相关论文: Asymmetric self-play for automatic goal discovery …

It is quite popular nowadays for researchers and data analysts holding different datasets to seek assistance from each other to enhance their modeling performance. We consider a scenario where different learners hold datasets with…

In this paper, we present empirical evidence of skills and directed exploration emerging from a simple RL algorithm long before any successful trials are observed. For example, in a manipulation task, the agent is given a single observation…

We consider the multi-agent reinforcement learning setting with imperfect information in which each agent is trying to maximize its own utility. The reward function depends on the hidden state (or goal) of both agents, so the agents must…

Assistance games (also known as cooperative inverse reinforcement learning games) have been proposed as a model for beneficial AI, wherein a robotic agent must act on behalf of a human principal but is initially uncertain about the humans…

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…

Language-conditioned policies have recently gained substantial adoption in robotics as they allow users to specify tasks using natural language, making them highly versatile. While much research has focused on improving the action…

We introduce the competitive assignment problem, a two-player version of the well-known assignment problem. Given a set of tasks and a set of agents with different efficiencies for different tasks, Alice and Bob take turns picking agents…

Flexible pick-and-place is a fundamental yet challenging task within robotics, in particular due to the need of an object model for a simple target pose definition. In this work, the robot instead learns to pick-and-place objects using…

Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

We study the problem of learning a good set of policies, so that when combined together, they can solve a wide variety of unseen reinforcement learning tasks with no or very little new data. Specifically, we consider the framework of…

We consider an active visual exploration scenario, where an agent must intelligently select its camera motions to efficiently reconstruct the full environment from only a limited set of narrow field-of-view glimpses. While the agent has…

Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences.…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

We study the task of language-conditioned pick and place in clutter, where a robot should grasp a target object in open clutter and move it to a specified place. Some approaches learn end-to-end policies with features from vision foundation…

For an autonomous system to be helpful to humans and to pose no unwarranted risks, it needs to align its values with those of the humans in its environment in such a way that its actions contribute to the maximization of value for the…

Robots playing soccer often rely on hard-coded behaviors that struggle to generalize when the game environment change. In this paper, we propose a temporal logic based approach that allows robots' behaviors and goals to adapt to the…

Robots should be able to learn complex behaviors from human demonstrations. In practice, these human-provided datasets are inevitably imbalanced: i.e., the human demonstrates some subtasks more frequently than others. State-of-the-art…

The ability to learn manipulation skills by watching videos of humans has the potential to unlock a new source of highly scalable data for robot learning. Here, we tackle prehensile manipulation, in which tasks involve grasping an object…