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 / 118 papers shown

Title
Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulation Chengyang He Gadiel Sznaier Camps Xu Liu Mac Schwager Guillaume Sartoretti 27 0 0 14 May 2025
Null Counterfactual Factor Interactions for Goal-Conditioned Reinforcement Learning Caleb Chuck Fan Feng Carl Qi Chang Shi Siddhant Agarwal Amy Zhang S. Niekum 47 0 0 06 May 2025
Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability Zishen Wan Jiayi Qian Yuhang Du Jason J. Jabbour Yilun Du Yang Katie Zhao A. Raychowdhury Tushar Krishna Vijay Janapa Reddi LM&Ro 93 0 0 26 Apr 2025
Quantization-Free Autoregressive Action Transformer Ziyad Sheebaelhamd Michael Tschannen Michael Muehlebach Claire Vernade 49 0 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 48 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 75 0 0 10 Mar 2025
Modeling Fine-Grained Hand-Object Dynamics for Egocentric Video Representation Learning Baoqi Pei Yuanmin Huang Jilan Xu Guo Chen Yuping He ... Yali Wang Weidi Xie Yu Qiao Fei Wu Limin Wang 41 1 0 02 Mar 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport Mingyang Sun Pengxiang Ding Weinan Zhang Donglin Wang OT 83 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 56 0 0 17 Feb 2025
Bilevel Learning for Bilevel Planning Bowen Li Tom Silver Sebastian A. Scherer Alexander G. Gray 80 1 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 106 1 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 101 0 0 22 Jan 2025
Evolution and The Knightian Blindspot of Machine Learning Joel Lehman Elliot Meyerson Tarek El-Gaaly Kenneth O. Stanley Tarin Ziyaee 91 2 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 53 0 0 03 Jan 2025
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 102 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 77 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 86 0 0 19 Dec 2024
Incremental Learning of Retrievable Skills For Efficient Continual Task Adaptation Daehee Lee Minjong Yoo Woo Kyung Kim Wonje Choi Honguk Woo CLL 96 5 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 53 6 0 10 Oct 2024
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control Zichen Jeff Cui Hengkai Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto VGen 36 10 0 18 Sep 2024
Embodiment-Agnostic Action Planning via Object-Part Scene Flow Weiliang Tang Jia-Hui Pan Wei Zhan Jianshu Zhou Huaxiu Yao Yun-Hui Liu Masayoshi Tomizuka Mingyu Ding Chi-Wing Fu 60 0 0 16 Sep 2024
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers Jianke Zhang Yanjiang Guo Xiaoyu Chen Yen-Jen Wang Yucheng Hu Chengming Shi Jianyu Chen 37 5 0 12 Sep 2024
One-Shot Imitation under Mismatched Execution Kushal Kedia Prithwish Dan Sanjiban Choudhury Maximus Adrian Pace Sanjiban Choudhury 58 2 0 10 Sep 2024
Affordance-based Robot Manipulation with Flow Matching Fan Zhang Michael Gienger 55 6 0 02 Sep 2024
Efficient Exploration and Discriminative World Model Learning with an Object-Centric Abstraction Anthony GX-Chen Kenneth Marino Rob Fergus OCL 58 1 0 21 Aug 2024
DEAR: Disentangled Environment and Agent Representations for Reinforcement Learning without Reconstruction Ameya Pore Riccardo Muradore Diego DallÁlba DRL 37 1 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 54 5 0 20 Jun 2024
Visual Representation Learning with Stochastic Frame Prediction Huiwon Jang Dongyoung Kim Junsu Kim Jinwoo Shin Pieter Abbeel Younggyo Seo 47 2 0 11 Jun 2024
LGR2: Language Guided Reward Relabeling for Accelerating Hierarchical Reinforcement Learning Utsav Singh Pramit Bhattacharyya Vinay P. Namboodiri LM&Ro 47 1 0 09 Jun 2024
ATraDiff: Accelerating Online Reinforcement Learning with Imaginary Trajectories Qianlan Yang Yu-Xiong Wang OnRL 42 1 0 06 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 39 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 33 0 0 26 May 2024
How to Leverage Diverse Demonstrations in Offline Imitation Learning Sheng Yue Jiani Liu Xingyuan Hua Ju Ren Sen Lin Junshan Zhang Yaoxue Zhang OffRL 34 3 0 24 May 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 82 45 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 57 15 0 08 Apr 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control Jiange Yang Bei Liu Jianlong Fu Bocheng Pan Gangshan Wu Limin Wang 53 10 0 08 Mar 2024
One-shot Imitation in a Non-Stationary Environment via Multi-Modal Skill Sangwoo Shin Daehee Lee Minjong Yoo Woo Kyung Kim Honguk Woo 32 10 0 13 Feb 2024
MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning Rafael Rafailov Kyle Hatch Victor Kolev John D. Martin Mariano Phielipp Chelsea Finn OffRL OnRL 22 10 0 06 Jan 2024
Backward Learning for Goal-Conditioned Policies Marc Höftmann Jan Robine Stefan Harmeling 37 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 32 23 0 03 Nov 2023
Multi Time Scale World Models Vaisakh Shaj Saleh Gholam Zadeh Ozan Demir L. R. Douat Gerhard Neumann AI4CE 30 3 0 27 Oct 2023
METRA: Scalable Unsupervised RL with Metric-Aware Abstraction Seohong Park Oleh Rybkin Sergey Levine OffRL 33 34 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 37 17 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 34 1 0 12 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 44 8 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 Qing Guo 45 17 0 02 Oct 2023
Exploring Visual Pre-training for Robot Manipulation: Datasets, Models and Methods Ya Jing Xuelin Zhu Xingbin Liu Qie Sima Taozheng Yang Yunhai Feng Tao Kong LM&Ro 45 16 0 07 Aug 2023
Multi-Stage Cable Routing through Hierarchical Imitation Learning Jianlan Luo Charles Xu Xinyang Geng Gilbert Feng Kuan Fang L. Tan S. Schaal Sergey Levine 38 52 0 18 Jul 2023
SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling Jesse Zhang Karl Pertsch Jiahui Zhang Joseph J. Lim LM&Ro 43 17 0 20 Jun 2023
Inverse Dynamics Pretraining Learns Good Representations for Multitask Imitation David Brandfonbrener Ofir Nachum Joan Bruna AI4CE 26 21 0 26 May 2023