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Robot Critics that Sweat the Small Stuff
Sruthi Sudhakar, Junbang Liang, Sreehari Rammohan +3
Large vision-language models contain several priors about the world and object interactions, making them useful critics during inference to steer robot policies towards success. Ho…
Hierarchical Reinforcement Learning of Locomotion Policies in Response to Approaching Objects: A Preliminary Study
Shangqun Yu, Sreehari Rammohan, Kaiyu Zheng +1
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never…
Value-Based Reinforcement Learning for Continuous Control Robotic Manipulation in Multi-Task Sparse Reward Settings
Sreehari Rammohan, Shangqun Yu, Bowen He +4
Learning continuous control in high-dimensional sparse reward settings, such as robotic manipulation, is a challenging problem due to the number of samples often required to obtain…