相关论文: Learning visual servo policies via planner cloning

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Direct policy search is one of the most important algorithm of reinforcement learning. However, learning from scratch needs a large amount of experience data and can be easily prone to poor local optima. In addition to that, a partially…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Behavioural cloning is an imitation learning technique that teaches an agent how to behave via expert demonstrations. Recent approaches use self-supervision of fully-observable unlabelled snapshots of the states to decode state pairs into…

Learning complex manipulation tasks in realistic, obstructed environments is a challenging problem due to hard exploration in the presence of obstacles and high-dimensional visual observations. Prior work tackles the exploration problem by…

Most existing policy learning solutions require the learning agents to receive high-quality supervision signals such as well-designed rewards in reinforcement learning (RL) or high-quality expert demonstrations in behavioral cloning (BC).…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

Robots must understand their environment from raw sensory inputs and reason about the consequences of their actions in it to solve complex tasks. Behavior Cloning (BC) leverages task-specific human demonstrations to learn this knowledge as…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

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…

Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by the expert. This works well when the robot learner visits…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…