相关论文: Robust Robotic Control from Pixels using Contrasti…

For many real-world robotics applications, robots need to continually adapt and learn new concepts. Further, robots need to learn through limited data because of scarcity of labeled data in the real-world environments. To this end, my…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Learning representations for pixel-based control has garnered significant attention recently in reinforcement learning. A wide range of methods have been proposed to enable efficient learning, leading to sample complexities similar to those…

The ability to evolve is fundamental for any valuable autonomous agent whose knowledge cannot remain limited to that injected by the manufacturer. Consider for example a home assistant robot: it should be able to incrementally learn new…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

In this paper, we propose Multi-View Dreaming, a novel reinforcement learning agent for integrated recognition and control from multi-view observations by extending Dreaming. Most current reinforcement learning method assumes a single-view…

Object Detection, a fundamental computer vision problem, has paramount importance in smart camera systems. However, a truly reliable camera system could be achieved if and only if the underlying object detection component is robust enough…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

Model-based reinforcement learning (RL) enjoys several benefits, such as data-efficiency and planning, by learning a model of the environment's dynamics. However, learning a global model that can generalize across different dynamics is a…

Conventional feedback control methods can solve various types of robot control problems very efficiently by capturing the structure with explicit models, such as rigid body equations of motion. However, many control problems in modern…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

Offline reinforcement learning (RL) refers to the problem of learning policies from a static dataset of environment interactions. Offline RL enables extensive use and re-use of historical datasets, while also alleviating safety concerns…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

Image-based Reinforcement Learning is a practical yet challenging task. A major hurdle lies in extracting control-centric representations while disregarding irrelevant information. While approaches that follow the bisimulation principle…

Vision foundation models trained on massive amounts of visual data have shown unprecedented reasoning and planning skills in open-world settings. A key challenge in applying them to robotic tasks is the modality gap between visual data and…

In the context of safe exploration, Reinforcement Learning (RL) has long grappled with the challenges of balancing the tradeoff between maximizing rewards and minimizing safety violations, particularly in complex environments with…