相关论文: SAFE-GIL: SAFEty Guided Imitation Learning for Rob…

Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function as high-level planners, generating intermediate subgoals for…

Imitation Learning is a promising paradigm for learning complex robot manipulation skills by reproducing behavior from human demonstrations. However, manipulation tasks often contain bottleneck regions that require a sequence of precise…

Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Safety is a fundamental requirement for autonomous systems operating in critical domains. Control barrier functions (CBFs) have been used to design safety filters that minimally alter nominal controls for such systems to maintain their…

GAIL is a recent successful imitation learning architecture that exploits the adversarial training procedure introduced in GANs. Albeit successful at generating behaviours similar to those demonstrated to the agent, GAIL suffers from a high…

Verification and validation of autonomous driving (AD) systems and components is of increasing importance, as such technology increases in real-world prevalence. Safety-critical scenario generation is a key approach to robustify AD policies…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Safety has become one of the main challenges of applying deep reinforcement learning to real world systems. Currently, the incorporation of external knowledge such as human oversight is the only means to prevent the agent from visiting the…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

We introduce SoftMimic, a framework for learning compliant whole-body control policies for humanoid robots from example motions. Imitating human motions with reinforcement learning allows humanoids to quickly learn new skills, but existing…

Imitation learning trains a policy from expert demonstrations. Imitation learning approaches have been designed from various principles, such as behavioral cloning via supervised learning, apprenticeship learning via inverse reinforcement…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

Many robot manipulation skills can be represented with deterministic characteristics and there exist efficient techniques for learning parameterized motor plans for those skills. However, one of the active research challenge still remains…

An open problem in autonomous vehicle safety validation is building reliable models of human driving behavior in simulation. This work presents an approach to learn neural driving policies from real world driving demonstration data. We…

Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various approaches for agents to learn near-optimal policies, these…

Reinforcement learning (RL) enables social robots to generate trajectories without relying on human-designed rules or interventions, making it generally more effective than rule-based systems in adapting to complex, dynamic real-world…

We tackle a common scenario in imitation learning (IL), where agents try to recover the optimal policy from expert demonstrations without further access to the expert or environment reward signals. Except the simple Behavior Cloning (BC)…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…