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
Warm-Start Actor-Critic: From Approximation Error to Sub-optimality Gap Hang Wang Sen Lin Junshan Zhang OffRL OnRL 79 3 0 20 Jun 2023
Stabilizing Contrastive RL: Techniques for Robotic Goal Reaching from Offline Data Chongyi Zheng Benjamin Eysenbach Homer Walke Patrick Yin Kuan Fang Ruslan Salakhutdinov Sergey Levine OffRL SSL 86 6 0 06 Jun 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim 100 96 0 22 May 2023
Multi-task Hierarchical Adversarial Inverse Reinforcement Learning Jiayu Chen Dipesh Tamboli Tian-Shing Lan Vaneet Aggarwal 85 12 0 22 May 2023
Revisiting Proprioceptive Sensing for Articulated Object Manipulation Thomas Lips Francis Wyffels 95 2 0 16 May 2023
Chain-of-Thought Predictive Control Zhiwei Jia Vineet Thumuluri Fangchen Liu Ling-Hao Chen Zhiao Huang H. Su LM&Ro 145 20 0 03 Apr 2023
Boosting Reinforcement Learning and Planning with Demonstrations: A Survey Tongzhou Mu H. Su OffRL 72 1 0 23 Mar 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 352 1,247 0 07 Mar 2023
The Provable Benefits of Unsupervised Data Sharing for Offline Reinforcement Learning Haotian Hu Yiqin Yang Qianchuan Zhao Chongjie Zhang OffRL 77 7 0 27 Feb 2023
PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav Ram Ramrakhya Dhruv Batra Erik Wijmans Abhishek Das OffRL 146 61 0 18 Jan 2023
Cross-Domain Transfer via Semantic Skill Imitation Karl Pertsch Ruta Desai Vikash Kumar Franziska Meier Joseph J. Lim Dhruv Batra Akshara Rai LM&Ro 69 19 0 14 Dec 2022
CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning Zhao Mandi Homanga Bharadhwaj Vincent Moens Shuran Song Aravind Rajeswaran Vikash Kumar LM&Ro 115 77 0 12 Dec 2022
PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection Shivin Dass Karl Pertsch Hejia Zhang Youngwoon Lee Joseph J. Lim Stefanos Nikolaidis 87 15 0 09 Dec 2022
E-MAPP: Efficient Multi-Agent Reinforcement Learning with Parallel Program Guidance C. Chang Ni Mu Jiajun Wu Ling Pan Huazhe Xu 86 7 0 05 Dec 2022
Flow to Control: Offline Reinforcement Learning with Lossless Primitive Discovery Yiqin Yang Haotian Hu Wenzhe Li Siyuan Li Jun Yang Qianchuan Zhao Chongjie Zhang OffRL 86 10 0 02 Dec 2022
Choreographer: Learning and Adapting Skills in Imagination Pietro Mazzaglia Tim Verbelen Bart Dhoedt Alexandre Lacoste Sai Rajeswar 119 25 0 23 Nov 2022
Model-based Trajectory Stitching for Improved Offline Reinforcement Learning Charles A. Hepburn Giovanni Montana OffRL 84 14 0 21 Nov 2022
Pretraining in Deep Reinforcement Learning: A Survey Zhihui Xie Zichuan Lin Junyou Li Shuai Li Deheng Ye OffRL OnRL AI4CE 81 23 0 08 Nov 2022
Adaptive Behavior Cloning Regularization for Stable Offline-to-Online Reinforcement Learning Yi Zhao Rinu Boney Alexander Ilin Arno Solin Joni Pajarinen OffRL OnRL 84 40 0 25 Oct 2022
Learning and Retrieval from Prior Data for Skill-based Imitation Learning Soroush Nasiriany Tian Gao Ajay Mandlekar Yuke Zhu SSL 130 50 0 20 Oct 2022
From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data Zichen Jeff Cui Yibin Wang Nur Muhammad (Mahi) Shafiullah Lerrel Pinto LM&Ro VGen OffRL 100 95 0 18 Oct 2022
CEIP: Combining Explicit and Implicit Priors for Reinforcement Learning with Demonstrations Kai Yan Alex Schwing Yu-Xiong Wang OffRL 70 2 0 18 Oct 2022
Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction Mehrdad Tavassoli S. Katyara Maria Pozzi Nikhil Deshpande D. Caldwell D. Prattichizzo 96 13 0 14 Oct 2022
Retrospectives on the Embodied AI Workshop Matt Deitke Dhruv Batra Yonatan Bisk Tommaso Campari Angel X. Chang ... Jesse Thomason Alexander Toshev Joanne Truong Luca Weihs Jiajun Wu LM&Ro 122 51 0 13 Oct 2022
Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks Kuan Fang Patrick Yin Ashvin Nair Homer Walke Ge Yan Sergey Levine OffRL 92 25 0 12 Oct 2022
