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

Developing an automated driving system capable of navigating complex traffic environments remains a formidable challenge. Unlike rule-based or supervised learning-based methods, Deep Reinforcement Learning (DRL) based controllers eliminate…

Non-prehensile pushing actions have the potential to singulate a target object from its surrounding clutter in order to facilitate the robotic grasping of the target. To address this problem we utilize a heuristic rule that moves the target…

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…

Learning control from pixels is difficult for reinforcement learning (RL) agents because representation learning and policy learning are intertwined. Previous approaches remedy this issue with auxiliary representation learning tasks, but…

Deep reinforcement learning has shown its effectiveness in various applications, providing a promising direction for solving tasks with high complexity. However, naively applying classical RL for learning a complex long-horizon task with a…

'In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations; (2) be capable of long-horizon task execution in diverse…

Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key challenges in policy learning involves handling complex,…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

We study the problem of robotic stacking with objects of complex geometry. We propose a challenging and diverse set of such objects that was carefully designed to require strategies beyond a simple "pick-and-place" solution. Our method is a…

This paper proposes a policy-based deep reinforcement learning hyper-heuristic framework for solving the Job Shop Scheduling Problem. The hyper-heuristic agent learns to switch scheduling rules based on the system state dynamically. We…

Sequence models in reinforcement learning require task knowledge to estimate the task policy. This paper presents a hierarchical algorithm for learning a sequence model from demonstrations. The high-level mechanism guides the low-level…

In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Goal representation affects the performance of Hierarchical Reinforcement Learning (HRL) algorithms by decomposing the complex learning problem into easier subtasks. Recent studies show that representations that preserve temporally abstract…

Hierarchical reinforcement learning (HRL) learns to make decisions on multiple levels of temporal abstraction. A key challenge in HRL is that the low-level policy changes over time, making it difficult for the high-level policy to generate…

Hierarchical reinforcement learning (HRL) has recently shown promising advances on speeding up learning, improving the exploration, and discovering intertask transferable skills. Most recent works focus on HRL with two levels, i.e., a…

Generalizable long-horizon robotic assembly requires reasoning at multiple levels of abstraction. While end-to-end imitation learning (IL) is a promising approach, it typically requires large amounts of expert demonstration data and often…