相关论文: Masked Generative Policy for Robotic Control

While there exists many methods for manipulating rigid objects with parallel-jaw grippers, grasping with multi-finger robotic hands remains a quite unexplored research topic. Reasoning and planning collision-free trajectories on the…

Robot learning in high-dimensional control settings, such as humanoid locomotion, presents persistent challenges for reinforcement learning (RL) algorithms due to unstable dynamics, complex contact interactions, and sensitivity to…

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to…

We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Learning approach guided by Model Predictive Control (MPC). The…

Diffusion Policies (DPs) have attracted attention for their ability to achieve significant accuracy improvements in various imitation learning tasks. However, DPs depend on Diffusion Models, which require multiple noise removal steps to…

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…

Over the past few decades, machine learning has been widely used to learn complex tasks. Reinforcement Learning (RL), inspired by human behavior, is a great example, as it involves developing specific behaviours for specific tasks. To…

Within the imitation learning paradigm, training generalist robots requires large-scale datasets obtainable only through diverse curation. Due to the relative ease to collect, human demonstrations constitute a valuable addition when…

Batch processes are inherently transient and typically nonlinear, motivating nonlinear model predictive control (NMPC). However, adopting NMPC is hindered by the cost and unavailability of dynamic models. Thus, we propose to use Gaussian…

Several recent works have directly extended the image masked autoencoder (MAE) with random masking into video domain, achieving promising results. However, unlike images, both spatial and temporal information are important for video…

Masked Generative Models (MGM)s demonstrate strong capabilities in generating high-fidelity images. However, they need many sampling steps to create high-quality generations, resulting in slow inference speed. In this work, we propose…

Recent 3D generative models, which are capable of generating full object shapes from just a few images, now open up new opportunities in robotics. In this work, we show that 3D generative models can be used to augment a dataset from a…

Modeling the evolutions of driving scenarios is important for the evaluation and decision-making of autonomous driving systems. Most existing methods focus on one aspect of scene evolution such as map generation, motion prediction, and…

We present a data-efficient framework for solving sequential decision-making problems which exploits the combination of reinforcement learning (RL) and latent variable generative models. The framework, called GenRL, trains deep policies by…

Learning uncertain dynamics models using Gaussian process~(GP) regression has been demonstrated to enable high-performance and safety-aware control strategies for challenging real-world applications. Yet, for computational tractability,…

Multi-stage sequential (MSS) robotic manipulation tasks are prevalent and crucial in robotics. They often involve state ambiguity, where visually similar observations correspond to different actions. We present SAGE, a state-aware guided…

Humanoid robot manipulation is a crucial research area for executing diverse human-level tasks, involving high-level semantic reasoning and low-level action generation. However, precise scene understanding and sample-efficient learning from…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Generative modeling of discrete data underlies important applications spanning text-based agents like ChatGPT to the design of the very building blocks of life in protein sequences. However, application domains need to exert control over…