相关论文: Curating Demonstrations using Online Experience

Robust imitation learning using disturbance injections overcomes issues of limited variation in demonstrations. However, these methods assume demonstrations are optimal, and that policy stabilization can be learned via simple augmentations.…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…

Many recent advances in robotic manipulation have come through imitation learning, yet these rely largely on mimicking a particularly hard-to-acquire form of demonstrations: those collected on the same robot in the same room with the same…

Meta-learning has been proposed as a promising machine learning topic in recent years, with important applications to image classification, robotics, computer games, and control systems. In this paper, we study the problem of using…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound over time which can potentially lead to failure. Some…

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…

Modern computer systems are highly configurable, with the total variability space sometimes larger than the number of atoms in the universe. Understanding and reasoning about the performance behavior of highly configurable systems, over a…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

Robot behavior is often validated through simulation-based testing, yet the replicability of such campaigns depends critically on transparent documentation of how tests are configured, executed, and post-processed. We argue that data…

Visual pre-training with large-scale real-world data has made great progress in recent years, showing great potential in robot learning with pixel observations. However, the recipes of visual pre-training for robot manipulation tasks are…

Decision making algorithms, in practice, are often trained on data that exhibits a variety of biases. Decision-makers often aim to take decisions based on some ground-truth target that is assumed or expected to be unbiased, i.e., equally…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…

The performance of a reinforcement learning algorithm can vary drastically during learning because of exploration. Existing algorithms provide little information about the quality of their current policy before executing it, and thus have…

Self-assessment rules play an essential role in safe and effective real-world robotic applications, which verify the feasibility of the selected action before actual execution. But how to utilize the self-assessment results to re-choose…

Quality-Diversity optimization is a new family of optimization algorithms that, instead of searching for a single optimal solution to solving a task, searches for a large collection of solutions that all solve the task in a different way.…

Deep Reinforcement Learning (DRL) is a promising approach for teaching robots new behaviour. However, one of its main limitations is the need for carefully hand-coded reward signals by an expert. We argue that it is crucial to automate the…

Classical policy search algorithms for robotics typically require performing extensive explorations, which are time-consuming and expensive to implement with real physical platforms. To facilitate the efficient learning of robot…