相关论文: Human-Aligned Skill Discovery: Balancing Behaviour…

This paper presents a new learning framework that leverages the knowledge from imitation learning, deep reinforcement learning, and control theories to achieve human-style locomotion that is natural, dynamic, and robust for humanoids. We…

In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of a desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the…

Reward-model-based fine-tuning is a central paradigm in aligning Large Language Models with human preferences. However, such approaches critically rely on the assumption that proxy reward models accurately reflect intended supervision, a…

Reinforcement Learning from Human Feedback (RLHF) is a powerful paradigm for aligning foundation models to human values and preferences. However, current RLHF techniques cannot account for the naturally occurring differences in individual…

Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their partners' states and task requirements. Equipping robots with…

Reinforcement learning (RL) has made significant progress in various domains, but scaling it to long-horizon tasks with complex decision-making remains challenging. Skill learning attempts to address this by abstracting actions into…

Skills or low-level policies in reinforcement learning are temporally extended actions that can speed up learning and enable complex behaviours. Recent work in offline reinforcement learning and imitation learning has proposed several…

Symmetry, a fundamental concept to understand our environment, often oversimplifies reality from a mathematical perspective. Humans are a prime example, deviating from perfect symmetry in terms of appearance and cognitive biases (e.g.…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

Anatomical landmark detection in medical images is essential for various clinical and research applications, including disease diagnosis and surgical planning. However, manual landmark annotation is time-consuming and requires significant…

Large-scale pre-training has proven to be an effective method for improving performance across different tasks. Current person search methods use ImageNet pre-trained models for feature extraction, yet it is not an optimal solution due to…

Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…

We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…

Reinforcement learning requires manual specification of a reward function to learn a task. While in principle this reward function only needs to specify the task goal, in practice reinforcement learning can be very time-consuming or even…

The incredible feats of athleticism demonstrated by humans are made possible in part by a vast repertoire of general-purpose motor skills, acquired through years of practice and experience. These skills not only enable humans to perform…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

We introduce Contrastive Intrinsic Control (CIC), an algorithm for unsupervised skill discovery that maximizes the mutual information between state-transitions and latent skill vectors. CIC utilizes contrastive learning between…

We present an efficient approach for leveraging the knowledge from multiple modalities in training unimodal 3D convolutional neural networks (3D-CNNs) for the task of dynamic hand gesture recognition. Instead of explicitly combining…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

One obstacle to applying reinforcement learning algorithms to real-world problems is the lack of suitable reward functions. Designing such reward functions is difficult in part because the user only has an implicit understanding of the task…