相关论文: Data-Efficient Multitask DAgger

Training a single model on multiple input domains and/or output tasks allows for compressing information from multiple sources into a unified backbone hence improves model efficiency. It also enables potential positive knowledge transfer…

Dual-arm robots offer enhanced versatility and efficiency over single-arm counterparts by enabling concurrent manipulation of multiple objects or cooperative execution of tasks using both arms. However, the coordination of dual-arm systems…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt…

Reinforcement learning solely from an agent's self-generated data is often believed to be infeasible for learning on real robots, due to the amount of data needed. However, if done right, agents learning from real data can be surprisingly…

It is well known that it is difficult to have a reliable and robust framework to link multi-agent deep reinforcement learning algorithms with practical multi-robot applications. To fill this gap, we propose and build an open-source…

Transfer learning has the potential to reduce the burden of data collection and to decrease the unavoidable risks of the training phase. In this letter, we introduce a multirobot, multitask transfer learning framework that allows a system…

This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is developed based on an algorithm called…

We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Data scaling has driven remarkable success in foundation models for Natural Language Processing (NLP) and Computer Vision (CV), yet the principles of effective data scaling in robotic manipulation remain insufficiently understood. In this…

We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different…

Sharing knowledge between tasks is vital for efficient learning in a multi-task setting. However, most research so far has focused on the easier case where knowledge transfer is not harmful, i.e., where knowledge from one task cannot…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…

Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior. However, these interventions can impose significant…

We present Dynamic ReAct, a novel approach for enabling ReAct agents to efficiently operate with extensive Model Control Protocol (MCP) tool sets that exceed the contextual memory limitations of large language models. Our approach addresses…

Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…

Generalist robot learning remains constrained by data: large-scale, diverse, and high-quality interaction data are expensive to collect in the real world. While simulation has become a promising way for scaling up data collection, the…

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…