相关论文: Imitation Learning for Generalizable Self-driving …

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Sim-to-real transfer trains RL agents in the simulated environments and then deploys them in the real world. Sim-to-real transfer has been widely used in practice because it is often cheaper, safer and much faster to collect samples in…

Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances…

The ability to act in multiple environments and transfer previous knowledge to new situations can be considered a critical aspect of any intelligent agent. Towards this goal, we define a novel method of multitask and transfer learning that…

Robotic cutting, or milling, plays a significant role in applications such as disassembly, decommissioning, and demolition. Planning and control of cutting in real-world scenarios in uncertain environments is a complex task, with the…

Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learning of interactive policies that coordinate with humans in…

Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

A common vision from science fiction is that robots will one day inhabit our physical spaces, sense the world as we do, assist our physical labours, and communicate with us through natural language. Here we study how to design artificial…

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust,…

Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Imitation learning is an effective approach for autonomous systems to acquire control policies when an explicit reward function is unavailable, using supervision provided as demonstrations from an expert, typically a human operator.…

Imitation learning (IL) enables agents to mimic expert behaviors. Most previous IL techniques focus on precisely imitating one policy through mass demonstrations. However, in many applications, what humans require is the ability to perform…