相关论文: Invariance Co-training for Robot Visual Generaliza…

While recent model-free Reinforcement Learning (RL) methods have demonstrated human-level effectiveness in gaming environments, their success in everyday tasks like visual navigation has been limited, particularly under significant…

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…

Despite the significant progress of deep reinforcement learning (RL) in solving sequential decision making problems, RL agents often overfit to training environments and struggle to adapt to new, unseen environments. This prevents robust…

How can we build generalist robot systems? Scale may not be enough due to the significant multimodality of robotics tasks, lack of easily accessible data and the challenges of deploying on physical hardware. Meanwhile, most deployed robotic…

The ability of an agent to do well in new environments is a critical aspect of intelligence. In machine learning, this ability is known as $\textit{strong}$ or $\textit{out-of-distribution}$ generalization. However, merely considering…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

Intelligent systems possess a crucial characteristic of breaking complicated problems into smaller reusable components or parts and adjusting to new tasks using these part representations. However, current part-learners encounter…

Learning general-purpose models from diverse datasets has achieved great success in machine learning. In robotics, however, existing methods in multi-task learning are typically constrained to a single robot and workspace, while recent work…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…

The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…

Learning from demonstration is widely used as an efficient way for robots to acquire new skills. However, it typically requires that demonstrations provide full access to the state and action sequences. In contrast, learning from…

Imitation learning methods are used to infer a policy in a Markov decision process from a dataset of expert demonstrations by minimizing a divergence measure between the empirical state occupancy measures of the expert and the policy. The…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…

Generalizable object manipulation skills are critical for intelligent and multi-functional robots to work in real-world complex scenes. Despite the recent progress in reinforcement learning, it is still very challenging to learn a…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Video generative models demonstrate great promise in robotics by serving as visual planners or as policy supervisors. When pretrained on internet-scale data, such video models intimately understand alignment with natural language, and can…