相关论文: RoboCLIP: One Demonstration is Enough to Learn Rob…

Inverse reinforcement learning (IRL) is an imitation learning approach to learning reward functions from expert demonstrations. Its use avoids the difficult and tedious procedure of manual reward specification while retaining the…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically condition only on state-action trajectories and lack explicit…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

The aim of Reinforcement Learning (RL) in real-world applications is to create systems capable of making autonomous decisions by learning from their environment through trial and error. This paper emphasizes the importance of reward…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

Language models often struggle to follow multi-constraint instructions that are crucial for real-world applications. Existing reinforcement learning (RL) approaches suffer from dependency on external supervision and sparse reward signals…

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

Reinforcement learning (RL) has recently emerged as a promising approach for aligning text-to-image generative models with human preferences. A key challenge, however, lies in designing effective and interpretable rewards. Existing methods…

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning…

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning…

Persuasion dialogue systems reflect the machine's ability to make strategic moves beyond verbal communication, and therefore differentiate themselves from task-oriented or open-domain dialogue systems and have their own unique values.…

Deep learning techniques have been widely applied, achieving state-of-the-art results in various fields of study. This survey focuses on deep learning solutions that target learning control policies for robotics applications. We carry out…

Reinforcement learning is a promising approach for learning control policies for robot tasks. However, specifying complex tasks (e.g., with multiple objectives and safety constraints) can be challenging, since the user must design a reward…

Imitation Learning from Observation (IfO) offers a powerful way to learn behaviors at large-scale: Unlike behavior cloning or offline reinforcement learning, IfO can leverage action-free demonstrations and thus circumvents the need for…

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…

Offline reinforcement learning (RL) tasks require the agent to learn from a pre-collected dataset with no further interactions with the environment. Despite the potential to surpass the behavioral policies, RL-based methods are generally…

The goal of inverse reinforcement learning (IRL) is to infer a reward function that explains the behavior of an agent performing a task. The assumption that most approaches make is that the demonstrated behavior is near-optimal. In many…

Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can potentially aid in the learning of reward functions. However,…

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks…