相关论文: Learning Object-conditioned Exploration using Dist…

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…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…

Tracking a target in cluttered and dynamic environments is challenging but forms a core component in applications like aerial cinematography. The obstacles in the environment not only pose collision risk but can also occlude the target from…

Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…

We study the problem of learning goal-conditioned policies in Minecraft, a popular, widely accessible yet challenging open-ended environment for developing human-level multi-task agents. We first identify two main challenges of learning…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

We study the problem of learning exploration-exploitation strategies that effectively adapt to dynamic environments, where the task may change over time. While RNN-based policies could in principle represent such strategies, in practice…

Exploration in unknown environments is a fundamental problem in reinforcement learning and control. In this work, we study task-guided exploration and determine what precisely an agent must learn about their environment in order to complete…

Discrete reinforcement learning (RL) algorithms have demonstrated exceptional performance in solving sequential decision tasks with discrete action spaces, such as Atari games. However, their effectiveness is hindered when applied to…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

Offline reinforcement learning provides a viable approach to obtain advanced control strategies for dynamical systems, in particular when direct interaction with the environment is not available. In this paper, we introduce a conceptual…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through domain randomization and online system-identification. The…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available exclusively during training. We formalize this as a Partially…