相关论文: Learning from Visual Observation via Offline Pretr…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

This paper develops an adaptive observation-based efficient reinforcement learning (RL) approach for systems with uncertain drift dynamics. A novel concurrent learning adaptive extended observer (CL-AEO) is first designed to jointly…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

We address tracking and prediction of multiple moving objects in visual data streams as inference and sampling in a disentangled latent state-space model. By encoding objects separately and including explicit position information in the…

While Reinforcement Learning with Verifiable Rewards (RLVR) has advanced the reasoning capabilities of Large Vision-Language Models (LVLMs), most existing methods in multimodal reasoning neglect the critical role of visual perception within…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

We study visual domain transfer for end-to-end imitation learning in a realistic and challenging setting where target-domain data are strictly off-policy, expert-free, and scarce. We first provide a theoretical analysis showing that the…

Reinforcement learning with verifiable rewards (RLVR) has significantly advanced the reasoning ability of vision-language models (VLMs). However, the inherent text-dominated nature of VLMs often leads to insufficient visual faithfulness,…

Conventional reinforcement learning (RL) needs an environment to collect fresh data, which is impractical when online interactions are costly. Offline RL provides an alternative solution by directly learning from the previously collected…

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend…

This study proposes the use of a social learning method to estimate a global state within a multi-agent off-policy actor-critic algorithm for reinforcement learning (RL) operating in a partially observable environment. We assume that the…

Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

When humans observe a physical system, they can easily locate objects, understand their interactions, and anticipate future behavior, even in settings with complicated and previously unseen interactions. For computers, however, learning…

Humans can naturally reason from superficial state differences (e.g. ground wetness) to transformations descriptions (e.g. raining) according to their life experience. In this paper, we propose a new visual reasoning task to test this…

We consider real-world reinforcement learning (RL) of robotic manipulation tasks that involve both visuomotor skills and contact-rich skills. We aim to train a policy that maps multimodal sensory observations (vision and force) to a…

Pre-training has been a useful method for learning implicit transferable knowledge and it shows the benefit of offering complementary features across different modalities. Recent work mainly focuses on the modalities such as image and text,…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Demonstrations are an effective alternative to task specification for learning agents in settings where designing a reward function is difficult. However, demonstrating expert behavior in the action space of the agent becomes unwieldy when…

Scene text recognition (STR) enables computers to recognize and read the text in various real-world scenes. Recent STR models benefit from taking linguistic information in addition to visual cues into consideration. We propose a novel…