相关论文: Experience Reuse with Probabilistic Movement Primi…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Recently, end-to-end learning frameworks are gaining prevalence in the field of robot control. These frameworks input states/images and directly predict the torques or the action parameters. However, these approaches are often critiqued due…

Human-robot collaboration is on the rise. Robots need to increasingly improve the efficiency and smoothness with which they assist humans by properly anticipating a human's intention. To do so, prediction models need to increase their…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

Identifying statistical regularities in solutions to some tasks in multi-task reinforcement learning can accelerate the learning of new tasks. Skill learning offers one way of identifying these regularities by decomposing pre-collected…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

The development of a generalist agent with adaptive multiple manipulation skills has been a long-standing goal in the robotics community. In this paper, we explore a crucial task, skill-incremental learning, in robotic manipulation, which…

We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion…

We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitating human or dog Motion Capture (MoCap) data to learn a…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Reward-free, unsupervised discovery of skills is an attractive alternative to the bottleneck of hand-designing rewards in environments where task supervision is scarce or expensive. However, current skill pre-training methods, like many RL…

Reinforcement learning (RL) has become an increasingly active area of research in recent years. Although there are many algorithms that allow an agent to solve tasks efficiently, they often ignore the possibility that prior experience…

Parameterized movement primitives have been extensively used for imitation learning of robotic tasks. However, the high-dimensionality of the parameter space hinders the improvement of such primitives in the reinforcement learning (RL)…

Movement primitives have the property to accommodate changes in the robot state while maintaining attraction to the original policy. As such, we investigate the use of primitives as a blending mechanism by considering that state deviations…

Robots often struggle to generalize from a single demonstration due to the lack of a transferable and interpretable spatial representation. In this work, we introduce TReF-6, a method that infers a simplified, abstracted 6DoF Task-Relevant…

Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…

Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we…

The ways in which an agent's actions affect the world can often be modeled compactly using a set of relational probabilistic planning rules. This paper addresses the problem of learning such rule sets for multiple related tasks. We take a…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…

Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of…