相关论文: Learning Parameterized Skills from Demonstrations

Moving away from repetitive tasks, robots nowadays demand versatile skills that adapt to different situations. Task-parameterized learning improves the generalization of motion policies by encoding relevant contextual information in the…

We propose a novel parameterized skill-learning algorithm that aims to learn transferable parameterized skills and synthesize them into a new action space that supports efficient learning in long-horizon tasks. We propose to leverage…

We introduce a method for constructing skills capable of solving tasks drawn from a distribution of parameterized reinforcement learning problems. The method draws example tasks from a distribution of interest and uses the corresponding…

Reinforcement learning (RL) has achieved remarkable success in complex robotic systems (eg. quadruped locomotion). In previous works, the RL-based controller was typically implemented as a single neural network with concatenated observation…

We tackle real-world long-horizon robot manipulation tasks through skill discovery. We present a bottom-up approach to learning a library of reusable skills from unsegmented demonstrations and use these skills to synthesize prolonged robot…

One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills. We consider a setting where a robot is initially equipped with (1) a library of parameterized…

Robots need to learn skills that can not only generalize across similar problems but also be directed to a specific goal. Previous methods either train a new skill for every different goal or do not infer the specific target in the presence…

Pre-trained language models can be fine-tuned to solve diverse NLP tasks, including in few-shot settings. Thus fine-tuning allows the model to quickly pick up task-specific ``skills,'' but there has been limited study of where these…

Humans demonstrate an impressive ability to acquire and generalize manipulation "tricks." Even from a single demonstration, such as using soup ladles to reach for distant objects, we can apply this skill to new scenarios involving different…

A parameterized skill is a mapping from multiple goals/task parameters to the policy parameters to accomplish them. Existing works in the literature show how a parameterized skill can be learned given a task space that defines all the…

We present a novel deep learning method for estimating time-dependent parameters in Markov processes through discrete sampling. Departing from conventional machine learning, our approach reframes parameter approximation as an optimization…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

We address the problem of effectively composing skills to solve sparse-reward tasks in the real world. Given a set of parameterized skills (such as exerting a force or doing a top grasp at a location), our goal is to learn policies that…

Unsupervised skill discovery in reinforcement learning (RL) aims to learn diverse behaviors without relying on external rewards. However, current methods often overlook the periodic nature of learned skills, focusing instead on increasing…

Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

Recent progress in state-only imitation learning extends the scope of applicability of imitation learning to real-world settings by relieving the need for observing expert actions. However, existing solutions only learn to extract a…

Learning skills that interact with objects is of major importance for robotic manipulation. These skills can indeed serve as an efficient prior for solving various manipulation tasks. We propose a novel Skill Learning approach that…

Specifying tasks for robotic systems traditionally requires coding expertise, deep domain knowledge, and significant time investment. While learning from demonstration offers a promising alternative, existing methods often struggle with…

We consider the joint design and control of discrete-time stochastic dynamical systems over a finite time horizon. We formulate the problem as a multi-step optimization problem under uncertainty seeking to identify a system design and a…