相关论文: LeTO: Learning Constrained Visuomotor Policy with …

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

For imitation learning algorithms to scale to real-world challenges, they must handle high-dimensional observations, offline learning, and policy-induced covariate-shift. We propose DITTO, an offline imitation learning algorithm which…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

This paper considers a trajectory planning problem for a robot navigating complex terrains, which arises in applications ranging from autonomous mining vehicles to planetary rovers. The problem seeks to find a low-cost dynamically feasible…

Fast gradient-based optimization algorithms have become increasingly essential for the computationally efficient training of machine learning models. One technique is to multiply the gradient by a preconditioner matrix to produce a step,…

Reinforcement Learning (RL) in partially observable environments poses significant challenges due to the complexity of learning under uncertainty. While additional information, such as that available in simulations, can enhance training,…

We develop a Learning Direct Optimization (LiDO) method for the refinement of a latent variable model that describes input image x. Our goal is to explain a single image x with an interpretable 3D computer graphics model having scene graph…

We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…

A key challenge in manipulation is learning a policy that can robustly generalize to diverse visual environments. A promising mechanism for learning robust policies is to leverage video generative models, which are pretrained on large-scale…

We present Constrained Stein Variational Trajectory Optimization (CSVTO), an algorithm for performing trajectory optimization with constraints on a set of trajectories in parallel. We frame constrained trajectory optimization as a novel…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Large Language Models (LLMs) have become integral components in various autonomous agent systems. In this study, we present an exploration-based trajectory optimization approach, referred to as ETO. This learning method is designed to…

We present GELATO -- the first language-driven trajectory reshaping framework to embed geometric environment awareness and multi-agent feedback orchestration to support multi-instruction in human-robot interaction scenarios. Unlike prior…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Edge robotics involves frequent exchanges of large-volume multi-modal data. Existing methods ignore the interdependency between robotic functionalities and communication conditions, leading to excessive communication overhead. This paper…

We consider task and motion planning in complex dynamic environments for problems expressed in terms of a set of Linear Temporal Logic (LTL) constraints, and a reward function. We propose a methodology based on reinforcement learning that…

We introduce a constrained optimization method for policy gradient reinforcement learning, which uses a virtual trust region to regulate each policy update. In addition to using the proximity of one single old policy as the normal trust…

Training reinforcement learning (RL) policies for legged robots remains challenging due to high-dimensional continuous actions, hardware constraints, and limited exploration. Existing methods for locomotion and whole-body control work well…

Recent advances in imitation learning have enabled robots to perform increasingly complex manipulation tasks in unstructured environments. However, most learned policies rely on discrete action chunking, which introduces discontinuities at…

Instability and slowness are two main problems in deep reinforcement learning. Even if proximal policy optimization (PPO) is the state of the art, it still suffers from these two problems. We introduce an improved algorithm based on…