4 papers
Hierarchical Entity-centric Reinforcement Learning with Factored Subgoal Diffusion
Dan Haramati, Carl Qi, Tal Daniel +3
We propose a hierarchical entity-centric framework for offline Goal-Conditioned Reinforcement Learning (GCRL) that combines subgoal decomposition with factored structure to solve l…
Null Counterfactual Factor Interactions for Goal-Conditioned Reinforcement Learning
Caleb Chuck, Fan Feng, Carl Qi +4
Hindsight relabeling is a powerful tool for overcoming sparsity in goal-conditioned reinforcement learning (GCRL), especially in certain domains such as navigation and locomotion.…
EC-Diffuser: Multi-Object Manipulation via Entity-Centric Behavior Generation
Carl Qi, Dan Haramati, Tal Daniel +2
Object manipulation is a common component of everyday tasks, but learning to manipulate objects from high-dimensional observations presents significant challenges. These challenges…
Robot Air Hockey: A Manipulation Testbed for Robot Learning with Reinforcement Learning
Caleb Chuck, Carl Qi, Michael J. Munje +13
Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might f…