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10/27/2022
Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision
Learning-based methods in robotics hold the promise of generalization, b...
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10/12/2022
Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks
The utilization of broad datasets has proven to be crucial for generaliz...
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05/17/2022
Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space
General-purpose robots require diverse repertoires of behaviors to compl...
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04/27/2022
Bisimulation Makes Analogies in Goal-Conditioned Reinforcement Learning
Building generalizable goal-conditioned agents from rich observations is...
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10/12/2021
Offline Reinforcement Learning with Implicit Q-Learning
Offline reinforcement learning requires reconciling two conflicting aims...
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07/08/2021
Offline Meta-Reinforcement Learning with Online Self-Supervision
Meta-reinforcement learning (RL) can meta-train policies that adapt to n...
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06/01/2021
What Can I Do Here? Learning New Skills by Imagining Visual Affordances
A generalist robot equipped with learned skills must be able to perform ...
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04/23/2021
DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies
Can we use reinforcement learning to learn general-purpose policies that...
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06/16/2020
Accelerating Online Reinforcement Learning with Offline Datasets
Reinforcement learning provides an appealing formalism for learning cont...
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04/29/2020
Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks
Robotic insertion tasks are characterized by contact and friction mechan...
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10/23/2019
Contextual Imagined Goals for Self-Supervised Robotic Learning
While reinforcement learning provides an appealing formalism for learnin...
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06/13/2019
Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards
Connector insertion and many other tasks commonly found in modern manufa...
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03/08/2019
Skew-Fit: State-Covering Self-Supervised Reinforcement Learning
In standard reinforcement learning, each new skill requires a manually-d...
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12/07/2018
Residual Reinforcement Learning for Robot Control
Conventional feedback control methods can solve various types of robot c...
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07/12/2018
Visual Reinforcement Learning with Imagined Goals
For an autonomous agent to fulfill a wide range of user-specified goals ...
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09/28/2017
Overcoming Exploration in Reinforcement Learning with Demonstrations
Exploration in environments with sparse rewards has been a persistent pr...
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03/06/2017
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
Manipulation of deformable objects, such as ropes and cloth, is an impor...
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06/23/2016