相关论文: High-Performance Reinforcement Learning on Spot: O…

Current Reinforcement Learning (RL) algorithms struggle with long-horizon tasks where time can be wasted exploring dead ends and task progress may be easily reversed. We develop the SPOT framework, which explores within action safety zones,…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Offline reinforcement learning (RL) aims to learn an optimal policy from a static dataset, making it particularly valuable in scenarios where data collection is costly, such as robotics. A major challenge in offline RL is distributional…

By combining the agility of legged locomotion with the capabilities of manipulation, loco-manipulation platforms have the potential to perform complex tasks in real-world applications. To this end, state-of-the-art quadrupeds with…

In the field of reinforcement learning there has been recent progress towards safety and high-confidence bounds on policy performance. However, to our knowledge, no practical methods exist for determining high-confidence policy performance…

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,…

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…

Reinforcement learning (RL) has gained traction for its success in solving complex tasks for robotic applications. However, its deployment on physical robots remains challenging due to safety risks and the comparatively high costs of…

Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, categorize, and compare methods from the literature that aim to…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft robot control. Traditional methods of controlling soft…

This paper deals with distributed policy optimization in reinforcement learning, which involves a central controller and a group of learners. In particular, two typical settings encountered in several applications are considered:…

Model-based reinforcement learning methods learn a dynamics model with real data sampled from the environment and leverage it to generate simulated data to derive an agent. However, due to the potential distribution mismatch between…

Deployment efficiency is an important criterion for many real-world applications of reinforcement learning (RL). Despite the community's increasing interest, there lacks a formal theoretical formulation for the problem. In this paper, we…

The sim-to-real gap, which represents the disparity between training and testing environments, poses a significant challenge in reinforcement learning (RL). A promising approach to addressing this challenge is distributionally robust RL,…

Reinforcement learning (RL) systems have countless applications, from energy-grid management to protein design. However, such real-world scenarios are often extremely difficult, combinatorial in nature, and require complex coordination…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…