相关论文: Guiding Skill Discovery with Foundation Models

Physical interactions can often help reveal information that is not readily apparent. For example, we may tug at a table leg to evaluate whether it is built well, or turn a water bottle upside down to check that it is watertight. We propose…

In this work, we investigate how implicit neural feed back can accelerate reinforcement learning in complex robotic manipulation settings. While prior electroencephalogram (EEG) guided reinforcement learning studies have primarily focused…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Visual imitation learning (VIL) provides an efficient and intuitive strategy for robotic systems to acquire novel skills. Recent advancements in foundation models, particularly Vision Language Models (VLMs), have demonstrated remarkable…

Typical models of learning assume incremental estimation of continuously-varying decision variables like expected rewards. However, this class of models fails to capture more idiosyncratic, discrete heuristics and strategies that people and…

Model free reinforcement learning suffers from the high sampling complexity inherent to robotic manipulation or locomotion tasks. Most successful approaches typically use random sampling strategies which leads to slow policy convergence. In…

Mastering multiple tasks through exploration and learning in an environment poses a significant challenge in reinforcement learning (RL). Unsupervised RL has been introduced to address this challenge by training policies with intrinsic…

Preference-based reward learning is a popular technique for teaching robots and autonomous systems how a human user wants them to perform a task. Previous works have shown that actively synthesizing preference queries to maximize…

We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for specific tasks, which limits their adaptability across diverse applications. In…

Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far. State-of-the-art approaches focus on learning from a single…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

The potential benefits of model-free reinforcement learning to real robotics systems are limited by its uninformed exploration that leads to slow convergence, lack of data-efficiency, and unnecessary interactions with the environment. To…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

Intelligent creatures can explore their environments and learn useful skills without supervision. In this paper, we propose DIAYN ('Diversity is All You Need'), a method for learning useful skills without a reward function. Our proposed…

While reinforcement learning algorithms provide automated acquisition of optimal policies, practical application of such methods requires a number of design decisions, such as manually designing reward functions that not only define the…

Exploration and reward specification are fundamental and intertwined challenges for reinforcement learning. Solving sequential decision-making tasks requiring expansive exploration requires either careful design of reward functions or the…

Improving open-ended learning capabilities is a promising approach to enable robots to face the unbounded complexity of the real-world. Among existing methods, the ability of Quality-Diversity algorithms to generate large collections of…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…