相关论文: Learning a Skill-sequence-dependent Policy for Lon…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

In this work, we focus on addressing the long-horizon manipulation tasks in densely cluttered scenes. Such tasks require policies to effectively manage severe occlusions among objects and continually produce actions based on visual…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility,…

Learning a control policy for a multi-phase, long-horizon task, such as basketball maneuvers, remains challenging for reinforcement learning approaches due to the need for seamless policy composition and transitions between skills. A…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

While solving complex manipulation tasks, manipulation policies often need to learn a set of diverse skills to accomplish these tasks. The set of skills is often quite multimodal - each one may have a quite distinct distribution of actions…

Skill chaining is a promising approach for synthesizing complex behaviors by sequentially combining previously learned skills. Yet, a naive composition of skills fails when a policy encounters a starting state never seen during its…

Long-horizon tasks, usually characterized by complex subtask dependencies, present a significant challenge in manipulation planning. Skill chaining is a practical approach to solving unseen tasks by combining learned skill priors. However,…

Reinforcement learning is still struggling with solving long-horizon surgical robot tasks which involve multiple steps over an extended duration of time due to the policy exploration challenge. Recent methods try to tackle this problem by…

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

Long-horizon contact-rich bimanual manipulation presents a significant challenge, requiring complex coordination involving a mixture of parallel execution and sequential collaboration between arms. In this paper, we introduce a hierarchical…

Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels. Promising results in sparse reward environments have been seen with skills, i.e. sequences of…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Advances in robotic skill acquisition have made it possible to build general-purpose libraries of learned skills for downstream manipulation tasks. However, naively executing these skills one after the other is unlikely to succeed without…