5 papers
Weakly Supervised Discovery of Motion Styles for Compositional Robot Control
Heedo Woo, Antonio Marino, Eduardo Sebastián +1
When a robot possesses more degrees of freedom than a task requires, multiple trajectories can achieve the same objective using distinct motion styles. Compositional robot control…
World-Task Factorization for Robot Learning
Eduardo Sebastián, Adrian Pfisterer, Vito Mengers +2
Robot learning must produce policies that generalize to new combinations of constraints, teammates, and environments. To achieve this, we must structurally factor the policy, which…
Events as Triggers for Behavioral Diversity in Multi-Agent Reinforcement Learning
Hannes Büchi, Manon Flageat, Eduardo Sebastián +1
Effective multi-agent cooperation requires agents to adopt diverse behaviors as task conditions evolve-and to do so at the right moment. Yet, current Multi-Agent Reinforcement Lear…
Wake Up to the Past: Using Memory to Model Fluid Wake Effects on Robots
Luca Vendruscolo, Eduardo Sebastián, Amanda Prorok +1
Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent…
From Vision to Decision: Neuromorphic Control for Autonomous Navigation and Tracking
Chuwei Wang, Eduardo Sebastián, Amanda Prorok +1
Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when…