相关论文: Hierarchical Visual Policy Learning for Long-Horiz…

Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tasks. However, they often fail during deployment due to noisy…

We address key challenges in long-horizon embodied exploration and navigation by proposing a new object transport task and a novel modular framework for temporally extended navigation. Our first contribution is the design of a novel…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity and seamless sequencing of manipulation skills while robustly…

Actor-critic deep reinforcement learning (DRL) algorithms have recently achieved prominent success in tackling various challenging reinforcement learning (RL) problems, particularly complex control tasks with high-dimensional continuous…

Learning in high-dimensional action spaces is a key challenge in applying reinforcement learning (RL) to real-world systems. In this paper, we study the possibility of controlling power networks using RL methods. Power networks are critical…

For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an approach to learn abstract motor skills from data using a…

Robot picking and packing tasks require dexterous manipulation skills, such as rearranging objects to establish a good grasping pose, or placing and pushing items to achieve tight packing. These tasks are challenging for robots due to the…

Hierarchical policies that combine language and low-level control have been shown to perform impressively long-horizon robotic tasks, by leveraging either zero-shot high-level planners like pretrained language and vision-language models…

Real-world robotic manipulation tasks remain an elusive challenge, since they involve both fine-grained environment interaction, as well as the ability to plan for long-horizon goals. Although deep reinforcement learning (RL) methods have…

Decision making for self-driving cars is usually tackled by manually encoding rules from drivers' behaviors or imitating drivers' manipulation using supervised learning techniques. Both of them rely on mass driving data to cover all…

Deep reinforcement learning agents are often misaligned, as they over-exploit early reward signals. Recently, several symbolic approaches have addressed these challenges by encoding sparse objectives along with aligned plans. However,…

Recent advances in Reinforcement Learning (RL) combined with Deep Learning (DL) have demonstrated impressive performance in complex tasks, including autonomous driving. The use of RL agents in autonomous driving leads to a smooth human-like…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…

Enabling robots to flexibly schedule and compose learned skills for novel long-horizon manipulation under diverse perturbations remains a core challenge. Early explorations with end-to-end VLA models show limited success, as these models…

While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…

In human-robot collaboration, shared control presents an opportunity to teleoperate robotic manipulation to improve the efficiency of manufacturing and assembly processes. Robots are expected to assist in executing the user's intentions. To…

Reinforcement learning (RL) is a promising approach for deriving control policies for complex systems. As we show in two control problems, the derived policies from using the Proximal Policy Optimization (PPO) and Deep Q-Network (DQN)…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…