10 accepted papers
To improve generalization and resilience in human–robot collaboration (HRC), robots must handle the combinatorial diversity of human behaviors and contexts, motivating multi-agent reinforcement learning (MARL). However, inherent heterogeneity between robots and humans creates a rationality gap (RG) …
Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce a system that integrates data collection and imitation learn…
Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search and rescue, construction, industrial automation, and room o
When operating at their full capacity, quadrupedal robots can produce loud footstep noise, which can be disruptive in human-centered environments like homes, offices, and hospitals. As a result, balancing locomotion performance with noise constraints is crucial for the successful real-world deployme
Snake robots have showcased remarkable compliance and adaptability in their interaction with environments, mirroring the traits of their natural counterparts. While their hyper-redundant and high-dimensional characteristics add to this adaptability, they also pose great challenges to robot control.…
Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot’s inherent body parts or incorporate top-mounted arms for manipulation tasks. However, these configurations may limit the robot’s operat…
In the domain of autonomous driving, the offline Reinforcement Learning (RL) approaches exhibit notable efficacy in addressing sequential decision-making problems from offline datasets. However, maintaining safety in diverse safety-critical scenarios remains a significant challenge due to long-taile
In this work, we first formulate the problem of robotic water scooping using goal-conditioned reinforcement learning. This task is particularly challenging due to the complex dynamics of fluid and the need to achieve multi-modal goals. The policy is required to successfully reach both position goals…
One key challenge for multi-task Reinforcement learning (RL) in practice is the absence of task specifications. Robust RL has been applied to deal with task ambiguity but may result in over-conservative policies. To balance the worst-case (robustness) and average performance, we propose Group Distri…
Motion forecasting in highly interactive scenarios is a challenging problem in autonomous driving. In such scenarios, we need to accurately predict the joint behavior of interacting agents to ensure the safe and efficient navigation of autonomous vehicles. Recently, goal-conditioned methods have gai…