相关论文: HEADER: Hierarchical Robot Exploration via Attenti…

Hierarchical structures of motion exist across research fields, including computer vision, graphics, and robotics, where complex dynamics typically arise from coordinated interactions among simpler motion components. Existing methods to…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

Hierarchical reinforcement learning has been a compelling approach for achieving goal directed behavior over long sequences of actions. However, it has been challenging to implement in realistic or open-ended environments. A main challenge…

Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This paper presents a novel approach combining a graph neural…

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…

We present an algorithm, HOMER, for exploration and reinforcement learning in rich observation environments that are summarizable by an unknown latent state space. The algorithm interleaves representation learning to identify a new notion…

To achieve scenario intelligence, humans must transfer knowledge to robots by developing goal-oriented algorithms, which are sometimes insensitive to dynamically changing environments. While deep reinforcement learning achieves significant…

While apprenticeship learning has shown promise for inducing effective pedagogical policies directly from student interactions in e-learning environments, most existing approaches rely on optimal or near-optimal expert demonstrations under…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

Whole-body control for humanoids is challenging due to the high-dimensional nature of the problem, coupled with the inherent instability of a bipedal morphology. Learning from visual observations further exacerbates this difficulty. In this…

Autonomous mobile manipulation in unstructured warehouses requires a balance between efficient large-scale navigation and high-precision object interaction. Traditional end-to-end learning approaches often struggle to handle the conflicting…

Open-ended learning benefits immensely from the use of symbolic methods for goal representation as they offer ways to structure knowledge for efficient and transferable learning. However, the existing Hierarchical Reinforcement Learning…

Humans routinely rely on memory to perform tasks, yet most robot policies lack this capability; our goal is to endow robot policies with the same ability. Naively conditioning on long observation histories is computationally expensive and…

We study reinforcement learning (RL) for text-based games, which are interactive simulations in the context of natural language. While different methods have been developed to represent the environment information and language actions,…

Robots today can exploit the rich world knowledge of large language models to chain simple behavioral skills into long-horizon tasks. However, robots often get interrupted during long-horizon tasks due to primitive skill failures and…

Learning control policies to perform complex robotics tasks from human preference data presents significant challenges. On the one hand, the complexity of such tasks typically requires learning policies to perform a variety of subtasks,…

Decision-making in complex, continuous multi-task environments is often hindered by the difficulty of obtaining accurate models for planning and the inefficiency of learning purely from trial and error. While precise environment dynamics…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

Sparse rewards and long time horizons remain challenging for reinforcement learning algorithms. Exploration bonuses can help in sparse reward settings by encouraging agents to explore the state space, while hierarchical approaches can…

Training LLMs as interactive agents for multi-turn decision-making remains challenging, particularly in long-horizon tasks with sparse and delayed rewards, where agents must execute extended sequences of actions before receiving meaningful…