相关论文: Learning Robust Manipulation Skills with Guided Po…

In this paper, we investigate how to learn to control a group of cooperative agents with limited sensing capabilities such as robot swarms. The agents have only very basic sensor capabilities, yet in a group they can accomplish…

The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new source of highly scalable data for robot learning. Here, we tackle prehensile manipulation, in which tasks involve grasping an object…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot positions and camera viewpoints. This leads to poor…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Guided policy search algorithms have been proven to work with incredible accuracy for not only controlling a complicated dynamical system, but also learning optimal policies from various unseen instances. One assumes true nature of the…

Deep reinforcement learning (deep RL) excels in various domains but lacks generalizability and interpretability. On the other hand, programmatic RL methods (Trivedi et al., 2021; Liu et al., 2023) reformulate RL tasks as synthesizing…

Behavior cloning of expert demonstrations can speed up learning optimal policies in a more sample-efficient way over reinforcement learning. However, the policy cannot extrapolate well to unseen states outside of the demonstration data,…

Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…

Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…

The ability to adapt to uncertainties, recover from failures, and coordinate between hand and fingers are essential sensorimotor skills for fully autonomous robotic grasping. In this paper, we aim to study a unified feedback control policy…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

We propose a multi-time-scale predictive representation learning method to efficiently learn robust driving policies in an offline manner that generalize well to novel road geometries, and damaged and distracting lane conditions which are…

Recent 3D generative models, which are capable of generating full object shapes from just a few images, now open up new opportunities in robotics. In this work, we show that 3D generative models can be used to augment a dataset from a…

Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such trajectories are unsuitable for delicate grasping, which require…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

We propose an architecture for learning complex controllable behaviors by having simple Policies Modulate Trajectory Generators (PMTG), a powerful combination that can provide both memory and prior knowledge to the controller. The result is…