8 accepted papers
Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Additionally, standard RL methods require millions of physical interaction steps, making fine-tuning even more…
We introduce LUMOS, a language-conditioned multi-task imitation learning framework for robotics. LUMOS learns skills by practicing them over many long-horizon rollouts in the latent space of a learned world model and transfers these skills zero-shot to a real robot. By learning on-policy in the late
Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated, they still require large amounts of training data. Especially w…
AA core challenge for an autonomous agent acting in the real world is to adapt its repertoire of skills to cope with its noisy perception and dynamics. To scale learning of skills to long-horizon tasks, robots should be able to learn and later refine their skills in a structured manner through traje…
For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a transformation-based 3D video prediction (T3VIP) approach that explicitly mo…
For autonomous skill acquisition, robots have to learn about the physical rules governing the 3D world dynamics from their own past experience to predict and reason about plausible future outcomes. To this end, we propose a transformation-based 3D video prediction (T3VIP) approach that explicitly mo
A key challenge for an agent learning to interact with the world is to reason about physical properties of objects and to foresee their dynamics under the effect of applied forces. In order to scale learning through interaction to many objects and scenes, robots should be able to improve their own p…
Learning from demonstration is a powerful tool for teaching manipulation actions to a robot. It is, however, an unsolved problem how to consider knowledge about the world and action-induced reactions such as forces imposed onto the gripper or measured liquid levels during pouring without explicit an…