2 citations · 3 across the 8 of their papers we have counts for
4 papers · 1 filter
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
Guillaume Besset, Erwann Carn, Timothée Carecchio +5
Transferring human motion to humanoid robots requires adapting the demonstrated motion to the robot morphology while preserving interactions with the environment. This is particula…
Survival Reinforcement Learning: Toward Scalable Self-Supervised RL
Franki Nguimatsia-Tiofack, Fabian Schramm, Théotime Le Hellard +1
While self-supervised Contrastive Reinforcement Learning (CRL) has shown remarkable depth-scaling capabilities, successfully using networks over 64 layers, scaled CRL still struggl…
SVL: Goal-Conditioned Reinforcement Learning as Survival Learning
Franki Nguimatsia Tiofack, Fabian Schramm, Théotime Le Hellard +1
Standard approaches to goal-conditioned reinforcement learning (GCRL) that rely on temporal-difference learning can be unstable and sample-inefficient due to bootstrapping. While r…
Variance-Reduced Model Predictive Path Integral via Quadratic Model Approximation
Fabian Schramm, Franki Nguimatsia Tiofack, Nicolas Perrin-Gilbert +2
Sampling-based controllers, such as Model Predictive Path Integral (MPPI) methods, offer substantial flexibility but often suffer from high variance and low sample efficiency. To a…