相关论文: XIRL: Cross-embodiment Inverse Reinforcement Learn…

Despite the considerable potential of reinforcement learning (RL), robotic control tasks predominantly rely on imitation learning (IL) due to its better sample efficiency. However, it is costly to collect comprehensive expert demonstrations…

A significant challenge for the practical application of reinforcement learning in the real world is the need to specify an oracle reward function that correctly defines a task. Inverse reinforcement learning (IRL) seeks to avoid this…

Inverse Reinforcement Learning (IRL) is the task of learning a single reward function given a Markov Decision Process (MDP) without defining the reward function, and a set of demonstrations generated by humans/experts. However, in practice,…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

We transform reinforcement learning (RL) into a form of supervised learning (SL) by turning traditional RL on its head, calling this Upside Down RL (UDRL). Standard RL predicts rewards, while UDRL instead uses rewards as task-defining…

The Inverse Reinforcement Learning (\textit{IRL}) problem has seen rapid evolution in the past few years, with important applications in domains like robotics, cognition, and health. In this work, we explore the inefficacy of current IRL…

Enabling bipedal walking robots to learn how to maneuver over highly uneven, dynamically changing terrains is challenging due to the complexity of robot dynamics and interacted environments. Recent advancements in learning from…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

In robotic systems, the performance of reinforcement learning depends on the rationality of predefined reward functions. However, manually designed reward functions often lead to policy failures due to inaccuracies. Inverse Reinforcement…

Scaling model-based inverse reinforcement learning (IRL) to real robotic manipulation tasks with unknown dynamics remains an open problem. The key challenges lie in learning good dynamics models, developing algorithms that scale to…

Current approaches to embodied AI tend to learn policies from expert demonstrations. However, without a mechanism to evaluate the quality of demonstrated actions, they are limited to learning from optimal behaviour, or they risk replicating…

We propose a self-supervised approach for learning representations and robotic behaviors entirely from unlabeled videos recorded from multiple viewpoints, and study how this representation can be used in two robotic imitation settings:…

Autonomous urban driving navigation with complex multi-agent dynamics is under-explored due to the difficulty of learning an optimal driving policy. The traditional modular pipeline heavily relies on hand-designed rules and the…

We propose an inverse reinforcement learning (IRL) approach using Deep Q-Networks to extract the rewards in problems with large state spaces. We evaluate the performance of this approach in a simulation-based autonomous driving scenario.…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Inverse reinforcement learning (IRL) seeks to learn the reward function from expert trajectories, to understand the task for imitation or collaboration thereby removing the need for manual reward engineering. However, IRL in the context of…

In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given…