相关论文: Learning High-Frequency Continuous Action Chunks i…

Reinforcement Learning (RL) has achieved remarkable success in various continuous control tasks, such as robot manipulation and locomotion. Different to mainstream RL which makes decisions at individual steps, recent studies have…

Robotic cutting is a challenging contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. We introduce a new active virtual-model control…

Temporal credit assignment in reinforcement learning is challenging due to delayed and stochastic outcomes. Monte Carlo targets can bridge long delays between action and consequence but lead to high-variance targets due to stochasticity.…

Learning transferable latent actions from large-scale object manipulation videos can significantly enhance generalization in downstream robotics tasks, as such representations are agnostic to different robot embodiments. Existing approaches…

Autonomous agents often require multiple strategies to solve complex tasks, but determining when to switch between strategies remains challenging. This research introduces a reinforcement learning technique to learn switching thresholds…

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

Learning continuous control in high-dimensional sparse reward settings, such as robotic manipulation, is a challenging problem due to the number of samples often required to obtain accurate optimal value and policy estimates. While many…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

Enabling humanoid robots to achieve natural and dynamic locomotion across a wide range of speeds, including smooth transitions from walking to running, presents a significant challenge. Existing deep reinforcement learning methods typically…

We present an approach for weakly supervised learning of human actions. Given a set of videos and an ordered list of the occurring actions, the goal is to infer start and end frames of the related action classes within the video and to…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Traditional reinforcement learning (RL) methods typically employ a fixed control loop, where each cycle corresponds to an action. This rigidity poses challenges in practical applications, as the optimal control frequency is task-dependent.…

Deep Reinforcement Learning (DRL) has achieved remarkable success, ranging from complex computer games to real-world applications, showing the potential for intelligent agents capable of learning in dynamic environments. However, its…

Reinforcement learning (RL) with combinatorial action spaces remains challenging because feasible action sets are exponentially large and governed by complex feasibility constraints, making direct policy parameterization impractical.…

This paper presents a novel method for introducing time into discrete and continuous spatial representations used in mobile robotics, by modelling long-term, pseudo-periodic variations caused by human activities. Unlike previous approaches,…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Action recognition has become a rapidly developing research field within the last decade. But with the increasing demand for large scale data, the need of hand annotated data for the training becomes more and more impractical. One way to…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…