4 accepted papers
Learning *latent actions* from diverse human videos enables scaling robot learning beyond embodiment-specific robot datasets, and these latent actions have recently been used as pseudo-action labels for vision-language-action (VLA) model pretraining. To make VLA pretraining effective, latent actions…
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break. This setting breaks common implicit assumptions in many learning-based manipulation pipelines: arm configuration tigh…
This paper addresses the problem of multi-risk measure agnostic multi-armed bandits in heavy-tailed reward settings. We propose a framework that leverages novel deviation inequalities for the $1$-Wasserstein distance to construct confidence intervals for Lipschitz risk measures. The distributional…
Alleviating overestimation bias is a critical challenge for deep reinforcement learning to achieve successful performance on more complex tasks or offline datasets containing out-of-distribution data. In order to overcome overestimation bias, ensemble methods for Q-learning have been investigated t…