相关论文: ACNMP: Skill Transfer and Task Extrapolation throu…

Legged robots must achieve both robust locomotion and energy efficiency to be practical in real-world environments. Yet controllers trained in simulation often fail to transfer reliably, and most existing approaches neglect…

Deep Reinforcement Learning (DRL) has been a promising solution to many complex decision-making problems. Nevertheless, the notorious weakness in generalization among environments prevent widespread application of DRL agents in real-world…

Learning manipulation skills from human demonstration videos presents a promising yet challenging problem, primarily due to the significant embodiment gap between human body and robot manipulators. Existing methods rely on paired datasets…

Robots which make use of soft or compliant inter- actions often leverage tendon-driven actuation which enables actuators to be placed more flexibly, and compliance to be maintained. However, controlling complex tendon systems is…

This paper presents an innovative application of Transformer-XL for long sequence tasks in robotic learning from demonstrations (LfD). The proposed framework effectively integrates multi-modal sensor inputs, including RGB-D images, LiDAR,…

Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…

Neural processes (NPs) learn stochastic processes and predict the distribution of target output adaptively conditioned on a context set of observed input-output pairs. Furthermore, Attentive Neural Process (ANP) improved the prediction…

This work proposed an efficient learning-based framework to learn feedback control policies from human teleoperated demonstrations, which achieved obstacle negotiation, staircase traversal, slipping control and parcel delivery for a tracked…

Reinforcement Learning (RL) plays an important role in the robotic manipulation domain since it allows self-learning from trial-and-error interactions with the environment. Still, sample efficiency and reward specification seriously limit…

The ability to learn from human demonstration endows robots with the ability to automate various tasks. However, directly learning from human demonstration is challenging since the structure of the human hand can be very different from the…

Learning from demonstration (LfD) is a technique that allows expert teachers to teach task-oriented skills to robotic systems. However, the most effective way of guiding novice teachers to approach expert-level demonstrations quantitatively…

Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…

The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for robot locomotion, individual skills are…

Machine learning techniques applied to the problem of financial market forecasting struggle with dynamic regime switching, or underlying correlation and covariance shifts in true (hidden) market variables. Drawing inspiration from the…

For a robotic grasping task in which diverse unseen target objects exist in a cluttered environment, some deep learning-based methods have achieved state-of-the-art results using visual input directly. In contrast, actor-critic deep…

This paper describes a deep reinforcement learning (DRL) approach that won Phase 1 of the Real Robot Challenge (RRC) 2021, and then extends this method to a more difficult manipulation task. The RRC consisted of using a TriFinger robot to…

Reinforcement learning (RL) is a powerful approach for robot learning. However, model-free RL (MFRL) requires a large number of environment interactions to learn successful control policies. This is due to the noisy RL training updates and…

A key challenge in scaling up Reinforcement Learning is generalizing learned behaviour. Without the ability to carry forward acquired knowledge an agent is doomed to learn each task from scratch. In this paper we develop a new formalism for…

Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demonstrations as elastic…

Virtual character animation control is a problem for which Reinforcement Learning (RL) is a viable approach. While current work have applied RL effectively to portray physics-based skills, social behaviours are challenging to design reward…