相关论文: Learning from Imperfect Demonstrations with Self-S…

Self-improvement requires robotic systems to initially learn from human-provided data and then gradually enhance their capabilities through interaction with the environment. This is similar to how humans improve their skills through…

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the…

This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demonstration (LfD) to dynamic scenarios, benefiting from widely…

Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a…

Reinforcement learning (RL) offers significant promise for machinery fault detection (MFD). However, most existing RL-based MFD approaches do not fully exploit RL's sequential decision-making strengths, often treating MFD as a simple…

Inverse Reinforcement Learning (IRL) presents a powerful paradigm for learning complex robotic tasks from human demonstrations. However, most approaches make the assumption that expert demonstrations are available, which is often not the…

Offline Reinforcement Learning (RL) via Supervised Learning is a simple and effective way to learn robotic skills from a dataset collected by policies of different expertise levels. It is as simple as supervised learning and Behavior…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

Learning from Demonstration (LfD) is a framework that allows lay users to easily program robots. However, the efficiency of robot learning and the robot's ability to generalize to task variations hinges upon the quality and quantity of the…

Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion planning pipelines, where multiple objectives must be met and the high-level context be taken into…

Semi-Supervised Learning (SSL) has become a preferred paradigm in many deep learning tasks, which reduces the need for human labor. Previous studies primarily focus on effectively utilising the labelled and unlabeled data to improve…

Interactive tool-using agents must solve real-world tasks via multi-turn interaction with both humans and external environments, requiring dialogue state tracking, multi-step tool execution, while following complex instructions.…

Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and benchmark algorithms. However, insights gained in simulation…

Large Language Models (LLMs) often struggle with problems that require multi-step reasoning. For small-scale open-source models, Reinforcement Learning with Verifiable Rewards (RLVR) fails when correct solutions are rarely sampled even…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

Surgical robot task automation has recently attracted great attention due to its potential to benefit both surgeons and patients. Reinforcement learning (RL) based approaches have demonstrated promising ability to provide solutions to…

A major bottleneck in imitation learning is the requirement of a large number of expert demonstrations, which can be expensive or inaccessible. Learning from supplementary demonstrations without strict quality requirements has emerged as a…

Meta-reinforcement learning (RL) methods can meta-train policies that adapt to new tasks with orders of magnitude less data than standard RL, but meta-training itself is costly and time-consuming. If we can meta-train on offline data, then…

In this work, we propose a self-improving artificial intelligence system to enhance the safety performance of reinforcement learning (RL)-based autonomous driving (AD) agents using black-box verification methods. RL algorithms have become…

We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…