相关论文: Q-attention: Enabling Efficient Learning for Visio…

This paper introduces an approach to Reinforcement Learning Algorithm by comparing their immediate rewards using a variation of Q-Learning algorithm. Unlike the conventional Q-Learning, the proposed algorithm compares current reward with…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…

Humans naturally swing their arms during locomotion to regulate whole-body dynamics, reduce angular momentum, and help maintain balance. Inspired by this principle, we present a limb-level multi-agent reinforcement learning (RL) framework…

Attention mechanism is a significant part of Transformer models. It helps extract features from embedded vectors by adding global information and its expressivity has been proved to be powerful. Nevertheless, the quadratic complexity…

Artificial neural networks are promising for general function approximation but challenging to train on non-independent or non-identically distributed data due to catastrophic forgetting. The experience replay buffer, a standard component…

Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…

The human brain uses selective attention to filter perceptual input so that only the components that are useful for behaviour are processed using its limited computational resources. We focus on one particular form of visual attention known…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

This paper extends the reinforcement learning ideas into the multi-agents system, which is far more complicated than the previously studied single-agent system. We studied two different multi-agents systems. One is the fully-connected…

In neuroscience, attention has been shown to bidirectionally interact with reinforcement learning (RL) processes. This interaction is thought to support dimensionality reduction of task representations, restricting computations to relevant…

We study how robots can autonomously learn skills that require a combination of navigation and grasping. While reinforcement learning in principle provides for automated robotic skill learning, in practice reinforcement learning in the real…

Multi-view action recognition (MVAR) leverages complementary temporal information from different views to improve the learning performance. Obtaining informative view-specific representation plays an essential role in MVAR. Attention has…

Robots have limited adaptation ability compared to humans and animals in the case of damage. However, robot damages are prevalent in real-world applications, especially for robots deployed in extreme environments. The fragility of robots…

We present a multi-agent learning algorithm, ALMA-Learning, for efficient and fair allocations in large-scale systems. We circumvent the traditional pitfalls of multi-agent learning (e.g., the moving target problem, the curse of…

Force interaction is inevitable when robots face multiple operation scenarios. How to make the robot competent in force control for generalized operations such as multi-tasks still remains a challenging problem. Aiming at the…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

Observing a human demonstrator manipulate objects provides a rich, scalable and inexpensive source of data for learning robotic policies. However, transferring skills from human videos to a robotic manipulator poses several challenges, not…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Much of recent Deep Reinforcement Learning success is owed to the neural architecture's potential to learn and use effective internal representations of the world. While many current algorithms access a simulator to train with a large…

In cooperative multi-agent reinforcement learning, a collection of agents learns to interact in a shared environment to achieve a common goal. We propose the use of reward machines (RM) -- Mealy machines used as structured representations…