相关论文: Robot Policy Transfer with Online Demonstrations: …

Learning from Demonstrations (LfD) allows robots to learn skills from human users, but its effectiveness can suffer due to sub-optimal teaching, especially from untrained demonstrators. Active LfD aims to improve this by letting robots…

Socially aware robots should be able, among others, to support fluent human-robot collaboration in tasks that require interdependent actions in order to be solved. Towards enhancing mutual performance, collaborative robots should be…

Transfer learning (TL) is a promising way to improve the sample efficiency of reinforcement learning. However, how to efficiently transfer knowledge across tasks with different state-action spaces is investigated at an early stage. Most…

Transfer Learning (TL) has shown great potential to accelerate Reinforcement Learning (RL) by leveraging prior knowledge from past learned policies of relevant tasks. Existing transfer approaches either explicitly computes the similarity…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

Behavioral cloning, or more broadly, learning from demonstrations (LfD) is a priomising direction for robot policy learning in complex scenarios. Albeit being straightforward to implement and data-efficient, behavioral cloning has its own…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Offline reinforcement learning (RL) looks at learning how to optimally solve tasks using a fixed dataset of interactions from the environment. Many off-policy algorithms developed for online learning struggle in the offline setting as they…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Reinforcement Learning (RL) enables an intelligent agent to optimise its performance in a task by continuously taking action from an observed state and receiving a feedback from the environment in form of rewards. RL typically uses tables…

Reinforcement Learning (RL) is known for its strong decision-making capabilities and has been widely applied in various real-world scenarios. However, with the increasing availability of offline datasets and the lack of well-designed online…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Learning from demonstrations (LfD) is an efficient paradigm to train AI agents. But major issues arise when there are differences between (a) the demonstrator's own sensory input, (b) our sensors that observe the demonstrator and (c) the…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insufficient for robust real-world deployment. Deployed robots encounter distribution shifts, long-tail failures, task variations, and…

Transfer Learning (TL) offers the potential to accelerate learning by transferring knowledge across tasks. However, it faces critical challenges such as negative transfer, domain adaptation and inefficiency in selecting solid source…

Transferring knowledge across domains is one of the most fundamental problems in machine learning, but doing so effectively in the context of reinforcement learning remains largely an open problem. Current methods make strong assumptions on…

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…