相关论文: Robust Manipulation Primitive Learning via Domain …

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first…

Reliable robotic manipulation requires control policies that can accurately represent and adapt to uncertainty arising from contact-rich interactions. Modern data-driven methods mitigate uncertainty through large-scale training and…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

Deep learning requires regularization mechanisms to reduce overfitting and improve generalization. We address this problem by a new regularization method based on distributional robust optimization. The key idea is to modify the…

Generalist robot policies, trained on large and diverse datasets, have demonstrated the ability to generalize across a wide spectrum of behaviors, enabling a single policy to act in varied real-world environments. However, they still fall…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

When robots interact with human partners, often these partners change their behavior in response to the robot. On the one hand this is challenging because the robot must learn to coordinate with a dynamic partner. But on the other hand --…

Reinforcement learning (RL) agents need to be robust to variations in safety-critical environments. While system identification methods provide a way to infer the variation from online experience, they can fail in settings where fast…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Learning from demonstration (LfD) provides a convenient means to equip robots with dexterous skills when demonstration can be obtained in robot intrinsic coordinates. However, the problem of compounding errors in long and complex skills…

Deep reinforcement learning (RL) algorithms can learn complex policies to optimize agent operation over time. RL algorithms have shown promising results in solving complicated problems in recent years. However, their application on…

The effectiveness of supervised learning techniques has made them ubiquitous in research and practice. In high-dimensional settings, supervised learning commonly relies on dimensionality reduction to improve performance and identify the…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Reinforcement learning (RL) methods have been shown to be capable of learning intelligent behavior in rich domains. However, this has largely been done in simulated domains without adequate focus on the process of building the simulator. In…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

Transferring learned skills across diverse situations remains a fundamental challenge for autonomous agents, particularly when agents are not allowed to interact with an exact target setup. While prior approaches have predominantly focused…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…