相关论文: Learning in ImaginationLand: Omnidirectional Polic…

We explore building generative neural network models of popular reinforcement learning environments. Our world model can be trained quickly in an unsupervised manner to learn a compressed spatial and temporal representation of the…

Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing…

Generative image models are increasingly being used for training data augmentation in vision tasks. In the context of automotive object detection, methods usually focus on producing augmented frames that look as realistic as possible, for…

Object-Centric Motion Generation (OCMG) plays a key role in a variety of industrial applications$\unicode{x2014}$such as robotic spray painting and welding$\unicode{x2014}$requiring efficient, scalable, and generalizable algorithms to plan…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

3D generative models of objects enable photorealistic image synthesis with 3D control. Existing methods model the scene as a global scene representation, ignoring the compositional aspect of the scene. Compositional reasoning can enable a…

Generating robot demonstrations through simulation is widely recognized as an effective way to scale up robot data. Previous work often trained reinforcement learning agents to generate expert policies, but this approach lacks sample…

When agents interact with a complex environment, they must form and maintain beliefs about the relevant aspects of that environment. We propose a way to efficiently train expressive generative models in complex environments. We show that a…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…

Modeling the 3D world from sensor data for simulation is a scalable way of developing testing and validation environments for robotic learning problems such as autonomous driving. However, manually creating or re-creating real-world-like…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary…

Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with…

Reinforcement learning holds the promise of enabling autonomous robots to learn large repertoires of behavioral skills with minimal human intervention. However, robotic applications of reinforcement learning often compromise the autonomy of…

Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomization). In this work, we focus on enabling generalization…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…