相关论文: PoCo: Policy Composition from and for Heterogeneou…

Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broad generalization. Recent works on large-scale robotic data…

Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

One of the roadblocks for training generalist robotic models today is heterogeneity. Previous robot learning methods often collect data to train with one specific embodiment for one task, which is expensive and prone to overfitting. This…

Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with ease. At the same time, teams of robots should co-acquire…

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…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

Many tasks in control, robotics, and planning can be specified using desired goal configurations for various entities in the environment. Learning goal-conditioned policies is a natural paradigm to solve such tasks. However, current…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…

Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

We present a method for learning a human-robot collaboration policy from human-human collaboration demonstrations. An effective robot assistant must learn to handle diverse human behaviors shown in the demonstrations and be robust when the…

A common strategy to deal with the expensive reinforcement learning (RL) of complex tasks is to decompose them into a collection of subtasks that are usually simpler to learn as well as reusable for new problems. However, when a robot…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

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…