Interactive Language: Talking to Robots in Real Time Corey Lynch Ayzaan Wahid Jonathan Tompson Tianli Ding James Betker Robert Baruch Travis Armstrong Peter R. Florence LM&Ro 105 229 0 12 Oct 2022
VIMA: General Robot Manipulation with Multimodal Prompts Yunfan Jiang Agrim Gupta Zichen Zhang Guanzhi Wang Yongqiang Dou Yanjun Chen Li Fei-Fei Anima Anandkumar Yuke Zhu Linxi Fan LM&Ro 117 355 0 06 Oct 2022
B2RL: An open-source Dataset for Building Batch Reinforcement Learning Hsin-Yu Liu Xiaohan Fu Bharathan Balaji Rajesh E. Gupta Dezhi Hong OffRL 46 4 0 30 Sep 2022
Latent Plans for Task-Agnostic Offline Reinforcement Learning Erick Rosete-Beas Oier Mees Gabriel Kalweit Joschka Boedecker Wolfram Burgard OffRL 120 86 0 19 Sep 2022
Human-Guided Planning for Complex Manipulation Tasks Using the Screw Geometry of Motion Dasharadhan Mahalingam N. Chakraborty 46 6 0 13 Sep 2022
Task-Agnostic Learning to Accomplish New Tasks Xianqi Zhang Xingtao Wang Xu Liu Wenrui Wang Xiaopeng Fan Debin Zhao OffRL 134 0 0 09 Sep 2022
Learning Dynamic Manipulation Skills from Haptic-Play Taeyoon Lee D. Sung Kyoung-Whan Choi Choong-Keun Lee Changwoo Park Keunjun Choi 88 3 0 28 Jul 2022
Offline Reinforcement Learning at Multiple Frequencies Kaylee Burns Tianhe Yu Chelsea Finn Karol Hausman OffRL 75 6 0 26 Jul 2022
Skill-based Model-based Reinforcement Learning Lu Shi Joseph J. Lim Youngwoon Lee 106 46 0 15 Jul 2022
Don't Start From Scratch: Leveraging Prior Data to Automate Robotic Reinforcement Learning Homer Walke Jonathan Yang Albert Yu Aviral Kumar Jedrzej Orbik Avi Singh Sergey Levine OffRL OnRL 92 32 0 11 Jul 2022
Social Network Structure Shapes Innovation: Experience-sharing in RL with SAPIENS Eleni Nisioti Matéo Mahaut Pierre-Yves Oudeyer Ida Momennejad Clément Moulin-Frier 90 10 0 10 Jun 2022
Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations Yanwei Wang Nadia Figueroa Shen Li Ankit J. Shah J. Shah 73 22 0 09 Jun 2022
Know Your Boundaries: The Necessity of Explicit Behavioral Cloning in Offline RL Wonjoon Goo S. Niekum OffRL 91 20 0 01 Jun 2022
Training and Inference on Any-Order Autoregressive Models the Right Way Andy Shih Dorsa Sadigh Stefano Ermon BDL TPM OOD CML 98 28 0 26 May 2022
Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space Kuan Fang Patrick Yin Ashvin Nair Sergey Levine OffRL 109 35 0 17 May 2022
Generalizing to New Tasks via One-Shot Compositional Subgoals Xihan Bian Oscar Alejandro Mendez Maldonado Simon Hadfield CLL OffRL 62 1 0 16 May 2022
Developing cooperative policies for multi-stage reinforcement learning tasks J. Erskine Christopher F. Lehnert 44 10 0 11 May 2022
Skill-based Meta-Reinforcement Learning Taewook Nam Shao-Hua Sun Karl Pertsch Sung Ju Hwang Joseph J. Lim OffRL 87 45 0 25 Apr 2022
Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation? Yuchen Cui S. Niekum Abhi Gupta Vikash Kumar Aravind Rajeswaran LM&Ro 88 80 0 23 Apr 2022
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning Abhishek Gupta Corey Lynch Brandon Kinman Garrett Peake Sergey Levine Karol Hausman OffRL 140 17 0 29 Mar 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 115 588 0 23 Mar 2022
Blocks Assemble! Learning to Assemble with Large-Scale Structured Reinforcement Learning Seyed Kamyar Seyed Ghasemipour Daniel Freeman Byron David S. Gu Satoshi Kataoka Igor Mordatch OffRL 91 26 0 15 Mar 2022
The Unsurprising Effectiveness of Pre-Trained Vision Models for Control Simone Parisi Aravind Rajeswaran Senthil Purushwalkam Abhinav Gupta LM&Ro 132 198 0 07 Mar 2022
A Survey on Offline Reinforcement Learning: Taxonomy, Review, and Open Problems Rafael Figueiredo Prudencio Marcos R. O. A. Máximo Esther Luna Colombini OffRL 111 243 0 02 Mar 2022
Reinforcement Learning with Sparse Rewards using Guidance from Offline Demonstration Desik Rengarajan G. Vaidya Akshay Sarvesh D. Kalathil S. Shakkottai OffRL 64 59 0 09 Feb 2022