相关论文: CAIMAN: Causal Action Influence Detection for Samp…

Developing the next generation of household robot helpers requires combining locomotion and interaction capabilities, which is generally referred to as mobile manipulation (MoMa). MoMa tasks are difficult due to the large action space of…

Many reinforcement learning (RL) environments consist of independent entities that interact sparsely. In such environments, RL agents have only limited influence over other entities in any particular situation. Our idea in this work is that…

Autonomous operations of robots in unknown environments are challenging due to the lack of knowledge of the dynamics of the interactions, such as the objects' movability. This work introduces a novel Causal Reinforcement Learning approach…

Animals exhibit an innate ability to learn regularities of the world through interaction. By performing experiments in their environment, they are able to discern the causal factors of variation and infer how they affect the world's…

Despite recent successes of reinforcement learning (RL), it remains a challenge for agents to transfer learned skills to related environments. To facilitate research addressing this problem, we propose CausalWorld, a benchmark for causal…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

The reinforcement learning paradigm allows, in principle, for complex behaviours to be learned directly from simple reward signals. In practice, however, it is common to carefully hand-design the reward function to encourage a particular…

While human infants robustly discover their own causal efficacy, standard reinforcement learning agents remain brittle, as their reliance on correlation-based rewards fails in noisy, ecologically valid scenarios. To address this, we…

We study the role of intrinsic motivation as an exploration bias for reinforcement learning in sparse-reward synergistic tasks, which are tasks where multiple agents must work together to achieve a goal they could not individually. Our key…

For a natural social human-robot interaction, it is essential for a robot to learn the human-like social skills. However, learning such skills is notoriously hard due to the limited availability of direct instructions from people to teach a…

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…

Causal learning allows humans to predict the effect of their actions on the known environment and use this knowledge to plan the execution of more complex actions. Such knowledge also captures the behaviour of the environment and can be…

Achieving athletic loco-manipulation on robots requires moving beyond traditional tracking rewards - which simply guide the robot along a reference trajectory - to task rewards that drive truly dynamic, goal-oriented behaviors. Commands…

Imitation learning is a powerful approach for learning autonomous driving policy by leveraging data from expert driver demonstrations. However, driving policies trained via imitation learning that neglect the causal structure of expert…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To…

In this paper, we discuss a framework for teaching bimanual manipulation tasks by imitation. To this end, we present a system and algorithms for learning compliant and contact-rich robot behavior from human demonstrations. The presented…

Generalization in robotic manipulation remains a critical challenge, particularly when scaling to new environments with limited demonstrations. This paper introduces CAGE, a novel robotic manipulation policy designed to overcome these…

Despite growing interest in developing legged robots that emulate biological locomotion for agile navigation of complex environments, acquiring a diverse repertoire of skills remains a fundamental challenge in robotics. Existing methods can…