相关论文: Guiding Skill Discovery with Foundation Models

In generative modeling, we often wish to produce samples that maximize a user-specified reward such as aesthetic quality or alignment with human preferences, a problem known as \textit{guidance}. Despite their widespread use, existing…

Process discovery is one of the primary process mining tasks and starting point for process improvements using event data. Existing process discovery techniques aim to find process models that best describe the observed behavior. The focus…

Scaling unsupervised skill discovery algorithms to high-DoF agents remains challenging. As dimensionality increases, the exploration space grows exponentially, while the manifold of meaningful skills remains limited. Therefore, semantic…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Getting up from an arbitrary fallen state is a basic human skill. Existing methods for learning this skill often generate highly dynamic and erratic get-up motions, which do not resemble human get-up strategies, or are based on tracking…

Learning policies via preference-based reward learning is an increasingly popular method for customizing agent behavior, but has been shown anecdotally to be prone to spurious correlations and reward hacking behaviors. While much prior work…

We present FORGE, a method for sim-to-real transfer of force-aware manipulation policies in the presence of significant pose uncertainty. During simulation-based policy learning, FORGE combines a force threshold mechanism with a dynamics…

Foundation models trained on web-scale data have revolutionized robotics, but their application to low-level control remains largely limited to behavioral cloning. Drawing inspiration from the success of the reinforcement learning stage in…

In reinforcement learning (RL), sparse rewards are a natural way to specify the task to be learned. However, most RL algorithms struggle to learn in this setting since the learning signal is mostly zeros. In contrast, humans are good at…

Inspired by the great success of unsupervised learning in Computer Vision and Natural Language Processing, the Reinforcement Learning community has recently started to focus more on unsupervised discovery of skills. Most current approaches,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Developing robotic intelligent systems that can adapt quickly to unseen wild situations is one of the critical challenges in pursuing autonomous robotics. Although some impressive progress has been made in walking stability and skill…

In the field of unsupervised skill discovery (USD), a major challenge is limited exploration, primarily due to substantial penalties when skills deviate from their initial trajectories. To enhance exploration, recent methodologies employ…

Reinforcement learning (RL), a common tool in decision making, learns control policies from various experiences based on the associated cumulative return/rewards without treating them differently. Humans, on the contrary, often learn to…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…

In aligning large language models (LLMs), reward models have played an important role, but are standardly trained as discriminative models and rely only on labeled human preference data. In this paper, we explore methods that train reward…

Reinforcement learning has been applied to a wide variety of robotics problems, but most of such applications involve collecting data from scratch for each new task. Since the amount of robot data we can collect for any single task is…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…