Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning

25 October 2019

Abhishek Gupta

Vikash Kumar

Papers citing "Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning"

50 / 148 papers shown

Title
Diffusion Models for Robotic Manipulation: A Survey Rosa Wolf Yitian Shi Sheng Liu Rania Rayyes 127 2 0 01 Jul 2025
Graph-Assisted Stitching for Offline Hierarchical Reinforcement Learning Seungho Baek Taegeon Park Jongchan Park Seungjun Oh Yusung Kim OffRL 24 0 0 09 Jun 2025
Horizon Reduction Makes RL Scalable Seohong Park Kevin Frans Deepinder Mann Benjamin Eysenbach Aviral Kumar Sergey Levine OffRL 92 0 0 04 Jun 2025
ReinFlow: Fine-tuning Flow Matching Policy with Online Reinforcement Learning Tonghe Zhang Chao Yu Sichang Su Yu Wang 90 0 0 28 May 2025
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning Guanxing Lu Wenkai Guo Chubin Zhang Yuheng Zhou Haonan Jiang Zifeng Gao Yansong Tang Ziwei Wang OffRL 112 0 0 24 May 2025
EgoDTM: Towards 3D-Aware Egocentric Video-Language Pretraining Boshen Xu Yuting Mei Xinbi Liu Sipeng Zheng Qin Jin VLM MDE 108 0 0 19 Mar 2025
Quantization-Free Autoregressive Action Transformer Ziyad Sheebaelhamd Michael Tschannen Michael Muehlebach Claire Vernade 97 1 0 18 Mar 2025
A Data-Centric Revisit of Pre-Trained Vision Models for Robot Learning Xin Wen Bingchen Zhao Yilun Chen Jiangmiao Pang Xiaojuan Qi LM&Ro 222 0 0 10 Mar 2025
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation Hanzhi Chen Boyang Sun Anran Zhang Marc Pollefeys Stefan Leutenegger LM&Ro 161 0 0 10 Mar 2025
Falcon: Fast Visuomotor Policies via Partial Denoising Haojun Chen Minghao Liu Xiaojian Ma Zailin Ma Huimin Wu ... Yuanpei Chen Yifan Zhong Mingzhi Wang Qing Li Yaodong Yang VGen 149 1 0 01 Mar 2025
Scalable Decision-Making in Stochastic Environments through Learned Temporal Abstraction Baiting Luo Ava Pettet Aron Laszka A. Dubey Ayan Mukhopadhyay OffRL 90 1 0 28 Feb 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport Mingyang Sun Pengxiang Ding Weinan Zhang Donglin Wang OT 144 0 0 24 Feb 2025
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana Robert Lee David Pershouse Niko Suenderhauf VGen 124 1 0 17 Feb 2025
Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning Egor Cherepanov Nikita Kachaev A. Kovalev Aleksandr I. Panov OffRL 167 0 0 14 Feb 2025
Bilevel Learning for Bilevel Planning Bowen Li Tom Silver Sebastian A. Scherer Alexander G. Gray 276 2 0 12 Feb 2025
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy Yuhui Chen Shuai Tian Shugao Liu Yingting Zhou Haoran Li Dongbin Zhao OffRL 213 13 0 08 Feb 2025
State Combinatorial Generalization In Decision Making With Conditional Diffusion Models Xintong Duan Yutong He Fahim Tajwar Wen-Tse Chen Ruslan Salakhutdinov Jeff Schneider OffRL AI4CE 153 1 0 22 Jan 2025
DIPPER: Direct Preference Optimization to Accelerate Primitive-Enabled Hierarchical Reinforcement Learning Utsav Singh Souradip Chakraborty Wesley A Suttle Brian M. Sadler Vinay P. Namboodiri Amrit Singh Bedi OffRL 110 0 0 03 Jan 2025
From Pixels to Predicates: Learning Symbolic World Models via Pretrained Vision-Language Models Ashay Athalye Nishanth Kumar Tom Silver Yichao Liang Tomás Lozano-Pérez Leslie Pack Kaelbling Leslie Kaelbling LM&Ro 109 6 0 31 Dec 2024
ACL-QL: Adaptive Conservative Level in Q-Learning for Offline Reinforcement Learning Kun Wu Yinuo Zhao Zhihao Xu Zhengping Che Chengxiang Yin C. Liu Qinru Qiu Feiferi Feng OffRL 170 1 0 22 Dec 2024
Subgoal Discovery Using a Free Energy Paradigm and State Aggregations Amirhossein Mesbah Reshad Hosseini Seyed Pooya Shariatpanahi M. N. Ahmadabadi 249 0 0 21 Dec 2024
Hierarchical Subspaces of Policies for Continual Offline Reinforcement Learning Anthony Kobanda Rémy Portelas Odalric-Ambrym Maillard Ludovic Denoyer OffRL CLL 176 1 0 19 Dec 2024
Rethinking the Intermediate Features in Adversarial Attacks: Misleading Robotic Models via Adversarial Distillation Ke Zhao Huayang Huang Miao Li Yu Wu AAML 114 1 0 21 Nov 2024
Incremental Learning of Retrievable Skills For Efficient Continual Task Adaptation Daehee Lee Minjong Yoo Woo Kyung Kim Wonje Choi Honguk Woo CLL 184 8 0 30 Oct 2024
