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

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Contrastive learning has emerged as a transformative method for learning effective visual representations through the alignment of image and text embeddings. However, pairwise similarity computation in contrastive loss between image and…

Learning from Demonstration is increasingly used for transferring operator manipulation skills to robots. In practice, it is important to cater for limited data and imperfect human demonstrations, as well as underlying safety constraints.…

Previous work on action representation learning focused on global representations for short video clips. In contrast, many practical applications, such as video alignment, strongly demand learning the intensive representation of long…

Unsupervised representation learning has recently received lots of interest due to its powerful generalizability through effectively leveraging large-scale unlabeled data. There are two prevalent approaches for this, contrastive learning…

When manipulating objects in the real world, we need reactive feedback policies that take into account sensor information to inform decisions. This study aims to determine how different encoders can be used in a reinforcement learning (RL)…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Skilled robotic manipulation benefits from complex synergies between non-prehensile (e.g. pushing) and prehensile (e.g. grasping) actions: pushing can help rearrange cluttered objects to make space for arms and fingers; likewise, grasping…

Many reinforcement learning (RL) agents require a large amount of experience to solve tasks. We propose Contrastive BERT for RL (CoBERL), an agent that combines a new contrastive loss and a hybrid LSTM-transformer architecture to tackle the…

Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…

Teaching robots dexterous manipulation skills often requires collecting hundreds of demonstrations using wearables or teleoperation, a process that is challenging to scale. Videos of human-object interactions are easier to collect and…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensively cover diverse tasks and environments is extremely…

For natural language processing `text-to-text' tasks, the prevailing approaches heavily rely on pretraining large self-supervised models on increasingly larger `task-external' data. Transfer learning from high-resource pretraining works…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving…

Pioneering dual-encoder pre-training works (e.g., CLIP and ALIGN) have revealed the potential of aligning multi-modal representations with contrastive learning. However, these works require a tremendous amount of data and computational…

Enforcing complex (e.g., nonconvex) operational constraints is a critical challenge in real-world learning and control systems. However, existing methods struggle to efficiently enforce general classes of constraints. To address this, we…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…