相关论文: DiffSRL: Learning Dynamical State Representation f…

Deep learning has shown strong potential in modeling complex spatiotemporal dynamics. However, most existing methods depend on densely and uniformly sampled data, which is often unavailable in practice due to sensor and cost limitations. In…

In this paper we tackle the problem of deformable object manipulation through model-free visual reinforcement learning (RL). In order to circumvent the sample inefficiency of RL, we propose two key ideas that accelerate learning. First, we…

Modern model-free reinforcement learning methods have recently demonstrated impressive results on a number of problems. However, complex domains like dexterous manipulation remain a challenge due to the high sample complexity. To address…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…

Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…

Using visual model-based learning for deformable object manipulation is challenging due to difficulties in learning plannable visual representations along with complex dynamic models. In this work, we propose a new learning framework that…

Dexterous grasping in the real world presents a fundamental and significant challenge for robot learning. The ability to employ affordance-aware poses to grasp objects with diverse geometries and properties in arbitrary scenarios is…

Deep reinforcement learning (RL) agents that exist in high-dimensional state spaces, such as those composed of images, have interconnected learning burdens. Agents must learn an action-selection policy that completes their given task, which…

Accurately predicting deformable linear object (DLO) dynamics is challenging, especially when the task requires a model that is both human-interpretable and computationally efficient. In this work, we draw inspiration from the pseudo-rigid…

The electromagnetic inverse problem has long been a research hotspot. This study aims to reverse radar view angles in synthetic aperture radar (SAR) images given a target model. Nonetheless, the scarcity of SAR data, combined with the…

State representation learning aims at learning compact representations from raw observations in robotics and control applications. Approaches used for this objective are auto-encoders, learning forward models, inverse dynamics or learning…

Identifying the dynamical state variables of a system from high-dimensional observations is a central problem across physical sciences. The challenge is that the state variables are not directly observable and must be inferred from raw…

Disentangled representation learning (DRL) aims to break down observed data into core intrinsic factors for a profound understanding of the data. In real-world scenarios, manually defining and labeling these factors are non-trivial, making…

Particle robots are novel biologically-inspired robotic systems where locomotion can be achieved collectively and robustly, but not independently. While its control is currently limited to a hand-crafted policy for basic locomotion tasks,…

We introduce DynaMITE-RL, a meta-reinforcement learning (meta-RL) approach to approximate inference in environments where the latent state evolves at varying rates. We model episode sessions - parts of the episode where the latent state is…

Learning a good representation is an essential component for deep reinforcement learning (RL). Representation learning is especially important in multitask and partially observable settings where building a representation of the unknown…

Diffusion-based models have achieved notable empirical successes in reinforcement learning (RL) due to their expressiveness in modeling complex distributions. Despite existing methods being promising, the key challenge of extending existing…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…