相关论文: Learning Reward Functions for Robotic Manipulation…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Reinforcement learning problems are often described through rewards that indicate if an agent has completed some task. This specification can yield desirable behavior, however many problems are difficult to specify in this manner, as one…

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…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Reinforcement learning agents learn from rewards, but humans can uniquely assign value to novel, abstract outcomes in a goal-dependent manner. However, this flexibility is cognitively costly, making learning less efficient. Here, we propose…

In many real-world tasks, it is not possible to procedurally specify an RL agent's reward function. In such cases, a reward function must instead be learned from interacting with and observing humans. However, current techniques for reward…

Existing approaches to reward inference from behavior typically assume that humans provide demonstrations according to specific models of behavior. However, humans often indicate their goals through a wide range of behaviors, from actions…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Reinforcement Learning (RL) agents have demonstrated their potential across various robotic tasks. However, they still heavily rely on human-engineered reward functions, requiring extensive trial-and-error and access to target behavior…

The objective of a reinforcement learning agent is to behave so as to maximise the sum of a suitable scalar function of state: the reward. These rewards are typically given and immutable. In this paper, we instead consider the proposition…

Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Humans generally teach their fellow collaborators to perform tasks through a small number of demonstrations. The learnt task is corrected or extended to meet specific task goals by means of coaching. Adopting a similar framework for…

We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and imitation learning methods require expert supervision through…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

When deploying autonomous agents in the real world, we need effective ways of communicating objectives to them. Traditional skill learning has revolved around reinforcement and imitation learning, each with rigid constraints on the format…