相关论文: Eurekaverse: Environment Curriculum Generation via…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

As Large Language Models (LLMs) and other forms of Generative AI permeate various aspects of our lives, their application for learning and education has provided opportunities and challenges. This paper presents an investigation into the…

Multi-task policy search is a challenging problem because policies are required to generalize beyond training cases. Curriculum learning has proven to be effective in this setting, as it introduces complexity progressively. However,…

A wide range of reinforcement learning (RL) problems - including robustness, transfer learning, unsupervised RL, and emergent complexity - require specifying a distribution of tasks or environments in which a policy will be trained.…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

Parkour poses a significant challenge for legged robots, requiring navigation through complex environments with agility and precision based on limited sensory inputs. In this work, we introduce a novel method for training end-to-end visual…

Creating systems capable of generating virtually infinite variations of complex and novel behaviour without predetermined goals or limits is a major challenge in the field of AI. This challenge has been addressed through the development of…

Learning to locomote is one of the most common tasks in physics-based animation and deep reinforcement learning (RL). A learned policy is the product of the problem to be solved, as embodied by the RL environment, and the RL algorithm.…

The emergence of Large Language Models (LLMs) has improved the prospects for robotic tasks. However, existing benchmarks are still limited to single tasks with limited generalization capabilities. In this work, we introduce a comprehensive…

Designing reinforcement learning curricula for agile robots traditionally requires extensive manual tuning of reward functions, environment randomizations, and training configurations. We introduce AURA (Autonomous Upskilling with…

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by…

Reinforcement Learning (RL) algorithms often require long training to become useful, especially in complex environments with sparse rewards. While techniques like reward shaping and curriculum learning exist to accelerate training, these…

Continual learning refers to the ability of humans and animals to incrementally learn over time in a given environment. Trying to simulate this learning process in machines is a challenging task, also due to the inherent difficulty in…

Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…

Reliable bipedal walking over complex terrain is a challenging problem, using a curriculum can help learning. Curriculum learning is the idea of starting with an achievable version of a task and increasing the difficulty as a success…

A major challenge in the Deep RL (DRL) community is to train agents able to generalize their control policy over situations never seen in training. Training on diverse tasks has been identified as a key ingredient for good generalization,…

In recent years, the rapid development of Large Language Models (LLMs) has significantly enhanced natural language understanding and human-computer interaction, creating new opportunities in the field of robotics. However, the integration…

Large language models and multimodal large language models have revolutionized artificial intelligence recently. An increasing number of regions are now embracing these advanced technologies. Within this context, robot coding education is…

Reinforcement learning algorithms use correlations between policies and rewards to improve agent performance. But in dynamic or sparsely rewarding environments these correlations are often too small, or rewarding events are too infrequent…