相关论文: RISE: Robust Imitation through Stochastic Encoding

With the increasing pace of automation, modern robotic systems need to act in stochastic, non-stationary, partially observable environments. A range of algorithms for finding parameterized policies that optimize for long-term average…

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of…

Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and long-horizon tasks plateau far below perfect execution, even…

We address the challenge of learning safe and robust decision policies in presence of uncertainty in context of the real scientific problem of adaptive resource oversubscription to enhance resource efficiency while ensuring safety against…

Context-aware compression techniques have gained increasing attention as model sizes continue to grow, introducing computational bottlenecks that hinder efficient deployment. A structured encoding approach was proposed to selectively…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

The sequential nature of decision-making in financial asset trading aligns naturally with the reinforcement learning (RL) framework, making RL a common approach in this domain. However, the low signal-to-noise ratio in financial markets…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

Humans demonstrate a variety of interesting behavioral characteristics when performing tasks, such as selecting between seemingly equivalent optimal actions, performing recovery actions when deviating from the optimal trajectory, or…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Many of the challenges facing today's reinforcement learning (RL) algorithms, such as robustness, generalization, transfer, and computational efficiency are closely related to compression. Prior work has convincingly argued why minimizing…

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

Reinforcement learning (RL) is a core approach for robot control when expert demonstrations are unavailable. On-policy methods such as Proximal Policy Optimization (PPO) are widely used for their stability, but their reliance on narrowly…

State-of-the-art reinforcement learning algorithms mostly rely on being allowed to directly interact with their environment to collect millions of observations. This makes it hard to transfer their success to industrial control problems,…

This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…

A long-standing goal in robotics is to build robots that can perform a wide range of daily tasks from perceptions obtained with their onboard sensors and specified only via natural language. While recently substantial advances have been…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is bottlenecked by the capabilities of the demonstrations.…