相关论文: SLR: Learning Quadruped Locomotion without Privile…

This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…

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…

Reinforcement learning provides a general framework for learning robotic skills while minimizing engineering effort. However, most reinforcement learning algorithms assume that a well-designed reward function is provided, and learn a single…

Learning rate configuration is a fundamental aspect of modern deep learning. The prevailing practice of applying a uniform learning rate across all layers overlooks the structural heterogeneity of Transformers, potentially limiting their…

Traditional control interfaces for quadruped robots often impose a high barrier to entry, requiring specialized technical knowledge for effective operation. To address this, this paper presents a novel control framework that integrates…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Humanoid robots promise transformative capabilities for industrial and service applications. While recent advances in Reinforcement Learning (RL) yield impressive results in locomotion, manipulation, and navigation, the proposed methods…

We adapt reinforcement learning (RL) methods for continuous control to bridge the gap between complete ignorance and perfect knowledge of the environment. Our method, Partial Knowledge Least Squares Policy Iteration (PLSPI), takes…

Supervised regression to demonstrations has been demonstrated to be a stable way to train deep policy networks. We are motivated to study how we can take full advantage of supervised loss functions for stably training deep reinforcement…

The success of self-supervised learning (SSL) has mostly been attributed to the availability of unlabeled yet large-scale datasets. However, in a specialized domain such as medical imaging which is a lot different from natural images, the…

Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the difficulty of optimizing over discrete contacts and the…

Current reinforcement learning (RL) in robotics often experiences difficulty in generalizing to new downstream tasks due to the innate task-specific training paradigm. To alleviate it, unsupervised RL, a framework that pre-trains the agent…

Recent advancements in legged robots using deep reinforcement learning have led to significant progress. Quadruped robots can perform complex tasks in challenging environments, while bipedal and humanoid robots have also achieved…

Self-supervised learning (SSL)-based speech models are extensively used for full-stack speech processing. However, it has been observed that improving SSL-based speech representations using unlabeled speech for content-related tasks is…

In the literature, most existing graph-based semi-supervised learning (SSL) methods only use the label information of observed samples in the label propagation stage, while ignoring such valuable information when learning the graph. In this…

For deep reinforcement learning (RL) from pixels, learning effective state representations is crucial for achieving high performance. However, in practice, limited experience and high-dimensional inputs prevent effective representation…

Deployment in hazardous environments requires robots to understand the risks associated with their actions and movements to prevent accidents. Despite its importance, these risks are not explicitly modeled by currently deployed locomotion…

Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…

Offline reinforcement learning proposes to learn policies from large collected datasets without interacting with the physical environment. These algorithms have made it possible to learn useful skills from data that can then be deployed in…