相关论文: Concurrent Policy Blending and System Identificati…

Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains…

We study the problem of learning sequential decision-making policies in settings with multiple state-action representations. Such settings naturally arise in many domains, such as planning (e.g., multiple integer programming formulations)…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…

In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…

Programming by demonstration has recently gained much attention due to its user-friendly and natural way to transfer human skills to robots. In order to facilitate the learning of multiple demonstrations and meanwhile generalize to new…

Classifier ensembles are pattern recognition structures composed of a set of classification algorithms (members), organized in a parallel way, and a combination method with the aim of increasing the classification accuracy of a…

Humans can master a new task within a few trials by drawing upon skills acquired through prior experience. To mimic this capability, hierarchical models combining primitive policies learned from prior tasks have been proposed. However,…

Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Collaborative AI systems aim at working together with humans in a shared space to achieve a common goal. This setting imposes potentially hazardous circumstances due to contacts that could harm human beings. Thus, building such systems with…

Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…

Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents. To enhance the…

Machine learning (ML) and deep learning models are extensively used for parameter optimization and regression problems. However, not all inverse problems in ML are ``identifiable,'' indicating that model parameters may not be uniquely…

This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…

In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…

In this paper we propose a novel approach to identify dynamical systems. The method estimates the model structure and the parameters of the model simultaneously, automating the critical decisions involved in identification such as model…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control. A promising strategy is to develop policies that are robust…

Model merging combines knowledge from task-specific models into a unified multi-task model to avoid joint training on all task data. However, current methods face challenges due to representation bias, which can interfere with tasks…