相关论文: Generative Skill Chaining: Long-Horizon Skill Plan…

Exploration efficiency poses a significant challenge in goal-conditioned reinforcement learning (GCRL) tasks, particularly those with long horizons and sparse rewards. A primary limitation to exploration efficiency is the agent's inability…

A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily focused on synthesizing a planner that sequences pre-learned…

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…

Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings. We trace the failure to loose coupling between high-level (HL) sub-goal selection and low-level (LL) trajectory…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

The objective of this work is to augment the basic abilities of a robot by learning to use new sensorimotor primitives to enable the solution of complex long-horizon problems. Solving long-horizon problems in complex domains requires…

We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion policy at deployment with an action-conditioned world model…

Training generalist agents is difficult across several axes, requiring us to deal with high-dimensional inputs (space), long horizons (time), and generalization to novel tasks. Recent advances with architectures have allowed for improved…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

Real-world data generation often involves certain geometries (e.g., graphs) that induce instance-level interdependence. This characteristic makes the generalization of learning models more difficult due to the intricate interdependent…

Learning a control policy for a multi-phase, long-horizon task, such as basketball maneuvers, remains challenging for reinforcement learning approaches due to the need for seamless policy composition and transitions between skills. A…

Generative modeling has recently shown great promise in computer vision, but it has mostly focused on synthesizing visually realistic images. In this paper, motivated by multi-task learning of shareable feature representations, we consider…

Complex manipulation tasks can contain various execution branches of primitive skills in sequence or in parallel under different scenarios. Manual specifications of such branching conditions and associated skill parameters are not only…

Recent advances in generative models have shown promise in generating behavior plans for long-horizon, sparse reward tasks. While these approaches have achieved promising results, they often lack a principled framework for hierarchical…

We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models trained on SPC control sequences collected in simulation.…

The ability to predict and plan into the future is fundamental for agents acting in the world. To reach a faraway goal, we predict trajectories at multiple timescales, first devising a coarse plan towards the goal and then gradually filling…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…