46 citations · 98 across the 11 of their papers we have counts for
3 papers · 1 filter
Learning a Diffusion Model Policy from Rewards via Q-Score Matching
Michael Psenka, Alejandro Escontrela, Pieter Abbeel +1
Diffusion models have become a popular choice for representing actor policies in behavior cloning and offline reinforcement learning. This is due to their natural ability to optimi…
Video Prediction Models as Rewards for Reinforcement Learning
Alejandro Escontrela, Ademi Adeniji, Wilson Yan +6
Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for be…
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts, Atil Iscen, J. Chase Kew +41
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biol…