相关论文: Scaling data-driven robotics with reward sketching…

Reinforcement learning provides a general framework for flexible decision making and control, but requires extensive data collection for each new task that an agent needs to learn. In other machine learning fields, such as natural language…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

How to learn an effective reinforcement learning-based model for control tasks from high-level visual observations is a practical and challenging problem. A key to solving this problem is to learn low-dimensional state representations from…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

Robot learning is at an inflection point, driven by rapid advancements in machine learning and the growing availability of large-scale robotics data. This shift from classical, model-based methods to data-driven, learning-based paradigms is…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…

We present a unified framework for multi-task locomotion and manipulation policy learning grounded in a contact-explicit representation. Instead of designing different policies for different tasks, our approach unifies the definition of a…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Reinforcement learning (RL) is crucial for data science decision-making but suffers from sample inefficiency, particularly in real-world scenarios with costly physical interactions. This paper introduces a novel human-inspired framework to…

In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach the challenge from an imitation learning perspective, aiming…

Unsupervised reinforcement learning aims to acquire skills without prior goal representations, where an agent automatically explores an open-ended environment to represent goals and learn the goal-conditioned policy. However, this procedure…

The utilization of broad datasets has proven to be crucial for generalization for a wide range of fields. However, how to effectively make use of diverse multi-task data for novel downstream tasks still remains a grand challenge in…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…

We investigate the problem of teaching a robot manipulator to perform dynamic non-prehensile object transport, also known as the `robot waiter' task, from a limited set of real-world demonstrations. We propose an approach that combines…

Training robot manipulation policies is a challenging and open problem in robotics and artificial intelligence. In this paper we propose a novel and compact state representation based on the rewards predicted from an image-based task…

As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…