相关论文: MaMiC: Macro and Micro Curriculum for Robotic Rein…

Every living organism struggles against disruptive environmental forces to carve out and maintain an orderly niche. We propose that such a struggle to achieve and preserve order might offer a principle for the emergence of useful behaviors…

We study building multi-task agents in open-world environments. Without human demonstrations, learning to accomplish long-horizon tasks in a large open-world environment with reinforcement learning (RL) is extremely inefficient. To tackle…

In this paper we consider a problem known as multi-task learning, consisting of fitting a set of classifier or regression functions intended for solving different tasks. In our novel formulation, we couple the parameters of these functions,…

Recent advances in multi-agent reinforcement learning (MARL) allow agents to coordinate their behaviors in complex environments. However, common MARL algorithms still suffer from scalability and sparse reward issues. One promising approach…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

A major challenge in the Deep RL (DRL) community is to train agents able to generalize over unseen situations, which is often approached by training them on a diversity of tasks (or environments). A powerful method to foster diversity is to…

Hierarchical reinforcement learning (HRL) provides a promising solution for complex tasks with sparse rewards of intelligent agents, which uses a hierarchical framework that divides tasks into subgoals and completes them sequentially.…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

Applying Deep Reinforcement Learning (DRL) to Human-Robot Cooperation (HRC) in dynamic control problems is promising yet challenging as the robot needs to learn the dynamics of the controlled system and dynamics of the human partner. In…

Large real-world robot datasets hold great potential to train generalist robot models, but scaling real-world human data collection is time-consuming and resource-intensive. Simulation has great potential in supplementing large-scale data,…

Learning robust manipulation policies typically requires large and diverse datasets, the collection of which is time-consuming, labor-intensive, and often impractical for dynamic environments. In this work, we introduce DynaMimicGen (D-MG),…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

In complex tasks, such as those with large combinatorial action spaces, random exploration may be too inefficient to achieve meaningful learning progress. In this work, we use a curriculum of progressively growing action spaces to…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

One proposed mechanism to improve exploration in reinforcement learning is through the use of macro-actions. Paradoxically though, in many scenarios the naive addition of macro-actions does not lead to better exploration, but rather the…

We present a new algorithm, Cross-Episodic Curriculum (CEC), to boost the learning efficiency and generalization of Transformer agents. Central to CEC is the placement of cross-episodic experiences into a Transformer's context, which forms…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

Deep reinforcement learning (RL) approaches have been broadly applied to a large number of robotics tasks, such as robot manipulation and autonomous driving. However, an open problem in deep RL is learning policies that are robust to…