相关论文: Learning visual servo policies via planner cloning

Constraint programming (CP) is a powerful technique for solving constraint satisfaction and optimization problems. In CP solvers, the variable ordering strategy used to select which variable to explore first in the solving process has a…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…

Diffusion models have become a popular choice for representing actor policies in behavior cloning and offline reinforcement learning. This is due to their natural ability to optimize an expressive class of distributions over a continuous…

In this work, we study policy poisoning through state manipulation, also known as sensor spoofing, and focus specifically on the case of an agent forming a control policy through batch learning in a linear-quadratic (LQ) system. In this…

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…

Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from…

Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

Robot learning tasks are extremely compute-intensive and hardware-specific. Thus the avenues of tackling these challenges, using a diverse dataset of offline demonstrations that can be used to train robot manipulation agents, is very…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must be bootstrapped using a good skill policy obtained from human demonstration. However, relying on human demonstration necessarily…

Existing approaches for transporting and manipulating cable-suspended loads using multiple UAVs along reference trajectories typically rely on either centralized control architectures or reliable inter-agent communication. In this work, we…

Imitation learning-based robot control policies are enjoying renewed interest in video-based robotics. However, it remains unclear whether this approach applies to X-ray-guided procedures, such as spine instrumentation, with sparse inputs.…

Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…

Modern vehicles communicate data to and from sensors, actuators, and electronic control units (ECUs) using Controller Area Network (CAN) bus, which operates on differential signaling. An autonomous ECU responsible for the execution of…

With the growing phase of artificial intelligence and autonomous learning, the self-driving car is one of the promising area of research and emerging as a center of focus for automobile industries. Behavioral cloning is the process of…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…