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"

48 / 148 papers shown

Title
Versatile Offline Imitation from Observations and Examples via Regularized State-Occupancy Matching Yecheng Jason Ma Andrew Shen Dinesh Jayaraman Osbert Bastani OffRL 82 36 0 04 Feb 2022
Transfering Hierarchical Structure with Dual Meta Imitation Learning Chongkai Gao Yizhou Jiang F. Chen 78 7 0 28 Jan 2022
RvS: What is Essential for Offline RL via Supervised Learning? Scott Emmons Benjamin Eysenbach Ilya Kostrikov Sergey Levine OffRL 98 184 0 20 Dec 2021
Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning Trevor Ablett Bryan Chan Jonathan Kelly 68 4 0 16 Dec 2021
Learning Multi-Stage Tasks with One Demonstration via Self-Replay Norman Di Palo Edward Johns SSL 77 25 0 14 Nov 2021
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives Murtaza Dalal Deepak Pathak Ruslan Salakhutdinov 124 95 0 28 Oct 2021
C-Planning: An Automatic Curriculum for Learning Goal-Reaching Tasks Tianjun Zhang Benjamin Eysenbach Ruslan Salakhutdinov Sergey Levine Joseph E. Gonzalez OffRL 95 18 0 22 Oct 2021
Continuous Control with Action Quantization from Demonstrations Robert Dadashi Léonard Hussenot Damien Vincent Sertan Girgin Anton Raichuk Matthieu Geist Olivier Pietquin OffRL 103 23 0 19 Oct 2021
CORA: Benchmarks, Baselines, and Metrics as a Platform for Continual Reinforcement Learning Agents Sam Powers Eliot Xing Eric Kolve Roozbeh Mottaghi Abhinav Gupta OffRL 105 40 0 19 Oct 2021
Discovering and Achieving Goals via World Models Russell Mendonca Oleh Rybkin Kostas Daniilidis Danijar Hafner Deepak Pathak 99 127 0 18 Oct 2021
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks Soroush Nasiriany Huihan Liu Yuke Zhu 158 112 0 07 Oct 2021
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning Cornelius V. Braun Joaquim Ortiz de Haro Marc Toussaint Ozgur S. Oguz 70 17 0 07 Oct 2021
Understanding Domain Randomization for Sim-to-real Transfer Xiaoyu Chen Jiachen Hu Chi Jin Lihong Li Liwei Wang 202 118 0 07 Oct 2021
You Only Evaluate Once: a Simple Baseline Algorithm for Offline RL Wonjoon Goo S. Niekum OffRL 83 8 0 05 Oct 2021
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation Yifeng Zhu Peter Stone Yuke Zhu 144 63 0 28 Sep 2021
Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks Bohan Wu Suraj Nair Li Fei-Fei Chelsea Finn OffRL LM&Ro 160 24 0 21 Sep 2021
Video2Skill: Adapting Events in Demonstration Videos to Skills in an Environment using Cyclic MDP Homomorphisms Sumedh Anand Sontakke Sumegh Roychowdhury Mausoom Sarkar Nikaash Puri Balaji Krishnamurthy Laurent Itti 67 1 0 08 Sep 2021
HAC Explore: Accelerating Exploration with Hierarchical Reinforcement Learning Willie McClinton Andrew Levy George Konidaris 42 5 0 12 Aug 2021
Demonstration-Guided Reinforcement Learning with Learned Skills Karl Pertsch Youngwoon Lee Yue Wu Joseph J. Lim OffRL 67 85 0 21 Jul 2021
Hierarchical Few-Shot Imitation with Skill Transition Models Kourosh Hakhamaneshi Ruihan Zhao Albert Zhan Pieter Abbeel Michael Laskin OffRL 93 42 0 19 Jul 2021
Recent Advances in Leveraging Human Guidance for Sequential Decision-Making Tasks Ruohan Zhang F. Torabi Garrett A. Warnell Peter Stone 158 29 0 13 Jul 2021
Goal-Conditioned Reinforcement Learning with Imagined Subgoals Elliot Chane-Sane Cordelia Schmid Ivan Laptev 87 144 0 01 Jul 2021
From Motor Control to Team Play in Simulated Humanoid Football Siqi Liu Guy Lever Zhe Wang J. Merel S. M. Ali Eslami ... Tuomas Haarnoja Brendan D. Tracey K. Tuyls T. Graepel N. Heess 117 134 0 25 May 2021
Learning a Skill-sequence-dependent Policy for Long-horizon Manipulation Tasks Zhihao Li Zhenglong Sun Jionglong SU Jiaming Zhang 33 3 0 12 May 2021
