相关论文: Reinforcement Learning with Videos: Combining Offl…

World models simulate dynamic environments, enabling agents to interact with diverse input modalities. Although recent advances have improved the visual quality and temporal consistency of video world models, their ability of accurately…

Data-driven character animation based on motion capture can produce highly naturalistic behaviors and, when combined with physics simulation, can provide for natural procedural responses to physical perturbations, environmental changes, and…

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

We present R+X, a framework which enables robots to learn skills from long, unlabelled, first-person videos of humans performing everyday tasks. Given a language command from a human, R+X first retrieves short video clips containing…

The deployment of reinforcement learning (RL) in the real world comes with challenges in calibrating user trust and expectations. As a step toward developing RL systems that are able to communicate their competencies, we present a method of…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Reinforcement learning (RL) in the real world necessitates the development of procedures that enable agents to explore without causing harm to themselves or others. The most successful solutions to the problem of safe RL leverage offline…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Demonstration-guided reinforcement learning (RL) is a promising approach for learning complex behaviors by leveraging both reward feedback and a set of target task demonstrations. Prior approaches for demonstration-guided RL treat every new…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

For the task with complicated manipulation in unstructured environments, traditional hand-coded methods are ineffective, while reinforcement learning can provide more general and useful policy. Although the reinforcement learning is able to…

Humans can efficiently extract knowledge and learn skills from the videos within only a few trials and errors. However, it poses a big challenge to replicate this learning process for autonomous agents, due to the complexity of visual…

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement…

Reinforcement Learning is an area of Machine Learning focused on how agents can be trained to make sequential decisions, and achieve a particular goal within an arbitrary environment. While learning, they repeatedly take actions based on…

Reinforcement learning (RL) requires skillful definition and remarkable computational efforts to solve optimization and control problems, which could impair its prospect. Introducing human guidance into reinforcement learning is a promising…

Recent work on deep reinforcement learning (DRL) has pointed out that algorithmic information about good policies can be extracted from offline data which lack explicit information about executed actions. For example, videos of humans or…

Large Vision-Language Models (LVLMs) have recently advanced robotic manipulation by leveraging vision for scene perception and language for instruction following. However, existing methods rely heavily on costly human-annotated training…