相关论文: Deep Reactive Policy: Learning Reactive Manipulato…

As humans, our goals and our environment are persistently changing throughout our lifetime based on our experiences, actions, and internal and external drives. In contrast, typical reinforcement learning problem set-ups consider decision…

This paper presents Dual Action Policy (DAP), a novel approach to address the dynamics mismatch inherent in the sim-to-real gap of reinforcement learning. DAP uses a single policy to predict two sets of actions: one for maximizing task…

Policy gradient methods have become a standard for training reinforcement learning agents in a scalable and efficient manner. However, they do not account for transition uncertainty, whereas learning robust policies can be computationally…

Real-world applications require RL algorithms to act safely. During learning process, it is likely that the agent executes sub-optimal actions that may lead to unsafe/poor states of the system. Exploration is particularly brittle in…

Diffusion policies (DP) have recently shown great promise for generating actions in robotic manipulation. However, existing approaches often rely on global instructions to produce short-term control signals, which can result in misalignment…

Synthesizing realistic human movements, dynamically responsive to the environment, is a long-standing objective in character animation, with applications in computer vision, sports, and healthcare, for motion prediction and data…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…

Real-time motion generation -- which is essential for achieving reactive and adaptive behavior -- under kinodynamic constraints for high-dimensional systems is a crucial yet challenging problem. We address this with a two-step approach:…

Deep reinforcement learning (RL) policies, although optimal in terms of task rewards, may not align with the personal preferences of human users. To ensure this alignment, a naive solution would be to retrain the agent using a reward…

Policy gradient and actor-critic algorithms form the basis of many commonly used training techniques in deep reinforcement learning. Using these algorithms in multiagent environments poses problems such as nonstationarity and instability.…

Autonomous navigation of mobile robots is an essential aspect in use cases such as delivery, assistance or logistics. Although traditional planning methods are well integrated into existing navigation systems, they struggle in highly…

Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies overlook one or both. They typically rely on 2D visual observations and backbones pretrained…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Recent progress in randomized motion planners has led to the development of a new class of sampling-based algorithms that provide asymptotic optimality guarantees, notably the RRT* and the PRM* algorithms. Careful analysis reveals that the…

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path…

We present RoboArm-NMP, a learning and evaluation environment that allows simple and thorough evaluations of Neural Motion Planning (NMP) algorithms, focused on robotic manipulators. Our Python-based environment provides baseline…

Deep Reinforcement Learning has enabled the learning of policies for complex tasks in partially observable environments, without explicitly learning the underlying model of the tasks. While such model-free methods achieve considerable…

In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…