相关论文: Guiding Skill Discovery with Foundation Models

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Skill effect models for long-horizon manipulation tasks are prone to failures in conditions not covered by training data distributions. Therefore, enabling robots to reason about and learn from failures is necessary. We investigate the…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

Deep reinforcement learning has achieved great strides in solving challenging motion control tasks. Recently, there has been significant work on methods for exploiting the data gathered during training, but there has been less work on how…

We explore the viability of casting foundation models as generic reward functions for reinforcement learning. To this end, we propose a simple pipeline that interfaces an off-the-shelf vision model with a large language model. Specifically,…

Goal-Conditioned Reinforcement Learning (RL) problems often have access to sparse rewards where the agent receives a reward signal only when it has achieved the goal, making policy optimization a difficult problem. Several works augment…

We present a differentiable, decision-oriented learning framework for cost prediction in a class of multi-robot decision-making problems, in which the robots need to trade off the task performance with the costs of taking actions when they…

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…

While foundation models have achieved remarkable results across a diversity of domains, they still rely on human-generated data, such as text, as a fundamental source of knowledge. However, this data is ultimately the product of human…

We consider structure discovery of undirected graphical models from observational data. Inferring likely structures from few examples is a complex task often requiring the formulation of priors and sophisticated inference procedures.…

While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large…

Recent generative models demonstrate impressive performance on synthesizing photographic images, which makes humans hardly to distinguish them from pristine ones, especially on realistic-looking synthetic facial images. Previous works…

Instruction-following LLMs have recently allowed systems to discover hidden concepts from a collection of unstructured documents based on a natural language description of the purpose of the discovery (i.e., goal). Still, the quality of the…

Our goal is for agents to optimize the right reward function, despite how difficult it is for us to specify what that is. Inverse Reinforcement Learning (IRL) enables us to infer reward functions from demonstrations, but it usually assumes…

Today's robots attempt to learn new tasks by imitating human examples. These robots watch the human complete the task, and then try to match the actions taken by the human expert. However, this standard approach to visual imitation learning…

Autonomously learning diverse behaviors without an extrinsic reward signal has been a problem of interest in reinforcement learning. However, the nature of learning in such mechanisms is unconstrained, often resulting in the accumulation of…

Imitation learning is a popular paradigm to teach robots new tasks, but collecting robot demonstrations through teleoperation or kinesthetic teaching is tedious and time-consuming. In contrast, directly demonstrating a task using our human…

Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two…

This thesis investigates how foundation models can be systematically leveraged to enhance robotic capabilities, enabling more effective localization, interaction, and manipulation in unstructured environments. The work is structured around…

Mental simulation is a critical cognitive function for goal-directed behavior because it is essential for assessing actions and their consequences. When a self-generated or externally specified goal is given, a sequence of actions that is…