相关论文: Learning to Ball: Composing Policies for Long-Hori…

In recent years, the robotics community has made substantial progress in robotic manipulation using deep reinforcement learning (RL). Effectively learning of long-horizon tasks remains a challenging topic. Typical RL-based methods…

Mastering complex sequential tasks continues to pose a significant challenge in robotics. While there has been progress in learning long-horizon manipulation tasks, most existing approaches lack rigorous mathematical guarantees for ensuring…

Long-horizon contact-rich tasks are challenging to learn with reinforcement learning, due to ineffective exploration of high-dimensional state spaces with sparse rewards. The learning process often gets stuck in local optimum and demands…

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

Complex object manipulation tasks often span over long sequences of operations. Task planning over long-time horizons is a challenging and open problem in robotics, and its complexity grows exponentially with an increasing number of…

Skill chaining is a promising approach for synthesizing complex behaviors by sequentially combining previously learned skills. Yet, a naive composition of skills fails when a policy encounters a starting state never seen during its…

Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key challenges in policy learning involves handling complex,…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

Robotic manipulation policies often degrade over extended horizons, yet existing benchmarks provide limited insight into why such failures occur. Most prior benchmarks are either simulation-based or report aggregate success, making it…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

Learning policies for complex tasks that require multiple different skills is a major challenge in reinforcement learning (RL). It is also a requirement for its deployment in real-world scenarios. This paper proposes a novel framework for…

Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in long-horizon tasks, remains challenging.…

Many real-world manipulation tasks consist of a series of subtasks that are significantly different from one another. Such long-horizon, complex tasks highlight the potential of dexterous hands, which possess adaptability and versatility,…

In this study, we propose a multitask reinforcement learning algorithm for foundational policy acquisition to generate novel motor skills. \textcolor{\hcolor}{Learning the rich representation of the multitask policy is a challenge in…

We study the problem of modeling spatiotemporal trajectories over long time horizons using expert demonstrations. For instance, in sports, agents often choose action sequences with long-term goals in mind, such as achieving a certain…

Deep Reinforcement Learning (DRL) enables robots to perform some intelligent tasks end-to-end. However, there are still many challenges for long-horizon sparse-reward robotic manipulator tasks. On the one hand, a sparse-reward setting…

While deep reinforcement learning methods have shown impressive results in robot learning, their sample inefficiency makes the learning of complex, long-horizon behaviors with real robot systems infeasible. To mitigate this issue,…

Everyday tasks of long-horizon and comprising a sequence of multiple implicit subtasks still impose a major challenge in offline robot control. While a number of prior methods aimed to address this setting with variants of imitation and…

Humans decompose novel complex tasks into simpler ones to exploit previously learned skills. Analogously, hierarchical reinforcement learning seeks to leverage lower-level policies for simple tasks to solve complex ones. However, because…