相关论文: Learning Visual Robotic Control Efficiently with C…

Visual model-based reinforcement learning (RL) has the potential to enable sample-efficient robot learning from visual observations. Yet the current approaches typically train a single model end-to-end for learning both visual…

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…

Deep Reinforcement learning holds the guarantee of empowering self-ruling robots to master enormous collections of conduct abilities with negligible human mediation. The improvements brought by this technique enables robots to perform…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

Robotic systems that rely primarily on self-supervised learning have the potential to decrease the amount of human annotation and engineering effort required to learn control strategies. In the same way that prior robotic systems have…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

Recent progress in deep reinforcement learning (RL) and computer vision enables artificial agents to solve complex tasks, including locomotion, manipulation and video games from high-dimensional pixel observations. However, domain specific…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Image-Text Retrieval (ITR) is challenging in bridging visual and lingual modalities. Contrastive learning has been adopted by most prior arts. Except for limited amount of negative image-text pairs, the capability of constrastive learning…

Pre-training for Reinforcement Learning (RL) with purely video data is a valuable yet challenging problem. Although in-the-wild videos are readily available and inhere a vast amount of prior world knowledge, the absence of action…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…

Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of…

Automated animal censuses with aerial imagery are a vital ingredient towards wildlife conservation. Recent models are generally based on deep learning and thus require vast amounts of training data. Due to their scarcity and minuscule size,…

We propose a simple data augmentation technique that can be applied to standard model-free reinforcement learning algorithms, enabling robust learning directly from pixels without the need for auxiliary losses or pre-training. The approach…

Recent work on visual representation learning has shown to be efficient for robotic manipulation tasks. However, most existing works pretrained the visual backbone solely on 2D images or egocentric videos, ignoring the fact that robots…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Optimal control and sequential decision making are widely used in many complex tasks. Optimal control over a sequence of natural images is a first step towards understanding the role of vision in control. Here, we formalize this problem as…