机器人 / 具身智能 - arXivDaily 专题

2504.05585 2025-05-23 cs.LG cs.AI 79%

TW-CRL: Time-Weighted Contrastive Reward Learning for Efficient Inverse Reinforcement Learning

Yuxuan Li, Yicheng Gao, Ning Yang, Stephen Xia

机构 * Northwestern University（西北大学）； Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

2505.10442 2025-05-16 cs.RO cs.AI 79%

IN-RIL: Interleaved Reinforcement and Imitation Learning for Policy Fine-Tuning

Dechen Gao, Hang Wang, Hanchu Zhou, Nejib Ammar, Shatadal Mishra, Ahmadreza Moradipari, Iman Soltani, Junshan Zhang

机构 * Department of Computer Science（计算机科学系）； University of California Davis（加州大学戴维斯分校）； Department of Electrical and Computer Engineering（电气与计算机工程系）； Toyota InfoTech Labs（丰田信息科技实验室）； Department of Mechanical and Aerospace Engineering（机械与航空航天工程系）

专题命中模仿学习与强化学习：robotics(abstract)；robot learning(abstract)；manipulation(abstract)；分类 cs.RO、cs.AI

2409.18382 2025-04-16 cs.RO cs.LG cs.SY eess.SY 79%

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models

Kanghyun Ryu, Qiayuan Liao, Zhongyu Li, Payam Delgosha, Koushil Sreenath, Negar Mehr

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.LG

Comments Accepted to ICRA 2025

2503.18612 2025-03-25 cs.LG cs.AI 79%

Adventurer: Exploration with BiGAN for Deep Reinforcement Learning

Yongshuai Liu, Xin Liu

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments Accepted at Applied Intelligence

2408.14037 2025-02-24 cs.RO cs.LG 79%

Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning

Joey Hejna, Chethan Bhateja, Yichen Jiang, Karl Pertsch, Dorsa Sadigh

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robot foundation model(abstract)；分类 cs.RO、cs.LG

2409.00588 2024-12-11 cs.RO cs.LG 79%

Diffusion Policy Policy Optimization

Allen Z. Ren, Justin Lidard, Lars L. Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz

专题命中模仿学习与强化学习：robot learning(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments Website: diffusion-ppo.github.io

2411.05193 2024-11-28 cs.LG cs.AI cs.CL 79%

Q-SFT: Q-Learning for Language Models via Supervised Fine-Tuning

Joey Hong, Anca Dragan, Sergey Levine

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments 17 pages, 4 figures

2406.13961 2024-06-21 cs.LG cs.RO 79%

Equivariant Offline Reinforcement Learning

Arsh Tangri, Ondrej Biza, Dian Wang, David Klee, Owen Howell, Robert Platt

专题命中模仿学习与强化学习：manipulation(abstract)；robot policy(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

2309.11619 2024-05-24 cs.RO cs.AI 79%

Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of Construction Skills from Human Workers to Assisting Robots

Hongrui Yu, Vineet R. Kamat, Carol C. Menassa

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

2311.12996 2024-03-20 cs.AI cs.RO 79%

RLIF: Interactive Imitation Learning as Reinforcement Learning

Jianlan Luo, Perry Dong, Yuexiang Zhai, Yi Ma, Sergey Levine

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments ICLR 2024

2403.06880 2024-03-19 cs.LG cs.AI 79%

Unveiling the Significance of Toddler-Inspired Reward Transition in Goal-Oriented Reinforcement Learning

Junseok Park, Yoonsung Kim, Hee Bin Yoo, Min Whoo Lee, Kibeom Kim, Won-Seok Choi, Minsu Lee, Byoung-Tak Zhang

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments Accepted as a full paper at AAAI 2024 (Oral presentation): 7 pages (main paper), 2 pages (references), 17 pages (appendix) each

2402.17511 2024-02-28 cs.RO cs.AI 79%

Rethinking Mutual Information for Language Conditioned Skill Discovery on Imitation Learning

