相关论文: SLowRL: Safe Low-Rank Adaptation Reinforcement Lea…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware of the robot has been considered immutable, modeled as part…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Fine-tuning simulation-trained RL agents with real-world data often degrades crucial behaviors due to limited or skewed data distributions. We argue that designer priorities exist not just in reward functions, but also in simulation design…

Training reinforcement learning (RL) policies for legged robots remains challenging due to high-dimensional continuous actions, hardware constraints, and limited exploration. Existing methods for locomotion and whole-body control work well…

Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to…

Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from images. In this work, we demonstrate that locomotion…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

Scaling critic capacity is a promising direction for improving off-policy reinforcement learning (RL). However, recent work shows that larger critics are prone to overfitting and instability in replay-based bootstrapped training. In this…

Agile and adaptive maneuvers such as fall recovery, high-speed turning, and sprinting in the wild are challenging for legged systems. We propose a Curricular Hindsight Reinforcement Learning (CHRL) that learns an end-to-end tracking…

Low-Rank Adaptation (LoRA) fine-tunes large models by learning low-rank updates on top of frozen weights, dramatically reducing trainable parameters and memory. In this work, we address the gap between training with full steps with low-rank…

A critical goal of autonomy and artificial intelligence is enabling autonomous robots to rapidly adapt in dynamic and uncertain environments. Classic adaptive control and safe control provide stability and safety guarantees but are limited…

Recent breakthroughs in the reinforcement learning (RL) community have made significant advances towards learning and deploying policies on real world robotic systems. However, even with the current state-of-the-art algorithms and…

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…

Reinforcement learning has shown a wide usage in robotics tasks, such as insertion and grasping. However, without a practical sim2real strategy, the policy trained in simulation could fail on the real task. There are also wide researches in…

Reinforcement Learning (RL) has seen many recent successes for quadruped robot control. The imitation of reference motions provides a simple and powerful prior for guiding solutions towards desired solutions without the need for meticulous…

Developing robust vision-guided controllers for quadrupedal robots in complex environments, with various obstacles, dynamical surroundings and uneven terrains, is very challenging. While Reinforcement Learning (RL) provides a promising…

Legged robots must adapt their gait to navigate unpredictable environments, a challenge that animals master with ease. However, most deep reinforcement learning (DRL) approaches to quadruped locomotion rely on a fixed gait, limiting…

Applying reinforcement learning (RL) methods on robots typically involves training a policy in simulation and deploying it on a robot in the real world. Because of the model mismatch between the real world and the simulator, RL agents…

Learning generalizable robot manipulation policies, especially for complex multi-fingered humanoids, remains a significant challenge. Existing approaches primarily rely on extensive data collection and imitation learning, which are…