相关论文: GOATS: Goal Sampling Adaptation for Scooping with …

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

Reinforcement finetuning (RFT) is a key technique for aligning Large Language Models (LLMs) with human preferences and enhancing reasoning, yet its effectiveness is highly sensitive to which tasks are explored during training. Uniform task…

Crop management involves a series of critical, interdependent decisions or actions in a complex and highly uncertain environment, which exhibit distinct spatial and temporal variations. Managing resource inputs such as fertilizer and…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…

Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth. This paper proposes an adaptive scooping strategy that…

In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions. Leveraging reinforcement learning eliminates the…

This study presents a novel learning approach designed to enhance both mathematical reasoning and problem-solving abilities of Large Language Models (LLMs). We focus on integrating the Chain-of-Thought (CoT) and the Program-of-Thought (PoT)…

As reinforcement learning (RL) has achieved great success and been even adopted in safety-critical domains such as autonomous vehicles, a range of empirical studies have been conducted to improve its robustness against adversarial attacks.…

We examine the problem of transferring a policy learned in a source environment to a target environment with different dynamics, particularly in the case where it is critical to reduce the amount of interaction with the target environment…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

Current reinforcement learning (RL) algorithms can be brittle and difficult to use, especially when learning goal-reaching behaviors from sparse rewards. Although supervised imitation learning provides a simple and stable alternative, it…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…

Sequential labeling is a fundamental NLP task, forming the backbone of many applications. Supervised learning of Seq2Seq models has shown great success on these problems. However, the training objectives are still significantly disconnected…

Foundation models compress a large amount of information in a single, large neural network, which can then be queried for individual tasks. There are strong parallels between this widespread framework and offline goal-conditioned…

This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

Reinforcement learning has emerged as a paradigm for post-training large language models, boosting their reasoning capabilities. Such approaches compute an advantage value for each sample, reflecting better or worse performance than…