Zhaoxun Ju, Chao Yang, Hongbo Wang, Yu Qiao, Fuchun Sun

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments 16 pages

2402.03661 2024-02-07 cs.LG cs.AI 79%

Transductive Reward Inference on Graph

Bohao Qu, Xiaofeng Cao, Qing Guo, Yi Chang, Ivor W. Tsang, Chengqi Zhang

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

2311.07260 2023-11-14 cs.RO cs.AI 79%

TIAGo RL: Simulated Reinforcement Learning Environments with Tactile Data for Mobile Robots

Luca Lach, Francesco Ferro, Robert Haschke

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

2301.11734 2023-09-22 cs.LG cs.RO 79%

Improving Behavioural Cloning with Positive Unlabeled Learning

Qiang Wang, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel E. O'Connor, Nico Gürtler, Felix Widmaier, Francisco Roldan Sanchez, Stephen J. Redmond

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

2210.11796 2023-08-29 cs.RO cs.LG 79%

Differentiable Constrained Imitation Learning for Robot Motion Planning and Control

Christopher Diehl, Janis Adamek, Martin Krüger, Frank Hoffmann, Torsten Bertram

专题命中模仿学习与强化学习：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments International Conference on Intelligent Robots and Systems Agents4AD Workshop, IROS 2023

2307.15690 2023-07-31 cs.LG cs.RO 79%

Benchmarking Offline Reinforcement Learning on Real-Robot Hardware

Nico Gürtler, Sebastian Blaes, Pavel Kolev, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Bernhard Schölkopf, Georg Martius

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments The Eleventh International Conference on Learning Representations. 2022. Published at ICLR 2023. Datasets available at https://github.com/rr-learning/trifinger_rl_datasets

2307.11922 2023-07-25 cs.LG cs.AI cs.CL 79%

Selective Perception: Optimizing State Descriptions with Reinforcement Learning for Language Model Actors

Kolby Nottingham, Yasaman Razeghi, Kyungmin Kim, JB Lanier, Pierre Baldi, Roy Fox, Sameer Singh

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

2302.10030 2023-02-21 cs.AI cs.LG 79%

Safe Deep Reinforcement Learning by Verifying Task-Level Properties

Enrico Marchesini, Luca Marzari, Alessandro Farinelli, Christopher Amato

专题命中模仿学习与强化学习：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments Accepted at the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS). Marchesini and Marzari contributed equally

2212.14164 2023-01-24 cs.LG cs.AI 79%

On Transforming Reinforcement Learning by Transformer: The Development Trajectory

Shengchao Hu, Li Shen, Ya Zhang, Yixin Chen, Dacheng Tao

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments 26 pages

2206.02095 2022-12-01 cs.LG cs.RO 79%

ARC - Actor Residual Critic for Adversarial Imitation Learning

Ankur Deka, Changliu Liu, Katia Sycara

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

2211.00247 2022-11-02 cs.LG cs.AI 79%

Discrete Factorial Representations as an Abstraction for Goal Conditioned Reinforcement Learning

Riashat Islam, Hongyu Zang, Anirudh Goyal, Alex Lamb, Kenji Kawaguchi, Xin Li, Romain Laroche, Yoshua Bengio, Remi Tachet Des Combes

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.AI、cs.LG

Comments Neurips 2022

2210.06479 2022-10-14 cs.RO cs.LG 79%

Real World Offline Reinforcement Learning with Realistic Data Source

Gaoyue Zhou, Liyiming Ke, Siddhartha Srinivasa, Abhinav Gupta, Aravind Rajeswaran, Vikash Kumar

专题命中模仿学习与强化学习：robotics(abstract)；robot learning(abstract)；manipulation(abstract)；分类 cs.RO、cs.LG

Comments Project website: https://sites.google.com/view/real-orl

2203.01298 2022-07-19 cs.RO cs.AI 79%

Pareto Frontier Approximation Network (PA-Net) to Solve Bi-objective TSP

Ishaan Mehta, Sharareh Taghipour, Sajad Saeedi

专题命中模仿学习与强化学习：robotics(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

Comments Accepted at 2022 IEEE 18th International Conference on Automation Science and Engineering

2204.11828 2022-04-26 cs.LG cs.AI 79%

Skill-based Meta-Reinforcement Learning

Taewook Nam, Shao-Hua Sun, Karl Pertsch, Sung Ju Hwang, Joseph J Lim

专题命中模仿学习与强化学习：robot learning(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.AI、cs.LG

