相关论文: Gen2Sim: Scaling up Robot Learning in Simulation w…

Efficiently leveraging simulation to acquire advanced manipulation skills is both challenging and highly significant. We introduce \textit{ForeRobo}, a generative robotic agent that utilizes generative simulations to autonomously acquire…

Using tactile sensors for manipulation remains one of the most challenging problems in robotics. At the heart of these challenges is generalization: How can we train a tactile-based policy that can manipulate unseen and diverse objects? In…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

Despite the growing interest in robot control utilizing the computation of biological neurons, context-dependent behavior by neuron-connected robots remains a challenge. Context-dependent behavior here is defined as behavior that is not the…

Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…

The rapid advancement of generative models has empowered modern AI systems to comprehend and produce highly sophisticated content, even achieving human-level performance in specific domains. However, these models are fundamentally…

Scaling test-time compute via parallel sampling can substantially improve LLM reasoning, but is often limited by Best-of-N selection quality. Generative selection methods, such as GenSelect, address this bottleneck, yet strong selection…

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

Deep learning often requires the manual collection and annotation of a training set. On robotic platforms, can we partially automate this task by training the robot to be curious, i.e., to seek out beneficial training information in the…

Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose ReinforceGen, a system that combines task decomposition, data generation, imitation learning, and motion planning to form an initial…

Training agents that can coordinate zero-shot with humans is a key mission in multi-agent reinforcement learning (MARL). Current algorithms focus on training simulated human partner policies which are then used to train a Cooperator agent.…

Goal-conditioned and Multi-Task Reinforcement Learning (GCRL and MTRL) address numerous problems related to robot learning, including locomotion, navigation, and manipulation scenarios. Recent works focusing on language-defined robotic…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…