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

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Humans can imagine goal states during planning and perform actions to match those goals. In this work, we propose Imagination Policy, a novel multi-task key-frame policy network for solving high-precision pick and place tasks. Instead of…

Robotic manipulation tasks exhibit varying memory requirements, ranging from Markovian tasks that require no memory to non-Markovian tasks that depend on historical information spanning single or multiple interaction trials. Surprisingly,…

Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust…

In this paper, we present a novel method for achieving dexterous manipulation of complex objects, while simultaneously securing the object without the use of passive support surfaces. We posit that a key difficulty for training such…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative models. Although the problem has been studied for years under names such as…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

Accurate state estimation is critical for optimal policy design in dynamic systems. However, obtaining true system states is often impractical or infeasible, complicating the policy learning process. This paper introduces a novel neural…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Real-world applications require RL algorithms to act safely. During learning process, it is likely that the agent executes sub-optimal actions that may lead to unsafe/poor states of the system. Exploration is particularly brittle in…

We develop a new class of model-free deep reinforcement learning algorithms for data-driven, learning-based control. Our Generalized Policy Improvement algorithms combine the policy improvement guarantees of on-policy methods with the…

Policy gradient methods are an appealing approach in reinforcement learning because they directly optimize the cumulative reward and can straightforwardly be used with nonlinear function approximators such as neural networks. The two main…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Knowledge from animals and humans inspires robotic innovations. Numerous efforts have been made to achieve agile locomotion in quadrupedal robots through classical controllers or reinforcement learning approaches. These methods usually rely…

In order for robots to perform mission-critical tasks, it is essential that they are able to quickly adapt to changes in their environment as well as to injuries and or other bodily changes. Deep reinforcement learning has been shown to be…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…