相关论文: Sample-Efficient Reinforcement Learning with Symme…

Designing reinforcement learning (RL) problems that can produce delicate and precise manipulation policies requires careful choice of the reward function, state, and action spaces. Much prior work on applying RL to manipulation tasks has…

Although Deep Reinforcement Learning (DRL) has been popular in many disciplines including robotics, state-of-the-art DRL algorithms still struggle to learn long-horizon, multi-step and sparse reward tasks, such as stacking several blocks…

Reinforcement Learning (RL) offers a powerful paradigm for autonomous robots to master generalist manipulation skills through trial-and-error. However, its real-world application is stifled by low sample efficiency. Recent Human-in-the-Loop…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Reinforcement learning holds tremendous promise in accelerator controls. The primary goal of this paper is to show how this approach can be utilised on an operational level on accelerator physics problems. Despite the success of model-free…

Recent works have proposed accelerating the wall-clock training time of actor-critic methods via the use of large-scale environment parallelization; unfortunately, these can sometimes still require large number of environment interactions…

Reinforcement Learning (RL) has recently emerged as a powerful technique for improving image and video generation in Diffusion and Flow Matching models, specifically for enhancing output quality and alignment with prompts. A critical step…

Despite significant progress in challenging problems across various domains, applying state-of-the-art deep reinforcement learning (RL) algorithms remains challenging due to their sensitivity to the choice of hyperparameters. This…

Cross-embodiment learning from human demonstrations is hindered by the visual gap between human and robot embodiments. While self-supervised learning (SSL) backbones encode rich inter-class semantics of general objects, we show they fail to…

Symmetry is a fundamental aspect of many real-world robotic tasks. However, current deep reinforcement learning (DRL) approaches can seldom harness and exploit symmetry effectively. Often, the learned behaviors fail to achieve the desired…

Applications of Reinforcement Learning (RL) in robotics are often limited by high data demand. On the other hand, approximate models are readily available in many robotics scenarios, making model-based approaches like planning a…

The deployment of reinforcement learning (RL)-based controllers on physical systems is often limited by poor generalization to real-world scenarios, known as the simulation-to-reality (sim-to-real) gap. This gap is particularly challenging…

Symmetry is pervasive in robotics and has been widely exploited to improve sample efficiency in deep reinforcement learning (DRL). However, existing approaches primarily focus on spatial symmetries, such as reflection, rotation, and…

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…

Reinforcement learning (RL) has demonstrated impressive performance in decision-making tasks like embodied control, autonomous driving and financial trading. In many decision-making tasks, the agents often encounter the problem of executing…

Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However,…

Reinforcement learning (RL) is a sub-domain of machine learning, mainly concerned with solving sequential decision-making problems by a learning agent that interacts with the decision environment to improve its behavior through the reward…

Meta-reinforcement learning (RL) addresses the problem of sample inefficiency in deep RL by using experience obtained in past tasks for a new task to be solved. However, most meta-RL methods require partially or fully on-policy data, i.e.,…

In visual Reinforcement Learning (RL), upstream representation learning largely determines the effect of downstream policy learning. Employing auxiliary tasks allows the agent to enhance visual representation in a targeted manner, thereby…

Ensemble models are powerful model building tools that are developed with a focus to improve the accuracy of model predictions. They find applications in time series forecasting in varied scenarios including but not limited to process…