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Crossing the reality gap: A survey on sim-to-real transferability of robot controllers in reinforcement learning
The growing demand for robots able to act autonomously in complex scenarios has widely
accelerated the introduction of Reinforcement Learning (RL) in robots control applications …
accelerated the introduction of Reinforcement Learning (RL) in robots control applications …
An algorithmic perspective on imitation learning
As robots and other intelligent agents move from simple environments and problems to more
complex, unstructured settings, manually programming their behavior has become …
complex, unstructured settings, manually programming their behavior has become …
Diffusion policy: Visuomotor policy learning via action diffusion
This paper introduces Diffusion Policy, a new way of generating robot behavior by
representing a robot's visuomotor policy as a conditional denoising diffusion process. We …
representing a robot's visuomotor policy as a conditional denoising diffusion process. We …
Weak-to-strong generalization: Eliciting strong capabilities with weak supervision
C Burns, P Izmailov, JH Kirchner, B Baker… - ar** from expert demonstrations. The most common approaches under …
Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
We present ChainedDiffuser, a policy architecture that unifies action keypose prediction and
trajectory diffusion generation for learning robot manipulation from demonstrations. Our …
trajectory diffusion generation for learning robot manipulation from demonstrations. Our …