相关论文: Prim-LAfD: A Framework to Learn and Adapt Primitiv…

For service robots to become general-purpose in everyday household environments, they need not only a large library of primitive skills, but also the ability to quickly learn novel tasks specified by users. Fine-tuning neural networks on a…

A random recurrent neural network, called a reservoir, can be used to learn robot movements conditioned on context inputs that encode task goals. The Learning is achieved by mapping the random dynamics of the reservoir modulated by context…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Robots can generalize manipulation skills between different scenarios by adapting to the features of the objects being manipulated. Selecting the set of relevant features for generalizing skills has usually been performed manually by a…

Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…

We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for humanoids with a high degree of freedom presents substantial…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

This paper presents INPROVF, an automatic framework that combines large language models (LLMs) and formal methods to speed up the repair process of high-level robot controllers. Previous approaches based solely on formal methods are…

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…

Learning from demonstration (LfD) techniques seek to enable novice users to teach robots novel tasks in the real world. However, prior work has shown that robot-centric LfD approaches, such as Dataset Aggregation (DAgger), do not perform…

For assistive robots and virtual agents to achieve ubiquity, machines will need to anticipate the needs of their human counterparts. The field of Learning from Demonstration (LfD) has sought to enable machines to infer predictive models of…

Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…

Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. In this paper, we show that it is possible to learn fabric…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

Foundation models pre-trained on massive unlabeled datasets have revolutionized natural language and computer vision, exhibiting remarkable generalization capabilities, thus highlighting the importance of pre-training. Yet, efforts in…

Meta-learning algorithms can accelerate the model-based reinforcement learning (MBRL) algorithms by finding an initial set of parameters for the dynamical model such that the model can be trained to match the actual dynamics of the system…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Motivated by the challenge of achieving rapid learning in physical environments, this paper presents the development and training of a robotic system designed to navigate and solve a labyrinth game using model-based reinforcement learning…

Deep reinforcement learning (RL) has achieved several high profile successes in difficult decision-making problems. However, these algorithms typically require a huge amount of data before they reach reasonable performance. In fact, their…