learn powerful representations, an agent should actively explore…

We propose an exploration method that incorporates look-ahead search over basic learnt skills and their dynamics, and use it for reinforcement learning (RL) of manipulation policies . Our skills are multi-goal policies learned in isolation…

Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…

Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…

Policy gradient is a generic and flexible reinforcement learning approach that generally enjoys simplicity in analysis, implementation, and deployment. In the last few decades, this approach has been extensively advanced for fully…

Developing autonomous agents that quickly explore an environment and adapt their behavior online is a canonical challenge in robotics and machine learning. While humans are able to achieve such fast online exploration and adaptation, often…

A significant element of human cooperative intelligence lies in our ability to identify opportunities for fruitful collaboration; and conversely to recognise when the task at hand is better pursued alone. Research on flexible cooperation in…

We consider the problem of third-person imitation learning with the additional challenge that the learner must select the perspective from which they observe the expert. In our setting, each perspective provides only limited information…

Object navigation is defined as navigating to an object of a given label in a complex, unexplored environment. In its general form, this problem poses several challenges for Robotics: semantic exploration of unknown environments in search…