相关论文: SKID RAW: Skill Discovery from Raw Trajectories

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

When robots learn reward functions using high capacity models that take raw state directly as input, they need to both learn a representation for what matters in the task -- the task ``features" -- as well as how to combine these features…

Training robotic manipulation policies traditionally requires numerous demonstrations and/or environmental rollouts. While recent Imitation Learning (IL) and Reinforcement Learning (RL) methods have reduced the number of required…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and…

We consider the problem of unsupervised skill segmentation and hierarchical structure discovery in reinforcement learning. While recent approaches have sought to segment trajectories into reusable skills or options, most rely on action…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Manipulation tasks often consist of subtasks, each representing a distinct skill. Mastering these skills is essential for robots, as it enhances their autonomy, efficiency, adaptability, and ability to work in their environment. Learning…

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…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Learning from demonstration (LfD) is commonly considered to be a natural and intuitive way to allow novice users to teach motor skills to robots. However, it is important to acknowledge that the effectiveness of LfD is heavily dependent on…

Diversity of environments is a key challenge that causes learned robotic controllers to fail due to the discrepancies between the training and evaluation conditions. Training from demonstrations in various conditions can mitigate---but not…

Before autonomous systems can be deployed in safety-critical applications, we must be able to understand and verify the safety of these systems. For cases where the risk or cost of real-world testing is prohibitive, we propose a…

As robots enter human environments, they will be expected to accomplish a tremendous range of tasks. It is not feasible for robot designers to pre-program these behaviors or know them in advance, so one way to address this is through…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

A misspecified reward can degrade sample efficiency and induce undesired behaviors in reinforcement learning (RL) problems. We propose symbolic reward machines for incorporating high-level task knowledge when specifying the reward signals.…

Mimicry is a fundamental learning mechanism in humans, enabling individuals to learn new tasks by observing and imitating experts. However, applying this ability to robots presents significant challenges due to the inherent differences…