相关论文: Graph-Structured Policy Learning for Multi-Goal Ma…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

Applying end-to-end learning to solve complex, interactive, pixel-driven control tasks on a robot is an unsolved problem. Deep Reinforcement Learning algorithms are too slow to achieve performance on a real robot, but their potential has…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

Scaling end-to-end reinforcement learning to control real robots from vision presents a series of challenges, in particular in terms of sample efficiency. Against end-to-end learning, state representation learning can help learn a compact,…

Understanding physical phenomena is a key component of human intelligence and enables physical interaction with previously unseen environments. In this paper, we study how an artificial agent can autonomously acquire this intuition through…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

Data-efficient learning in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. In this paper, we consider one instance of this challenge, the pixels to…

In this paper, we propose a concept learning architecture that enables a robot to build symbols through self-exploration by interacting with a varying number of objects. Our aim is to allow a robot to learn concepts without constraints,…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Goal-conditioned reinforcement learning endows an agent with a large variety of skills, but it often struggles to solve tasks that require more temporally extended reasoning. In this work, we propose to incorporate imagined subgoals into…

We explore possible methods for multi-task transfer learning which seek to exploit the shared physical structure of robotics tasks. Specifically, we train policies for a base set of pre-training tasks, then experiment with adapting to new…

In this work, we present an approach to construct a video-based robot policy capable of reliably executing diverse tasks across different robots and environments from few video demonstrations without using any action annotations. Our method…

Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…

Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this…

Model-based reinforcement learning (RL) has proven to be a data efficient approach for learning control tasks but is difficult to utilize in domains with complex observations such as images. In this paper, we present a method for learning…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…