Learning Task Decomposition with Ordered Memory Policy Network Yucheng Lu Songlin Yang Siyuan Zhou Aaron Courville J. Tenenbaum Chuang Gan 72 15 0 19 Mar 2021
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning Yan Wang C. C. Beltran-Hernandez Weiwei Wan Kensuke Harada 43 22 0 10 Mar 2021
Efficient and Interpretable Robot Manipulation with Graph Neural Networks Yixin Lin Austin S. Wang Eric Undersander Akshara Rai LM&Ro 160 44 0 25 Feb 2021
Imitation Learning for Variable Speed Contact Motion for Operation up to Control Bandwidth S. Sakaino K. Fujimoto Yuki Saigusa T. Tsuji 93 12 0 20 Feb 2021
NeoRL: A Near Real-World Benchmark for Offline Reinforcement Learning Rongjun Qin Songyi Gao Xingyuan Zhang Zhen Xu Shengkai Huang Zewen Li Weinan Zhang Yang Yu OffRL 196 83 0 01 Feb 2021
Asymmetric self-play for automatic goal discovery in robotic manipulation OpenAI OpenAI Matthias Plappert Raul Sampedro Tao Xu Ilge Akkaya ... Hyeonwoo Noh Lilian Weng Qiming Yuan Casey Chu Wojciech Zaremba SSL 143 79 0 13 Jan 2021
Parrot: Data-Driven Behavioral Priors for Reinforcement Learning Avi Singh Huihan Liu G. Zhou Albert Yu Nicholas Rhinehart Sergey Levine OffRL OnRL 92 144 0 19 Nov 2020
SAFARI: Safe and Active Robot Imitation Learning with Imagination Norman Di Palo Edward Johns 74 8 0 18 Nov 2020
C-Learning: Learning to Achieve Goals via Recursive Classification Benjamin Eysenbach Ruslan Salakhutdinov Sergey Levine OffRL 85 71 0 17 Nov 2020
Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning Ayumu Sasagawa S. Sakaino T. Tsuji 68 25 0 12 Nov 2020
Accelerating Reinforcement Learning with Learned Skill Priors Karl Pertsch Youngwoon Lee Joseph J. Lim OffRL OnRL 114 241 0 22 Oct 2020
Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning Brian Ichter P. Sermanet Corey Lynch 92 38 0 13 Oct 2020
ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theory Ajinkya Jain Rudolf Lioutikov Caleb Chuck S. Niekum 87 86 0 24 Aug 2020
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach C. C. Beltran-Hernandez Damien Petit I. Ramirez-Alpizar Kensuke Harada OffRL 111 164 0 24 Aug 2020
Learning Compositional Neural Programs for Continuous Control Thomas Pierrot Nicolas Perrin Feryal M. P. Behbahani Alexandre Laterre Olivier Sigaud Karim Beguir Nando de Freitas CLL 88 4 0 27 Jul 2020
Deep PQR: Solving Inverse Reinforcement Learning using Anchor Actions Sinong Geng Houssam Nassif Carlos A. Manzanares A. M. Reppen R. Sircar 43 2 0 15 Jul 2020
Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving Zhangjie Cao Erdem Biyik Woodrow Z. Wang Allan Raventos Adrien Gaidon Guy Rosman Dorsa Sadigh 142 65 0 01 Jul 2020
AWAC: Accelerating Online Reinforcement Learning with Offline Datasets Ashvin Nair Abhishek Gupta Murtaza Dalal Sergey Levine OffRL OnRL 151 619 0 16 Jun 2020
Conservative Q-Learning for Offline Reinforcement Learning Aviral Kumar Aurick Zhou George Tucker Sergey Levine OffRL OnRL 150 1,839 0 08 Jun 2020
Language Conditioned Imitation Learning over Unstructured Data Corey Lynch P. Sermanet LM&Ro 90 251 0 15 May 2020
D4RL: Datasets for Deep Data-Driven Reinforcement Learning Justin Fu Aviral Kumar Ofir Nachum George Tucker Sergey Levine GP OffRL 247 1,386 0 15 Apr 2020
Learning to Reach Goals via Iterated Supervised Learning Dibya Ghosh Abhishek Gupta Ashwin Reddy Justin Fu Coline Devin Benjamin Eysenbach Sergey Levine 117 35 0 12 Dec 2019
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks Youngwoon Lee E. Hu Zhengyu Yang Alexander Yin Joseph J. Lim 98 124 0 17 Nov 2019
Learning Hybrid Object Kinematics for Efficient Hierarchical Planning Under Uncertainty Ajinkya Jain S. Niekum 95 19 0 21 Jul 2019