相关论文: MANGA: Method Agnostic Neural-policy Generalizatio…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Model-based reinforcement learning approaches carry the promise of being data efficient. However, due to challenges in learning dynamics models that sufficiently match the real-world dynamics, they struggle to achieve the same asymptotic…

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…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

[Context] Multi-agent reinforcement learning (MARL) has achieved notable success in environments where agents must learn coordinated behaviors. However, transferring knowledge across agents remains challenging in non-stationary environments…

Learning long-horizon tasks such as navigation has presented difficult challenges for successfully applying reinforcement learning to robotics. From another perspective, under known environments, sampling-based planning can robustly find…

In multi-agent reinforcement learning, the inherent non-stationarity of the environment caused by other agents' actions posed significant difficulties for an agent to learn a good policy independently. One way to deal with non-stationarity…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

A popular paradigm in robotic learning is to train a policy from scratch for every new robot. This is not only inefficient but also often impractical for complex robots. In this work, we consider the problem of transferring a policy across…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

In order to be effective general purpose machines in real world environments, robots not only will need to adapt their existing manipulation skills to new circumstances, they will need to acquire entirely new skills on-the-fly. A great…

Data-driven approaches to modeling physical systems fail to generalize to unseen systems that share the same general dynamics with the learning domain, but correspond to different physical contexts. We propose a new framework for this key…

The ability to act in multiple environments and transfer previous knowledge to new situations can be considered a critical aspect of any intelligent agent. Towards this goal, we define a novel method of multitask and transfer learning that…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Recent advances in supervised learning and reinforcement learning have provided new opportunities to apply related methodologies to automated driving. However, there are still challenges to achieve automated driving maneuvers in dynamically…

The composition of elementary behaviors to solve challenging transfer learning problems is one of the key elements in building intelligent machines. To date, there has been plenty of work on learning task-specific policies or skills but…

Adapting to the changes in transition dynamics is essential in robotic applications. By learning a conditional policy with a compact context, context-aware meta-reinforcement learning provides a flexible way to adjust behavior according to…