Search Results for author:
Found 25 papers, 6 papers with code
Time-Contrastive Networks: Self-Supervised Learning from Video
While representations are learned from an unlabeled collection of task-related videos, robot behaviors such as pouring are learned by watching a single 3rd-person demonstration by a human.
Ranked #3 on
Video Alignment
on UPenn Action
Meta-Learning via Learned Loss
This information shapes the learned loss function such that the environment does not need to provide this information during meta-test time.
RT-1: Robotics Transformer for Real-World Control at Scale
By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance.
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
Our goal is to enable a single end-to-end trained model to both learn to map robot observations to actions and enjoy the benefits of large-scale pretraining on language and vision-language data from the web.
PaLM-E: An Embodied Multimodal Language Model
Large language models excel at a wide range of complex tasks.
Ranked #2 on
Visual Question Answering (VQA)
on OK-VQA
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
We show how low-level skills can be combined with large language models so that the language model provides high-level knowledge about the procedures for performing complex and temporally-extended instructions, while value functions associated with these skills provide the grounding necessary to connect this knowledge to a particular physical environment.
Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Nets
Imitation learning has traditionally been applied to learn a single task from demonstrations thereof.
Collective Robot Reinforcement Learning with Distributed Asynchronous Guided Policy Search
In this work, we explore distributed and asynchronous policy learning as a means to achieve generalization and improved training times on challenging, real-world manipulation tasks.
Path Integral Guided Policy Search
We extend GPS in the following ways: (1) we propose the use of a model-free local optimizer based on path integral stochastic optimal control (PI2), which enables us to learn local policies for tasks with highly discontinuous contact dynamics; and (2) we enable GPS to train on a new set of task instances in every iteration by using on-policy sampling: this increases the diversity of the instances that the policy is trained on, and is crucial for achieving good generalization.
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
In doing so, we are able to change the distribution of simulations to improve the policy transfer by matching the policy behavior in simulation and the real world.
Visionary: Vision architecture discovery for robot learning
We propose a vision-based architecture search algorithm for robot manipulation learning, which discovers interactions between low dimension action inputs and high dimensional visual inputs.
MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale
In this paper, we study how a large-scale collective robotic learning system can acquire a repertoire of behaviors simultaneously, sharing exploration, experience, and representations across tasks.
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills
We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling robot learning by reusing past robotic data.
Conservative Data Sharing for Multi-Task Offline Reinforcement Learning
We argue that a natural use case of offline RL is in settings where we can pool large amounts of data collected in various scenarios for solving different tasks, and utilize all of this data to learn behaviors for all the tasks more effectively rather than training each one in isolation.
Data Sharing without Rewards in Multi-Task Offline Reinforcement Learning
However, these benefits come at a cost -- for data to be shared between tasks, each transition must be annotated with reward labels corresponding to other tasks.
Meta Learning via Learned Loss
We present a meta-learning method for learning parametric loss functions that can generalize across different tasks and model architectures.
How to Leverage Unlabeled Data in Offline Reinforcement Learning
One natural solution is to learn a reward function from the labeled data and use it to label the unlabeled data.
Inner Monologue: Embodied Reasoning through Planning with Language Models
We investigate a variety of sources of feedback, such as success detection, scene description, and human interaction.
Offline RL With Realistic Datasets: Heteroskedasticity and Support Constraints
Both theoretically and empirically, we show that typical offline RL methods, which are based on distribution constraints fail to learn from data with such non-uniform variability, due to the requirement to stay close to the behavior policy to the same extent across the state space.
Dual Generator Offline Reinforcement Learning
In this paper, we show that the issue of conflicting objectives can be resolved by training two generators: one that maximizes return, with the other capturing the ``remainder'' of the data distribution in the offline dataset, such that the mixture of the two is close to the behavior policy.
Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions
In this work, we present a scalable reinforcement learning method for training multi-task policies from large offline datasets that can leverage both human demonstrations and autonomously collected data.
Robotic Offline RL from Internet Videos via Value-Function Pre-Training
Our system, called V-PTR, combines the benefits of pre-training on video data with robotic offline RL approaches that train on diverse robot data, resulting in value functions and policies for manipulation tasks that perform better, act robustly, and generalize broadly.
RT-H: Action Hierarchies Using Language
Predicting these language motions as an intermediate step between tasks and actions forces the policy to learn the shared structure of low-level motions across seemingly disparate tasks.
Stop Regressing: Training Value Functions via Classification for Scalable Deep RL
Observing this discrepancy, in this paper, we investigate whether the scalability of deep RL can also be improved simply by using classification in place of regression for training value functions.
