相关论文: Hierarchical Equivariant Policy via Frame Transfer

We present a novel perception model named Herd's Eye View (HEV) that adopts a global perspective derived from multiple agents to boost the decision-making capabilities of reinforcement learning (RL) agents in multi-agent environments,…

The Hierarchical Inference (HI) paradigm employs a tiered processing: the inference from simple data samples are accepted at the end device, while complex data samples are offloaded to the central servers. HI has recently emerged as an…

Meta-Reinforcement Learning (Meta-RL) enables fast adaptation to new testing tasks. Despite recent advancements, it is still challenging to learn performant policies across multiple complex and high-dimensional tasks. To address this, we…

Optimal control of general nonlinear systems is a central challenge in automation. Enabled by powerful function approximators, data-driven approaches to control have recently successfully tackled challenging applications. However, such…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Neural memory enables fast adaptation to new tasks with just a few training samples. Existing memory models store features only from the single last layer, which does not generalize well in presence of a domain shift between training and…

Combined visual and force feedback play an essential role in contact-rich robotic manipulation tasks. Current methods focus on developing the feedback control around a single modality while underrating the synergy of the sensors. Fusing…

Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable domains where symmetries can be a useful inductive bias for…

Many multiagent systems in the real world include multiple types of agents with different abilities and functionality. Such heterogeneous multiagent systems have significant practical advantages. However, they also come with challenges…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

This work proposes a neural network architecture that learns policies for multiple agent classes in a heterogeneous multi-agent reinforcement setting. The proposed network uses directed labeled graph representations for states, encodes…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Interactive multi-agent simulation algorithms are used to compute the trajectories and behaviors of different entities in virtual reality scenarios. However, current methods involve considerable parameter tweaking to generate plausible…

We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…

This paper introduces Multi-Agent MDP Homomorphic Networks, a class of networks that allows distributed execution using only local information, yet is able to share experience between global symmetries in the joint state-action space of…

HEP-Frame is a new C++ package designed to efficiently perform analyses of data sets from a very large number of events, like those available at the Large Hadron Collider (LHC) at CERN, Geneva. It mainly targets high performance servers and…

Generating dynamic motions for legged robots remains a challenging problem. While reinforcement learning has achieved notable success in various legged locomotion tasks, producing highly dynamic behaviors often requires extensive reward…

We study the problem of robot navigation in dense and interactive crowds with static constraints such as corridors and furniture. Previous methods fail to consider all types of spatial and temporal interactions among agents and obstacles,…

Large language model (LLM) agents have demonstrated strong capabilities in complex interactive decision-making tasks. However, existing LLM agents typically rely on increasingly long interaction histories, resulting in high computational…

A popular paradigm in robotic learning is to train a policy from scratch for every new robot. This is not only inefficient but also often impractical for complex robots. In this work, we consider the problem of transferring a policy across…