相关论文: SLAC: Simulation-Pretrained Latent Action Space fo…

Deep reinforcement learning (RL) algorithms can use high-capacity deep networks to learn directly from image observations. However, these high-dimensional observation spaces present a number of challenges in practice, since the policy must…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Controlling contact forces during interactions is critical for locomotion and manipulation tasks. While sim-to-real reinforcement learning (RL) has succeeded in many contact-rich problems, current RL methods achieve forceful interactions…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

We study reinforcement learning (RL) in settings where observations are high-dimensional, but where an RL agent has access to abstract knowledge about the structure of the state space, as is the case, for example, when a robot is tasked to…

Autonomous learning of dexterous, long-horizon robotic skills has been a longstanding pursuit of embodied AI. Recent advances in robotic reinforcement learning (RL) have demonstrated remarkable performance and robustness in real-world…

The intrinsic compliance and high degree of freedom (DoF) of redundant soft manipulators facilitate safe interaction and flexible task execution. However, effective kinematic control remains highly challenging, as it must handle…

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…

Learning a latent dynamics model provides a task-agnostic representation of an agent's understanding of its environment. Leveraging this knowledge for model-based reinforcement learning (RL) holds the potential to improve sample efficiency…

The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learning can be drastically inefficient. Additionally, similar…

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

Safety remains a central obstacle preventing widespread use of RL in the real world: learning new tasks in uncertain environments requires extensive exploration, but safety requires limiting exploration. We propose Recovery RL, an algorithm…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…

Modern deep reinforcement learning (DRL) methods have made significant advances in handling continuous action spaces. However, real-world control systems, especially those requiring precise and reliable performance, often demand…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…