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07/18/2023
Towards A Unified Agent with Foundation Models
Language Models and Vision Language Models have recently demonstrated un...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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05/18/2023
A Generalist Dynamics Model for Control
We investigate the use of transformer sequence models as dynamics models...
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04/26/2023
Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning
We investigate whether Deep Reinforcement Learning (Deep RL) is able to ...
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02/24/2023
Leveraging Jumpy Models for Planning and Fast Learning in Robotic Domains
In this paper we study the problem of learning multi-step dynamics predi...
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10/10/2022
NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields
We present a system for applying sim2real approaches to "in the wild" sc...
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03/31/2022
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
We investigate the use of prior knowledge of human and animal movement t...
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12/09/2021
Learning Transferable Motor Skills with Hierarchical Latent Mixture Policies
For robots operating in the real world, it is desirable to learn reusabl...
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10/30/2021
Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
Dynamic quadruped locomotion over challenging terrains with precise foot...
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10/07/2021
Evaluating model-based planning and planner amortization for continuous control
There is a widespread intuition that model-based control methods should ...
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09/29/2021
Learning Dynamics Models for Model Predictive Agents
Model-Based Reinforcement Learning involves learning a dynamics model fr...
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05/25/2021
From Motor Control to Team Play in Simulated Humanoid Football
Intelligent behaviour in the physical world exhibits structure at multip...
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10/27/2020
Behavior Priors for Efficient Reinforcement Learning
As we deploy reinforcement learning agents to solve increasingly challen...
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09/10/2020
Importance Weighted Policy Learning and Adaption
The ability to exploit prior experience to solve novel problems rapidly ...
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05/15/2020
A Distributional View on Multi-Objective Policy Optimization
Many real-world problems require trading off multiple competing objectiv...
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04/23/2020
Divide-and-Conquer Monte Carlo Tree Search For Goal-Directed Planning
Standard planners for sequential decision making (including Monte Carlo ...
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11/15/2019
Reusable neural skill embeddings for vision-guided whole body movement and object manipulation
Both in simulation settings and robotics, there is an ambition to produc...
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05/15/2019
Meta reinforcement learning as task inference
Humans achieve efficient learning by relying on prior knowledge about th...
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05/03/2019
Information asymmetry in KL-regularized RL
Many real world tasks exhibit rich structure that is repeated across dif...
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03/18/2019
Exploiting Hierarchy for Learning and Transfer in KL-regularized RL
As reinforcement learning agents are tasked with solving more challengin...
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11/28/2018
Neural probabilistic motor primitives for humanoid control
We focus on the problem of learning a single motor module that can flexi...
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06/05/2018
Mix&Match - Agent Curricula for Reinforcement Learning
We introduce Mix&Match (M&M) - a training framework designed to facilita...
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03/15/2018
Sylvester Normalizing Flows for Variational Inference
Variational inference relies on flexible approximate posterior distribut...
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09/14/2016
Relativistic Monte Carlo
Hamiltonian Monte Carlo (HMC) is a popular Markov chain Monte Carlo (MCM...
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12/31/2015