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation Haoyi Zhu Honghui Yang Yating Wang Jiange Yang Limin Wang Tong He 3DH 126 9 0 10 Oct 2024
MLLM as Retriever: Interactively Learning Multimodal Retrieval for Embodied Agents Junpeng Yue Xinru Xu Börje F. Karlsson Zongqing Lu 116 1 0 04 Oct 2024
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers Jianke Zhang Yanjiang Guo Xiaoyu Chen Yen-Jen Wang Yucheng Hu Chengming Shi Jianyu Chen 92 13 0 12 Sep 2024
One-Shot Imitation under Mismatched Execution Kushal Kedia Prithwish Dan Sanjiban Choudhury Maximus Adrian Pace Sanjiban Choudhury 154 5 0 10 Sep 2024
Affordance-based Robot Manipulation with Flow Matching Fan Zhang Michael Gienger 167 14 0 02 Sep 2024
Efficient Exploration and Discriminative World Model Learning with an Object-Centric Abstraction Anthony GX-Chen Kenneth Marino Rob Fergus OCL 137 1 0 21 Aug 2024
DEAR: Disentangled Environment and Agent Representations for Reinforcement Learning without Reconstruction Ameya Pore Riccardo Muradore Diego DallÁlba DRL 109 2 0 30 Jun 2024
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation Jiaming Zhou Teli Ma Kun-Yu Lin Ronghe Qiu Zifan Wang Junwei Liang 149 7 0 20 Jun 2024
LGR2: Language Guided Reward Relabeling for Accelerating Hierarchical Reinforcement Learning Utsav Singh Pramit Bhattacharyya Vinay P. Namboodiri LM&Ro 100 1 0 09 Jun 2024
Learning Manipulation by Predicting Interaction Jia Zeng Qingwen Bu Bangjun Wang Wenke Xia Li Chen ... Heming Cui Bin Zhao Xuelong Li Yu Qiao Hongyang Li 134 26 0 01 Jun 2024
Do's and Don'ts: Learning Desirable Skills with Instruction Videos Hyunseung Kim ByungKun Lee Hojoon Lee Dongyoon Hwang Donghu Kim Jaegul Choo 145 1 0 01 Jun 2024
VICtoR: Learning Hierarchical Vision-Instruction Correlation Rewards for Long-horizon Manipulation Kuo-Han Hung Pang-Chi Lo Jia-Fong Yeh Han-Yuan Hsu Yi-Ting Chen Winston H. Hsu 159 0 0 26 May 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 333 54 0 23 May 2024
Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models Yutao Ouyang Jinhan Li Yunfei Li Zhongyu Li Chao Yu Koushil Sreenath Yi Wu 136 15 0 08 Apr 2024
Premier-TACO is a Few-Shot Policy Learner: Pretraining Multitask Representation via Temporal Action-Driven Contrastive Loss Ruijie Zheng Yongyuan Liang Xiyao Wang Shuang Ma Hal Daumé Huazhe Xu John Langford Praveen Palanisamy Kalyan Shankar Basu Furong Huang 103 8 0 09 Feb 2024
Backward Learning for Goal-Conditioned Policies Marc Höftmann Jan Robine Stefan Harmeling 100 1 0 08 Dec 2023
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation? Kaylee Burns Zach Witzel Jubayer Ibn Hamid Tianhe Yu Chelsea Finn Karol Hausman OOD SSL 90 25 0 03 Nov 2023
METRA: Scalable Unsupervised RL with Metric-Aware Abstraction Seohong Park Oleh Rybkin Sergey Levine OffRL 87 44 0 13 Oct 2023
Universal Visual Decomposer: Long-Horizon Manipulation Made Easy Zichen Zhang Yunshuang Li Osbert Bastani Abhishek Gupta Dinesh Jayaraman Yecheng Jason Ma Luca Weihs 77 19 0 12 Oct 2023
Offline Retraining for Online RL: Decoupled Policy Learning to Mitigate Exploration Bias Max Sobol Mark Archit Sharma Fahim Tajwar Rafael Rafailov Sergey Levine Chelsea Finn OffRL OnRL 109 2 0 12 Oct 2023
RoboHive: A Unified Framework for Robot Learning Vikash Kumar Rutav Shah Gaoyue Zhou Vincent Moens Vittorio Caggiano Jay Vakil Abhishek Gupta Aravind Rajeswaran 67 25 0 10 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 88 9 0 09 Oct 2023
Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior Ruihan Yang Zhuoqun Chen Jianhan Ma Chongyi Zheng Yiyu Chen Quan Nguyen Xinze Wang 92 18 0 02 Oct 2023
Deep Probabilistic Movement Primitives with a Bayesian Aggregator Michael Przystupa Faezeh Haghverd Martin Jägersand Samuele Tosatto 54 6 0 11 Jul 2023
Offline Skill Graph (OSG): A Framework for Learning and Planning using Offline Reinforcement Learning Skills Ben-ya Halevy Y. Aperstein Dotan Di Castro GP OffRL 52 1 0 23 Jun 2023
SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling Jesse Zhang Karl Pertsch Jiahui Zhang Joseph J. Lim LM&Ro 121 17 0 20 Jun 2023