相关论文: Learning visual servo policies via planner cloning

Imitation learning can reproduce policies by observing experts, which poses a problem regarding policy privacy. Policies, such as human, or policies on deployed robots, can all be cloned without consent from the owners. How can we protect…

Developing proficient brush manipulation capabilities in real-world scenarios is a complex and challenging endeavor, with wide-ranging applications in fields such as art, robotics, and digital design. In this study, we introduce an approach…

Reinforcement learning (RL) is a promising avenue for post-training vision-language-action (VLA) models, but practical deployment is hindered by sparse rewards and unstable training. This work mitigates these challenges by introducing an…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Position controllers have become the dominant interface for executing learned manipulation policies. Yet a critical design decision remains understudied: how should we choose controller gains for policy learning? The conventional wisdom is…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Advanced building control methods such as model predictive control (MPC) offer significant potential benefits to both consumers and grid operators, but the high computational requirements have acted as barriers to more widespread adoption.…

Model-free deep reinforcement learning has been shown to exhibit good performance in domains ranging from video games to simulated robotic manipulation and locomotion. However, model-free methods are known to perform poorly when the…

For an autonomous agent to fulfill a wide range of user-specified goals at test time, it must be able to learn broadly applicable and general-purpose skill repertoires. Furthermore, to provide the requisite level of generality, these skills…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

Imitation learning trains a policy by mimicking expert demonstrations. Various imitation methods were proposed and empirically evaluated, meanwhile, their theoretical understanding needs further studies. In this paper, we firstly analyze…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

In imitation learning, an agent learns how to behave in an environment with an unknown cost function by mimicking expert demonstrations. Existing imitation learning algorithms typically involve solving a sequence of planning or…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Policy constraint methods in offline reinforcement learning employ additional regularization techniques to constrain the discrepancy between the learned policy and the offline dataset. However, these methods tend to result in overly…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…