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

Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…

The operation and planning of large-scale power systems are becoming more challenging with the increasing penetration of stochastic renewable generation. In order to minimize the decision risks in power systems with large amount of…

Problems which require both long-horizon planning and continuous control capabilities pose significant challenges to existing reinforcement learning agents. In this paper we introduce a novel hierarchical reinforcement learning agent which…

Offline multi-task reinforcement learning aims to learn a unified policy capable of solving multiple tasks using only pre-collected task-mixed datasets, without requiring any online interaction with the environment. However, it faces…

Deep reinforcement learning has achieved many impressive results in recent years. However, tasks with sparse rewards or long horizons continue to pose significant challenges. To tackle these important problems, we propose a general…

Standard Gaussian Process (GP) regression, a powerful machine learning tool, is computationally expensive when it is applied to large datasets, and potentially inaccurate when data points are sparsely distributed in a high-dimensional…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

Deep generative models have garnered significant attention in low-level vision tasks due to their generative capabilities. Among them, diffusion model-based solutions, characterized by a forward diffusion process and a reverse denoising…

Dynamic contingency screening is a challenging task in dynamic security assessment, when traditional numerical approaches are computationally intensive and often not able to repeatedly solve full AC power flow for all possible contingencies…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

Generalized planning using deep reinforcement learning (RL) combined with graph neural networks (GNNs) has shown promising results in various symbolic planning domains described by PDDL. However, existing approaches typically represent…

Graph Convolutional Networks (GCNs) are extensively utilized for deep learning on graphs. The large data sizes of graphs and their vertex features make scalable training algorithms and distributed memory systems necessary. Since the…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

Lifelong learning is the problem of learning multiple consecutive tasks in a sequential manner, where knowledge gained from previous tasks is retained and used to aid future learning over the lifetime of the learner. It is essential towards…

In robotics, it is essential to be able to plan efficiently in high-dimensional continuous state-action spaces for long horizons. For such complex planning problems, unguided uniform sampling of actions until a path to a goal is found is…

The essential task of urban planning is to generate the optimal land-use configuration of a target area. However, traditional urban planning is time-consuming and labor-intensive. Deep generative learning gives us hope that we can automate…

Diffusion models excel at short-horizon robot planning, yet scaling them to long-horizon tasks remains challenging due to computational constraints and limited training data. Existing compositional approaches stitch together short segments…

To assist with everyday human activities, robots must solve complex long-horizon tasks and generalize to new settings. Recent deep reinforcement learning (RL) methods show promise in fully autonomous learning, but they struggle to reach…

Generative modeling in machine learning aims to synthesize new data samples that are statistically similar to those observed during training. While conventional generative models such as GANs and diffusion models typically assume access to…

Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…