相关论文: Guiding Energy-Efficient Locomotion through Impact…

Large language models (LLMs) are increasingly developed as autonomous agents using reinforcement learning (agentic RL) that reason and act in interactive environments. However, sparse and sometimes unverifiable rewards make it extremely…

Replicating the remarkable athleticism seen in animals has long been a challenge in robotics control. Although Reinforcement Learning (RL) has demonstrated significant progress in dynamic legged locomotion control, the substantial…

Intrinsic motivation and reward shaping guide reinforcement learning (RL) agents by adding pseudo-rewards, which can lead to useful emergent behaviors. However, they can also encourage counterproductive exploits, e.g., fixation with noisy…

Reinforcement Learning (RL) has become a key approach for enhancing the reasoning capabilities of large language models. However, prevalent RL approaches like proximal policy optimization and group relative policy optimization suffer from…

Offline Reinforcement Learning (ORL) offers a robust solution to training agents in applications where interactions with the environment must be strictly limited due to cost, safety, or lack of accurate simulation environments. Despite its…

Reinforcement Learning (RL) aims at learning an optimal behavior policy from its own experiments and not rule-based control methods. However, there is no RL algorithm yet capable of handling a task as difficult as urban driving. We present…

Acquiring complex behaviors is essential for artificially intelligent agents, yet learning these behaviors in high-dimensional settings poses a significant challenge due to the vast search space. Traditional reinforcement learning (RL)…

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance.…

We study the problem of inverse reinforcement learning (IRL), where the learning agent recovers a reward function using expert demonstrations. Most of the existing IRL techniques make the often unrealistic assumption that the agent has…

This paper extends recent work in interactive machine learning (IML) focused on effectively incorporating human feedback. We show how control and feedback signals complement each other in systems which model human reward. We demonstrate…

We develop a simple framework to learn bio-inspired foraging policies using human data. We conduct an experiment where humans are virtually immersed in an open field foraging environment and are trained to collect the highest amount of…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

Inverse reinforcement learning (IRL) aims to estimate the reward function of optimizing agents by observing their response (estimates or actions). This paper considers IRL when noisy estimates of the gradient of a reward function generated…

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…

Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on energy-related metrics embedded within a multi-objective…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

Although research has produced promising results demonstrating the utility of active inference (AIF) in Markov decision processes (MDPs), there is relatively less work that builds AIF models in the context of environments and problems that…

Humanoid robots have the promise of locomoting like humans, including fast and dynamic running. Recently, reinforcement learning (RL) controllers that can mimic human motions have become popular as they can generate very dynamic behaviors,…

Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical optimization methods as well as into formalizations from…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…