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Proximal Policy Optimization (PPO) is a popular deep policy gradient algorithm. In standard implementations, PPO regularizes policy updates with clipped probability ratios, and parameterizes policies with either continuous Gaussian…

Magnetic adhesion tracked wall-climbing robots face potential risks of overturning during high-altitude operations, making their stability crucial for ensuring safety. This study presents a dynamic feature selection method based on Proximal…

Imitation learning (IL) with generative models, such as diffusion and flow matching, has enabled robots to perform complex, long-horizon tasks. However, distribution shifts from unseen environments or compounding action errors can still…

We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the…

Multi-objective optimization models that encode ordered sequential constraints provide a solution to model various challenging problems including encoding preferences, modeling a curriculum, and enforcing measures of safety. A recently…

Federated Learning (FL) is a promising machine learning paradigm that enables participating devices to train privacy-preserved and collaborative models. FL has proven its benefits for robotic manipulation tasks. However, grasping tasks lack…

Learning-based methods for dexterous manipulation have made notable progress in recent years. However, learned policies often still lack reliability and exhibit limited robustness to important factors of variation. One failure pattern that…

Sequential computation via autoregressive generation can make difficult tasks learnable, but the generation order of intermediate states strongly affects whether training succeeds. We address the problem of discovering a learning-friendly…

In this study, we propose a multitask reinforcement learning algorithm for foundational policy acquisition to generate novel motor skills. \textcolor{\hcolor}{Learning the rich representation of the multitask policy is a challenge in…

We study the problem of how to construct a set of policies that can be composed together to solve a collection of reinforcement learning tasks. Each task is a different reward function defined as a linear combination of known features. We…

We study an emerging problem named "grasping the invisible" in robotic manipulation, in which a robot is tasked to grasp an initially invisible target object via a sequence of pushing and grasping actions. In this problem, pushes are needed…

The aim of sequential pattern mining (SPM) is to discover potentially useful information from a given se-quence. Although various SPM methods have been investigated, most of these focus on mining all of the patterns. However, users…

Picking unseen objects from clutter is a difficult problem because of the variability in objects (shape, size, and material) and occlusion due to clutter. As a result, it becomes difficult for grasping methods to segment the objects…

In this paper we consider the problem of how a reinforcement learning agent tasked with solving a set of related Markov decision processes can use knowledge acquired early in its lifetime to improve its ability to more rapidly solve novel,…

Reinforcement Learning Algorithms are predominantly developed for stationary environments, and the limited literature that considers nonstationary environments often involves specific assumptions about changes that can occur in transition…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Traditional methods for unsupervised learning of finite mixture models require to evaluate the likelihood of all components of the mixture. This becomes computationally prohibitive when the number of components is large, as it is, for…

Reinforcement learning from verifiable rewards has emerged as a powerful technique for enhancing the complex reasoning abilities of Large Language Models (LLMs). However, these methods are fundamentally constrained by the ''learning cliff''…

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing…

This paper shows experimental results on learning based randomized bin-picking combined with iterative visual recognition. We use the random forest to predict whether or not a robot will successfully pick an object for given depth images of…