相关论文: Learning Modular Robot Locomotion from Demonstrati…

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…

A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…

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…

Many existing imitation learning datasets are collected from multiple demonstrators, each with different expertise at different parts of the environment. Yet, standard imitation learning algorithms typically treat all demonstrators as…

We describe a framework for multitask deep reinforcement learning guided by policy sketches. Sketches annotate tasks with sequences of named subtasks, providing information about high-level structural relationships among tasks but not how…

In this paper, we describe an approach to achieve dynamic legged locomotion on physical robots which combines existing methods for control with reinforcement learning. Specifically, our goal is a control hierarchy in which highest-level…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Learning from demonstration allows for rapid deployment of robot manipulators to a great many tasks, by relying on a person showing the robot what to do rather than programming it. While this approach provides many opportunities, measuring,…

A core aspect of human intelligence is the ability to learn new tasks quickly and switch between them flexibly. Here, we describe a modular continual reinforcement learning paradigm inspired by these abilities. We first introduce a visual…

Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…

Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…

Inspired by the necessity of morphological adaptation in animals, a growing body of work has attempted to expand robot training to encompass physical aspects of a robot's design. However, reinforcement learning methods capable of optimizing…

Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Imitation learning (IL) can generate computationally efficient sensorimotor policies from demonstrations provided by computationally expensive model-based sensing and control algorithms. However, commonly employed IL methods are often…

Teaching robots novel behaviors typically requires motion demonstrations via teleoperation or kinaesthetic teaching, that is, physically guiding the robot. While recent work has explored using human sketches to specify desired behaviors,…

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…

The goal of learning from demonstrations is to learn a policy for an agent (imitator) by mimicking the behavior in the demonstrations. Prior works on learning from demonstrations assume that the demonstrations are collected by a…

Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardware is yet missing. In this study, we emulate muscle…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…