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

Recent work has shown that augmenting environments with language descriptions improves policy learning. However, for environments with complex language abstractions, learning how to ground language to observations is difficult due to…

Learning from demonstrations (LfD) has successfully trained robots to exhibit remarkable generalization capabilities. However, many powerful imitation techniques do not prioritize the feasibility of the robot behaviors they generate. In…

Learning from Demonstration (LfD) is a useful paradigm for training policies that solve tasks involving complex motions, such as those encountered in robotic manipulation. In practice, the successful application of LfD requires overcoming…

This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…

Transferring learned skills across diverse situations remains a fundamental challenge for autonomous agents, particularly when agents are not allowed to interact with an exact target setup. While prior approaches have predominantly focused…

Offline reinforcement learning (RL) presents distinct challenges as it relies solely on observational data. A central concern in this context is ensuring the safety of the learned policy by quantifying uncertainties associated with various…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

This work aims at unveiling the potential of Transfer Learning (TL) for developing a traffic flow forecasting model in scenarios of absent data. Knowledge transfer from high-quality predictive models becomes feasible under the TL paradigm,…

Learning from Demonstration (LfD) seeks to democratize robotics by enabling non-roboticist end-users to teach robots to perform a task by providing a human demonstration. However, modern LfD techniques, e.g. inverse reinforcement learning…

We propose a method to predict the sim-to-real transfer performance of RL policies. Our transfer metric simplifies the selection of training setups (such as algorithm, hyperparameters, randomizations) and policies in simulation, without the…

Deep reinforcement learning (DRL) breaks through the bottlenecks of traditional reinforcement learning (RL) with the help of the perception capability of deep learning and has been widely applied in real-world problems.While model-free RL,…

Real-world autonomous decision-making systems, from robots to recommendation engines, must operate in environments that change over time. While deep reinforcement learning (RL) has shown an impressive ability to learn optimal policies in…

Transfer and adaptation to new unknown environmental dynamics is a key challenge for reinforcement learning (RL). An even greater challenge is performing near-optimally in a single attempt at test time, possibly without access to dense…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

We propose a multi-time-scale predictive representation learning method to efficiently learn robust driving policies in an offline manner that generalize well to novel road geometries, and damaged and distracting lane conditions which are…

To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). In this paper, we…

Offline reinforcement learning (RL) allows robots to learn from offline datasets without risky exploration. Yet, offline RL's performance often hinges on a brittle trade-off between (1) return maximization, which can push policies outside…

Off-policy reinforcement learning has many applications including: learning from demonstration, learning multiple goal seeking policies in parallel, and representing predictive knowledge. Recently there has been an proliferation of new…

Learning from Observations (LfO) is a practical reinforcement learning scenario from which many applications can benefit through the reuse of incomplete resources. Compared to conventional imitation learning (IL), LfO is more challenging…

While Deep Reinforcement Learning (DRL) has emerged as a promising approach to many complex tasks, it remains challenging to train a single DRL agent that is capable of undertaking multiple different continuous control tasks. In this paper,…