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

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

Developing generalizable robot policies that can robustly handle varied environmental conditions and object instances remains a fundamental challenge in robot learning. While considerable efforts have focused on collecting large robot…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…

Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised framework for learning hierarchical manipulation concepts…

Estimating the internal state of a robotic system is complex: this is performed from multiple heterogeneous sensor inputs and knowledge sources. Discretization of such inputs is done to capture saliences, represented as symbolic…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist robot policies. However, while these policies achieve strong mean performance across a variety of tasks, they often underperform on…

Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage.…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…

Deep reinforcement learning could be used to learn dexterous robotic policies but it is challenging to transfer them to new robots with vastly different hardware properties. It is also prohibitively expensive to learn a new policy from…

Multi-goal policy learning for robotic manipulation is challenging. Prior successes have used state-based representations of the objects or provided demonstration data to facilitate learning. In this paper, by hand-coding a high-level…

Hierarchical reinforcement learning is a promising approach to tackle long-horizon decision-making problems with sparse rewards. Unfortunately, most methods still decouple the lower-level skill acquisition process and the training of a…

Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…

Learning effective visuomotor policies for robotic manipulation is challenging, as it requires generating precise actions while maintaining computational efficiency. Existing methods remain unsatisfactory due to inherent limitations in the…