相关论文: Cascaded Compositional Residual Learning for Compl…

This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

Humans are able to perform a myriad of sophisticated tasks by drawing upon skills acquired through prior experience. For autonomous agents to have this capability, they must be able to extract reusable skills from past experience that can…

Residual learning has recently surfaced as an effective means of constructing very deep neural networks for object recognition. However, current incarnations of residual networks do not allow for the modeling and integration of complex…

Complex systems are ubiquitous in the real world and tend to have complicated and poorly understood dynamics. For their control issues, the challenge is to guarantee accuracy, robustness, and generalization in such bloated and troubled…

Large language models can exhibit emergent reasoning behaviors, often manifested as recurring lexical patterns (e.g., "wait," indicating verification). However, complex reasoning trajectories remain sparse in unconstrained sampling, and…

Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…

Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking…

We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Multi-task Vehicle Routing Problems (VRPs) aim to minimize routing costs while satisfying diverse constraints. Existing solvers typically adopt a unified reinforcement learning (RL) framework to learn generalizable patterns across tasks.…

Self-supervised representation learning has achieved remarkable success in recent years. By subverting the need for supervised labels, such approaches are able to utilize the numerous unlabeled images that exist on the Internet and in…

Humans leverage the dynamics of the environment and their own bodies to accomplish challenging tasks such as grasping an object while walking past it or pushing off a wall to turn a corner. Such tasks often involve switching dynamics as the…

We introduce Compositional Imitation Learning and Execution (CompILE): a framework for learning reusable, variable-length segments of hierarchically-structured behavior from demonstration data. CompILE uses a novel unsupervised,…

In this work, we propose a novel algorithmic framework for data sharing and coordinated exploration for the purpose of learning more data-efficient and better performing policies under a concurrent reinforcement learning (CRL) setting. In…

In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…

Despite the broad application of deep reinforcement learning (RL), transferring and adapting the policy to unseen but similar environments is still a significant challenge. Recently, the language-conditioned policy is proposed to facilitate…

Robotic agents performing domestic chores by natural language directives are required to master the complex job of navigating environment and interacting with objects in the environments. The tasks given to the agents are often composite…