相关论文: Data-Efficient Learning from Human Interventions f…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

Imitation Learning (IL) has emerged as a powerful approach in robotics, allowing robots to acquire new skills by mimicking human actions. Despite its potential, the data collection process for IL remains a significant challenge due to the…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Nevertheless, skillful closed-loop manipulation is required to…

Recent successes combine reinforcement learning algorithms and deep neural networks, despite reinforcement learning not being widely applied to robotics and real world scenarios. This can be attributed to the fact that current…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Reinforcement learning (RL) is widely used to produce robust robotic manipulation policies, but fine-tuning vision-language-action (VLA) models with RL can be unstable due to inaccurate value estimates and sparse supervision at intermediate…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

Due to the limited smartness and abilities of machine intelligence, currently autonomous vehicles are still unable to handle all kinds of situations and completely replace drivers. Because humans exhibit strong robustness and adaptability…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Reinforcement learning (RL) is an agent-based approach for teaching robots to navigate within the physical world. Gathering data for RL is known to be a laborious task, and real-world experiments can be risky. Simulators facilitate the…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Learning-based methods have improved locomotion skills of quadruped robots through deep reinforcement learning. However, the sim-to-real gap and low sample efficiency still limit the skill transfer. To address this issue, we propose an…

Reward and representation learning are two long-standing challenges for learning an expanding set of robot manipulation skills from sensory observations. Given the inherent cost and scarcity of in-domain, task-specific robot data, learning…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Learning to produce efficient movement behaviour for humanoid robots from scratch is a hard problem, as has been illustrated by the "Learning to run" competition at NIPS 2017. The goal of this competition was to train a two-legged model of…

Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the potential of mixed traffic control. However, existing…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

To create useful reinforcement learning (RL) agents, step zero is to design a suitable reward function that captures the nuances of the task. However, reward engineering can be a difficult and time-consuming process. Instead,…