Comments ICLR 2022. Project page at https://namsan96.github.io/SiMPL

2202.01862 2022-03-09 cs.RO cs.LG 79%

Practical Imitation Learning in the Real World via Task Consistency Loss

Mohi Khansari, Daniel Ho, Yuqing Du, Armando Fuentes, Matthew Bennice, Nicolas Sievers, Sean Kirmani, Yunfei Bai, Eric Jang

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；navigation(abstract)；分类 cs.RO、cs.LG

2110.14464 2021-12-06 cs.LG cs.RO 79%

Learning from demonstrations with SACR2: Soft Actor-Critic with Reward Relabeling

Jesus Bujalance Martin, Raphael Chekroun, Fabien Moutarde

专题命中模仿学习与强化学习：robotics(abstract)；manipulation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments Presented at Deep RL Workshop, NeurIPS 2021

2109.14325 2021-09-30 cs.RO cs.AI 79%

Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning

Hao-Lun Hsu, Qiuhua Huang, Sehoon Ha

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.AI

2107.07184 2021-07-20 cs.LG cs.RO 79%

MURAL: Meta-Learning Uncertainty-Aware Rewards for Outcome-Driven Reinforcement Learning

Kevin Li, Abhishek Gupta, Ashwin Reddy, Vitchyr Pong, Aurick Zhou, Justin Yu, Sergey Levine

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments Accepted to ICML 2021. First two authors contributed equally

2107.00541 2021-07-02 cs.LG cs.RO 79%

Goal-Conditioned Reinforcement Learning with Imagined Subgoals

Elliot Chane-Sane, Cordelia Schmid, Ivan Laptev

专题命中模仿学习与强化学习：manipulation(abstract)；navigation(abstract)；robotic(abstract)；分类 cs.RO、cs.LG

Comments ICML 2021. See the project webpage at https://www.di.ens.fr/willow/research/ris/

1. 模仿学习与强化学习 4106 篇

TW-CRL: Time-Weighted Contrastive Reward Learning for Efficient Inverse Reinforcement Learning

IN-RIL: Interleaved Reinforcement and Imitation Learning for Policy Fine-Tuning

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models

Adventurer: Exploration with BiGAN for Deep Reinforcement Learning

Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning

Diffusion Policy Policy Optimization

Q-SFT: Q-Learning for Language Models via Supervised Fine-Tuning

Equivariant Offline Reinforcement Learning

Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of Construction Skills from Human Workers to Assisting Robots

RLIF: Interactive Imitation Learning as Reinforcement Learning

Unveiling the Significance of Toddler-Inspired Reward Transition in Goal-Oriented Reinforcement Learning

Rethinking Mutual Information for Language Conditioned Skill Discovery on Imitation Learning

Transductive Reward Inference on Graph

TIAGo RL: Simulated Reinforcement Learning Environments with Tactile Data for Mobile Robots

Improving Behavioural Cloning with Positive Unlabeled Learning

Differentiable Constrained Imitation Learning for Robot Motion Planning and Control

Benchmarking Offline Reinforcement Learning on Real-Robot Hardware

Selective Perception: Optimizing State Descriptions with Reinforcement Learning for Language Model Actors

Safe Deep Reinforcement Learning by Verifying Task-Level Properties

On Transforming Reinforcement Learning by Transformer: The Development Trajectory

ARC - Actor Residual Critic for Adversarial Imitation Learning

Discrete Factorial Representations as an Abstraction for Goal Conditioned Reinforcement Learning

Real World Offline Reinforcement Learning with Realistic Data Source

Pareto Frontier Approximation Network (PA-Net) to Solve Bi-objective TSP

Skill-based Meta-Reinforcement Learning

Practical Imitation Learning in the Real World via Task Consistency Loss

Learning from demonstrations with SACR2: Soft Actor-Critic with Reward Relabeling

Improving Safety in Deep Reinforcement Learning using Unsupervised Action Planning

MURAL: Meta-Learning Uncertainty-Aware Rewards for Outcome-Driven Reinforcement Learning

Goal-Conditioned Reinforcement Learning with Imagined Subgoals