相关论文: GeRM: A Generalist Robotic Model with Mixture-of-e…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…

Learning-based methods have been used to pro-gram robotic tasks in recent years. However, extensive training is usually required not only for the initial task learning but also for generalizing the learned model to the same task but in…

Recent state-of-the-art artificial agents lack the ability to adapt rapidly to new tasks, as they are trained exclusively for specific objectives and require massive amounts of interaction to learn new skills. Meta-reinforcement learning…

Developing versatile quadruped robots that can smoothly perform various actions and tasks in real-world environments remains a significant challenge. This paper introduces a novel vision-language-action (VLA) model, mixture of robotic…

In recent years, meta-reinforcement learning (meta-RL) algorithm has been proposed to improve sample efficiency in the field of decision-making and control, enabling agents to learn new knowledge from a small number of samples. However,…

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…

Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with…

Modern Reinforcement Learning (RL) algorithms promise to solve difficult motor control problems directly from raw sensory inputs. Their attraction is due in part to the fact that they can represent a general class of methods that allow to…

Visual deep reinforcement learning (RL) enables robots to acquire skills from visual input for unstructured tasks. However, current algorithms suffer from low sample efficiency, limiting their practical applicability. In this work, we…

Reinforcement learning (RL) is a general and well-known method that a robot can use to learn an optimal control policy to solve a particular task. We would like to build a versatile robot that can learn multiple tasks, but using RL for each…

The generalization ability of most meta-reinforcement learning (meta-RL) methods is largely limited to test tasks that are sampled from the same distribution used to sample training tasks. To overcome the limitation, we propose Latent…

Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved…

Task Parametrized Gaussian Mixture Models (TP-GMM) are a sample-efficient method for learning object-centric robot manipulation tasks. However, there are several open challenges to applying TP-GMMs in the wild. In this work, we tackle three…

Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and…

We present a novel reinforcement learning method to train the quadruped robot in a simulated environment. The idea of controlling quadruped robots in a dynamic environment is quite challenging and my method presents the optimum policy and…

Leveraging offline data is a promising way to improve the sample efficiency of online reinforcement learning (RL). This paper expands the pool of usable data for offline-to-online RL by leveraging abundant non-curated data that is…

Recent works suggest that transformer models are capable of multi-tasking on diverse NLP tasks and adapting to new tasks efficiently. However, the potential of these multi-task models may be limited as they use the same set of parameters…

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…

With the rapid development of embodied artificial intelligence, significant progress has been made in vision-language-action (VLA) models for general robot decision-making. However, the majority of existing VLAs fail to account for the…